Mitsubishi Electronics QD77MS4 manuel d'utilisation

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A - 1 SAFETY PRECAUTIONS (Please read these instructions before using t his equipment.) Before using this product, please read this manual a nd the relevant manuals int roduced in this manual carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. Refer t[...]

A - 2 For Safe Oper ation s 1. Prevention o f electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electr ic shocks. Never run the unit with the front case or term inal cover removed. T he high volt age terminal and charged sections will be ex posed and may lead to ele[...]

A - 3 3. For injur y prevention CAU TIO N Do not apply a voltage other than that specified in the instruct ion manual on any terminal. Doing so may lead to dest ruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity (+ / -), as this may lead to destruction or damage. Do not[...]

A - 4 CAU TIO N The system must have a mechanical allow ance so that the machine itself can st op even if the stroke limits switch is passed through at the max. speed. Use wires and cables that have a wire diameter, heat resistance and bending resistance com patible with the syste m. Use wires and cables within the length of the range described in [...]

A - 5 DANGER The input devices and data register s assigned to the link will hold the data pr evious to when communication is terminated by an error, etc. Thus, an error cor respondence interlock program specified in the instruct ion manual must be used. Use the interlock program specifie d in the inte lligen t function modu le's instruction m[...]

A - 6 CAU TIO N Store and use the unit in the following environmental conditions. Environment Conditions Module/Servo amplifier Servomotor Ambient temperature According to each instruction m anual. 0°C to +40°C (With no freezing) (32°F to +104°F) Ambient humidity According to each instruction m anual. 80% RH or less ( W ith no dew condensation)[...]

A - 7 (4) W iring CAU TIO N Correctly and securely wire the wires. Reconfirm the connections for mistakes and t he terminal screws for t ightness after wiring. Failin g to do so may lead t o run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing[...]

A - 8 (6) Us age methods CAU TIO N Imm ediately turn OFF t he power if smoke, abnormal sounds or odors are emitted from the module, servo amplifier or servomotor. Always execute a test operation before starting ac tual operations after the program or param eters have been changed or after maintenance and inspect ion. Do not attempt to disassemble a[...]

A - 9 (7) Cor recti ve action s fo r errors CAU TIO N If an error occurs in the se lf diagnosis of the module or servo amplifier, confirm the check details according to the instruction manua l, and restore the operation. If a dangerous state is predicted in case of a pow er failure or product failure, use a servomotor with an electromagnetic brake [...]

A - 10 CAU TIO N W hen the module or absolute v alue motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displace ment could occur. 1) After writing the servo data t o the Simple Motion module using programming software, sw itch on the power again, then perform a home position r[...]

A - 11 CONDITIONS OF USE FOR THE PRODUCT (1) M itsubis hi pr ogram mable c ontr oller ( "the PRODU CT") shal l be us ed in cond itions ; i) where an y problem , fault or failure oc curring in th e PRODUCT , if any, shall not le ad to any major or seriou s acciden t; and ii) where t he back up an d fa il-s afe f unctio n are s ystem atic a[...]

A - 12 INTRODUCT ION Thank you for purch asing t he Mitsub ishi M ELSEC-Q s eries pr ogram mable c ontrollers. This manual des cribes th e functio ns and pr ogram ming of the Sim ple Motio n modul e. Before us ing this produc t, pleas e read t his m anual an d the re levant manuals caref ully and develop f am iliarit y with the f unctions a nd perf[...]

A - 13 REVI SIONS The manual number i s given on the bottom left of t he back co ver . Print Date Manu al N umber Rev ision Feb., 20 12 IB(NA) -030 0185- A First ed itio n Sep ., 2013 IB (NA)-03 00185 -B [A ddit ional f unc tion] Driver comm unicat ion fu ncti on, Inv erter FR-A7 00 ser ies, S ynchro nous encoder vi a serv o ampl ifier , Oper ation[...]

A - 14 CONTENTS SAFET Y PRECAUT IONS ............................................................................................................ ................. A- 1 CONDITIO NS OF USE FO R THE PRODUCT ............................................................................................. A-11 INTRODUCT ION ................................[...]

A - 15 3.3.2 Detai ls of input s ignals (QD7 7MS PLC CPU) ............................................................................ 3-19 3.3. 3 Detail s of outp ut signal s (PLC CP U QD77M S) .......................................................................... 3- 21 3.4 Spec if icati ons of inter fac es with extern al devices .............[...]

A - 16 5.6.1 S ystem monit or data ..................................................................................................... .................. 5-116 5.6.2 Axis m oni tor data ............................................................................................................................. 5 -130 5.7 List of con trol data ...[...]

A - 17 Secti on 2 Con trol D etails and Sett ing 8. OPR Control 8- 1 to 8-20 8.1 Out line of OPR c ontro l .................................................................................................... ......................... 8- 2 8.1.1 T wo t ypes of O PR con trol ............................................................................[...]

A - 18 9.2.22 LO OP ................................................................................................................... .......................... 9-130 9.2.23 LE ND ................................................................................................................... .......................... 9-132 10. Hi gh- Level Po[...]

A - 19 12.1. 2 Sett ing t he re quire d param et ers for speed- torqu e contro l ........................................................... 12- 4 12.1. 3 Sett ing t he re quire d dat a for s peed-t orque c ontr ol ..................................................................... . 12- 5 12.1.4 O pera tion of speed- torqu e contr ol ...........[...]

A - 20 14.6 His tor y monitor func tion ................................................................................................. ...................... 14-1 6 14.7 Am plifi er-l ess o per atio n funct ion ........................................................................................ ................. 14-20 14.8 Virtua l serv o am[...]

A - 21 Appe ndix 7 Ex terna l dim ension dra wing ......................................................................................... . Appe ndix- 86[...]

A - 22 COMP LIANCE WITH THE E MC AN D LOW VOLTA GE DIREC TIVES (1) For programmable controller sy stem To c onfigur e a s ystem meet ing t he re quirem ents of the EMC and Lo w Vo ltage Direc tives when incorp oratin g the Mitsu bish i progr amm able co ntrol ler (E MC a nd Low Vo ltage D irect ives c ompl iant) i nto oth er m achiner y or equ ipme[...]

A - 23 (3) Progr amming tool Manual Name <Manual number (model code) > Description GX W orks2 Version1 O perating Manual (Common) <SH-080779ENG, 13JU63> System configuration, paramet er settings, and online operations (common to Simple project and Structured project) of GX W orks2 GX W orks2 Version1 O perating Manual (Intelligent Funct[...]

A - 24 MA NUA L PA GE ORG ANI ZA TIO N T he symb ols use d in this m anual are s ho wn belo w. The f ollowi ng s y m bols repre sent th e buf fer m emor ies supp orted f or eac h ax is. (A seria l No. is inser ted in th e "*" m ark.) Symbol Description Reference [Pr. * ] Symbol that indicates positi oning parameter and OPR param eter item[...]

A - 25 TER MS Unless other wise spec ifie d, th is manua l uses th e foll owing ter ms . Term Description PLC CPU Abbreviation for the MELSEC-Q series PLC CPU module. QCPU Another term for the MELSEC-Q series PLC CP U module. Simple Motion module Abbreviation for the MELSEC-Q series Simple M otion module. QD77MS Another term for the MELSEC-Q series[...]

A - 26 PACK ING LIS T The f ollowi ng item s ar e inc luded in the pack age of this produc t. Bef ore us e, ch eck that all the item s are i ncluded. (1) Q D77MS2 QD77MS2 RUN ERR. AX1 AX2 QD77MS2 AX2 AX1 Before Using the Product QD77MS2 (2) Q D77MS4 QD77MS4 RUN ERR. AX1 AX4 AX2 AX3 QD77M S4 AX2 AX1 AX4 AX3 Before Using the Product QD77MS4 (3) QD77M[...]

Section 1 Section 1 Product Specifications and Handling Sectio n 1 is con figured f or the following purposes (1) to (5) . (1) To underst and the ou tline of p ositioning contro l, and the Simple Moti on module spec ifications and f unctions (2) To carry out actual work such as in stallatio n and wiri ng (3) To set pa rameters and data r equired fo[...]

MEM O[...]

1 - 1 1 Chapt er 1 Product O utline Chapter 1 Product Outline The purpose and outline of positioning control using the Simple Mo tion module are explained i n this chapter. Reading t his chapt er will help yo u understa nd what can be done using the po sitioning syste m and which pr ocedure to use for a spec ific purp ose. By unde rstanding "W[...]

1 - 2 Chapt er 1 Product O utline 1.1 Positioning control 1.1.1 Features of QD77M S The Q D77MS has th e fo llowin g featur es. (1) High-s peed starting time High-sp eed st artin g tim e "0. 88ms " (QD77M S4 us e) dur ing pos itio nin g contr ol is achi eved . (2) W ide vari ety of positioning contr ol functions The m ain func tions (s uc[...]

1 - 3 Chapt er 1 Product O utline (d) Con tinuous pr ocessi ng of multi ple pos itio ning d ata Mult iple p ositi oning data c an be process ed conti nuous ly with in o ne posit ioni ng oper atio n. Continu ous p ositi oning c ontr ol can be ex ecute d over mul tiple block s, wher e each b lock cons ists of m ultiple posit ioning dat a. This reduce[...]

1 - 4 Chapt er 1 Product O utline (7) Setting, monitor ing, and testi ng through GX Works2 Param eters and p ositi oning data f or th e QD77 MS ca n be s et us ing GX W orks2 (Sim ple Moti on Modul e Sett ing). Moreo ver, us ing th e test f un ction of GX W orks2 (S imple Motion Mod ule S etting), users c an ch eck the wiri ng stat us and the valid[...]

1 - 5 Chapt er 1 Product O utline (11) Easy applic ation to the absolute position sy stem (a) T he MR-J 4-B/M R-JE- B/MR- J3-B s eri es ser vo am plifier s an d ser vo m otors corres pond t o the abso lute posit ion s ystem . It can be re alized onl y at connec ting t he b atter y for abso lute pos it ion s ystem to the s erv o am plifier . (b) Onc[...]

1 - 6 Chapt er 1 Product O utline 1.1.2 Purpose and ap plications of positioni ng control "Pos itioni ng" r efers to m ovin g a m oving bod y, such as a work piece or too l (her einaf ter, gener icall y call ed "wor kpi ece") at a desi gnated s peed, and accura tel y stopp ing it at t he target posit ion. The m ain a pplic ation[...]

1 - 7 Chapt er 1 Product O utline Lifter Servo amplifier Servomotor Aging rack Lifter Counter- weight A conveyor Servo amplifier Reduction gear Servomotor (with a brake) QD77MS B conv eyor C conv eyor G2 G1 Loader/unloader Unloader Loader  During the a ging proce ss, stor age onto the rack is carried out by positio ning with the AC servo.  Th[...]

1 - 8 Chapt er 1 Product O utline 1.1.3 Mechanism of positioni ng control In the p ositi oning s ystem usi ng th e Sim ple Mo tion m odule, various sof tware a nd devices are used f or the foll owing r oles . The Si mple Moti on modul e realiz es complica ted posit ioning control wh en it read s in vario us signa ls, param eters and data an d is co[...]

1 - 9 Chapt er 1 Product O utline 1.1.4 Overv iew of positioning control functions The ou tline of the "over view of pos itionin g co ntrol", "ove rvie w of ind epend ent posit ioni ng con trol and co nti nuous posit ionin g co ntrol ", "ove rvie w of b lock posit ionin g contr ol" and "over vie w of ac celerat io[...]

1 - 10 Chapt er 1 Product O utline (b) 2-ax is line ar in terpo lation c on trol (Note-1 ) This contro ls int erp olati on al ong a l inear locus from the s tart point address (curr ent stop pos itio n) defi ned b y two axes. [Con trol using th e absolu te syst em] 1) This perf orm s linear inte rpolat ion us ing t wo ax es fr om the start point ad[...]

1 - 11 Chapt er 1 Product O utline (2) Circular interpolation control (Note-1) There ar e tw o t ypes of c ircu lar int erpol ation c ontr ols: c ircul ar int erpo lation with a specif ied s ub po int and circ ular interp olati on with the s pecif ied c enter point. (a) Circu lar int erpol ation wi th a speci fied sub point Circu lar int erp olatio[...]

1 - 12 Chapt er 1 Product O utline (3) Fixed- feed control This perform s pos ition ing fo r the s pecif ied i ncrem ent of trav el. Stop posit ion [1-axis fixed-feed control] Positioning direction V Star t t ON OFF Star t comm and Oper at ion ti ming Travel along axis 2 Reverse direction Stop position Movement di rection for a positive movement am[...]

1 - 13 Chapt er 1 Product O utline (5) Speed-posi tion switching control This starts pos ition ing un der s peed c ontro l, a nd swi tches to pos itio n contr ol accord ing t o the inpu t of the Sim ple Mo tion m odule s peed- posi tion s witch ing signa l and p erfor m pos ition ing for the s pecif ied increm ent of tra vel. V Speed control P osit[...]

1 - 14 Chapt er 1 Product O utline Independ ent p ositi oning c ontro l an d cont inuous pos itio ning con trol The Sim ple Mot ion modu le perf orm s positi oning acc ordi ng to the user- set pos ition ing data, which is a s et of inf orm ation com prised of t he co ntrol m ethod (pos ition c on trol, speed c ontr ol, s peed-p osit ion s witchi ng[...]

1 - 15 Chapt er 1 Product O utline (2) Continuous positioning control (oper ation pattern = 01: positioni ng continue) The op erati on sto ps tem porar ily upo n th e com pletio n of pos itio ning for t he specif ied pos ition ing data , and then con tinues with the nex t posit ioning data number . This is s pecif ied whe n per for ming p ositi oni[...]

1 - 16 Chapt er 1 Product O utline (3) Continuous path control (operation patter n = 11: positioning continue) After ex ecuti ng posi tionin g usin g the spec ifie d posit ion ing data, th e operat ion changes its spee d to tha t of the nex t pos itio ning d ata n um ber and c ontin ues posit ioni ng. This is s pecif ied whe n c ontinu ousl y execu[...]

1 - 17 Chapt er 1 Product O utline Block posit ioning co ntrol Block posit ioni ng is a contr ol t hat co ntin uousl y exec utes the p ositi oning of s pecif ied block s. One block equiva lent to a ser ies of pos ition ing d ata up t o th e com pletio n of posit ioni ng (o perat ion pat ter n = 00) b y Indepe ndent or c ontinu ous posit ionin g con[...]

1 - 18 Chapt er 1 Product O utline Overvie w of ac celer atio n/dece leratio n proc essin g contr ol Acce lerat ion/dec elerat ion proc essing for th e pos itio ning process ing, m anu al pu lse- genera tor pr ocess ing, O PR proc essin g an d JOG proces sing is perf orm ed using the user-s pecif ied m ethod, acce lerat ion tim e and decel eratio n[...]

1 - 19 Chapt er 1 Product O utline 1.1.5 Outline desig n of positioning system The outl ine of the pos itio ning s ystem operation an d des ign using the Sim ple Mot ion m odule is s hown bel ow. (1) Positioning system using Si mple Motion module Read and write, etc. S S C N E T I / F / H ( ( External input sign al of serv o amplifi er (Refer to th[...]

1 - 20 Chapt er 1 Product O utline 1.1.6 Communicating signal s between QD77MS and each mod ule The ou tline of the s igna l co mm unication betwee n th e Sim ple Mo tion m odule and PLC CPU, GX W orks 2 and ser vo am plifi er, etc ., is sho wn be low. (GX W orks2 com munic ates with th e Sim ple Moti on modul e via the PL C CPU to whic h it is con[...]

1 - 21 Chapt er 1 Product O utline (2) QD77MS16 READY signal Pos ition ing star t sign al BUSY signal Servo amplifier QD77MS 16 Y0 Y10 to Y1 F X0 PLC CPU Manual pulse generat or/ Incremen tal synchr onous enco der Operation monitor Paramet er write/r ead JOG opera tion, inchi ng operatio n (Test) Positioning operation (Test) OPR operat ion (Test) G[...]

1 - 22 Chapt er 1 Product O utline Simple M otion module PLC CPU The S imple Mot ion m odule and PLC C PU com m unicate the f ollo wing data. Directio n Communication Simple Motion module PLC CPU PLC CPU Simple Motion module Control signal Signal indicating Simple M otion module state • READY signal • BUSY signal etc. Signal related to commands[...]

1 - 23 Chapt er 1 Product O utline Simple M otion module Manual pulse g enerator/ Incremental synchronous encoder The S imple Motio n m odule and m anual puls e gener ator /increm enta l s ynchrono us encoder com munic ate t he f ollowing dat a via the ex tern al inp ut co nnecti on co nnect or. Directio n Communication Simple Motion module M anual[...]

1 - 24 Chapt er 1 Product O utline 1.2 Flow of sy stem operation 1.2.1 Flow of all pr ocesses The pos itio ning c ontr ol proc esses, using the Sim ple Mot ion m odule , are s hown belo w. Servo amplif iers, etc . Design Prep arat ion Operat ion Mainte nance PLC CPU QD77MS GX Wor ks2 1) 2) Instal lation, wi ring Writing of program 4) Creation of se[...]

1 - 25 Chapt er 1 Product O utline The f ollowi ng work is c arrie d out with t he proc ess es sho wn on t he pr evious page . Details Reference 1) Understand the product f unctions and usage method s, the conf iguration devices and specification s required for positioni ng control, and desig n the system.  Chapter 1  Chapter 2  Chapter 3 [...]

1 - 26 Chapt er 1 Product O utline 1.2.2 Outline of starti ng The ou tline f or st arting each con trol is sho wn wit h the follo wing f lowchar t. (It is assum ed th at eac h m odule is ins talle d, and t he re quir ed s ystem conf igurat ion, etc., h as bee n pre pared.) Flow of starting Preparation Major p ositioning control Control functions In[...]

1 - 27 Chapt er 1 Product O utline Create sequ ence program for outputti ng control signal s, such as start sign al, to QD77MS. Set the p arameter an d data for e xecuting main fu nction, and the sub functions that need to be set beforeha nd. Setting meth od : Indicate s the sequence program tha t must be crea ted. (Speed contr ol) (To rque control[...]

1 - 28 Chapt er 1 Product O utline 1.2.3 Outline of stoppi ng Each c ontr ol is s topp ed in t he fol lowin g cas es. (1) W hen each c ontro l is c ompl eted norm ally. (2) W hen the ser vo am plifi er po wer su ppl y OFF. (3) When a PLC CPU error occur s. (4) W hen the PLC READ Y sign al is turne d OFF. (5) When an error occurs in the Sim ple Moti[...]

1 - 29 Chapt er 1 Product O utline Stop cause Stop ax is M code ON signal after stop Ax is operation status after stopping ([Md.26]) Stop process OPR control Majo r positioning control High-level positioning control Manual control Machine OPR control Fast OPR control JOG/ Inching operation Manual pulse generator operation Relatively safe stop (Stop[...]

1 - 30 Chapt er 1 Product O utline 1.2.4 Outline for r estarting W hen a sto p cause has oc cur red d uring oper ation with posit ion co ntrol causin g th e axis to sto p, pos itioni ng t o the en d po int of the p osition ing da ta can be r estart ed f rom the st opped po sitio n by using th e "[Cd. 6] Rest art command ". If iss ued dur [...]

2 - 1 2 Chapter 2 S ystem Configu ration Chapter 2 System Configuration In this chapter , the gene ral ima ge of the syst em co nfigurat ion of the posi tioning control using Simple Motion m odul e, the co nfigurati on devi ces, app licabl e CPU and the preca utions of configu ring the system are ex plained . Prep are the r equire d confi guratio n[...]

2 - 2 Chapter 2 S ystem Configu ration 2.1 General imag e of sy stem The gener al im age of the s ystem , including such as th e QD77M S, PLC CPU and perip heral devic es is sho wn bel ow. Synchr onous en coder v ia s ervo amp lifier Q171E NC-W8: Up to 4 modu les via MR-J4- _B-RJ MR-J3 (W)-_B ty pe se rvo amp lifier MR-J4(W)-_ B type serv o amplifi[...]

2 - 3 Chapter 2 S ystem Configu ration REMARK (Note- 1): Ref er to Sect ion " 2.3 App lica ble s ystem " for t he CPU m odu les th at can be us ed. (Note- 2): Refer to t he CPU m odule User's Man ual for the bas e uni ts that can b e use d. (Note- 3): T he exter nal input signa l cann ot be us ed d epe nding on the c onnec ted d evic[...]

2 - 4 Chapter 2 S ystem Configu ration 2.2 Component li st The pos itio nin g s ystem usi ng t he Sim ple Motio n m odule is conf igure d of the fo llow ing devices. No. Part name Type Remarks 1 Simple M otion module QD77MS2 QD77MS Number of control axes MS: SSCNE T ( /H ) mod el QD77MS4 QD77MS 16 2 Personal computer Personal computer which support[...]

2 - 5 Chapter 2 S ystem Configu ration [External input wirin g connector] Part nam e Specif ication Applic able connect or A6CON1, A6CON2, A6CON3, A6C ON4 (Sold separat ely) Applic able wire size 0.3mm 2 ( When A6CON1 and A 6CON4 are used), AW G28 to A W G24 (When A6CON2 is used), AWG28 (t wisted)/AW G30 (single wi re) (When A 6CON3 is used) Specif[...]

2 - 6 Chapter 2 S ystem Configu ration Serial absolut e sy nchronous encoder specifications Item Specifications Model name Q171ENC-W 8 (Note-1) Ambient temperature -5 to 55°C (23 to 131°F) Resolution 4194304PLS/rev Transmission m ethod Serial communicati ons (Connected to M R-J4-_B-RJ) Direction of increasing addre sses CCW (viewed from end of sh[...]

2 - 7 Chapter 2 S ystem Configu ration Specificat ions of serial absolute sy nchronous encoder input (CN2L) of serv o amplif ier Item Specifications Applicable types Q171ENC- W 8 Applicable signal types Differential- output type : (SN75C1168 or equiv alent) Transmission m ethod Serial communications Synchronous method Counter-clock-wise (v iewed fr[...]

2 - 8 Chapter 2 S ystem Configu ration 2.3 Applicable sy stem (1) Number of applic able modules Pay attenti on to the powe r supply capa city before mounting modul es beca use powe r supply capacity may be insuffi cien t depend ing on the combinatio n with other m odules or the num be r of m ounted m odul es. If th e power sup ply cap acity i s ins[...]

2 - 9 Chapter 2 S ystem Configu ration (b) Mo unti ng to a MELSE CNET/ H remote I/O stat ion Applicable network module No. of modules (Not e-1) Base unit (Note- 2) Main base unit of remote I/O station Extension base unit of remote I/O station QJ72LP25-25 Max. 64 modules QJ72LP25G QJ72BR15 : Ins tallation poss ible, : Inst allation not poss ible (No[...]

2 - 10 Chapter 2 S ystem Configu ration 2.4 How to check the functi on version and SE RIAL No. The f unctio n vers ion and th e SE RIAL No . of the Sim ple Motion m odule c an be check ed in the fo llow ing metho ds. (1) Confirming the ser ial number on the r ating plate The rat ing plate is situ ated on the side f ace of the Simpl e Mot ion m odul[...]

2 - 11 Chapter 2 S ystem Configu ration 2.5 Restrictions by the SERIAL No. and ver sion There ar e r estrict ions i n the func tion th at can be us ed b y the SE RIAL N o. of the S imple Motion m od ule an d the v ers ion of GX W orks 2. The c ombin atio n of each vers ion and func tion are s how n belo w. Function QD77MS2/QD77 MS4 QD77MS16 Referen[...]

2 - 12 Chapter 2 S ystem Configu ration MEM O[...]

3 - 1 3 Chapt er 3 Specific ations and F unc tions Chapter 3 Specifications and Functions The various specifications of the Simple Motion module are explained in this chapter. The "Performance specificati ons", "List of functions", "Specificat ions of input/output signals with PLC CPU", and "Specifications of inte[...]

3 - 2 Chapt er 3 Specific ations and F unc tions 3.1 Performance sp ecifications Model Item QD77MS2 QD77MS4 QD77MS16 Number of control axes 2 ax es 4 axes 16 axes Operation cyc le 0.88m s/1.77ms Interpolat ion funct ion 2-axis linea r interpolat ion, 2-axis ci rcular interpol ation 2-, 3-, or 4-a xis linear int erpolati on, 2-axis ci rcular interpo[...]

3 - 3 Chapt er 3 Specific ations and F unc tions Model Item QD77 MS2 QD77MS4 QD77MS16 Starti ng time (ms ) (Note-3) 0.88 0.88 1.77 1-axis linea r control 1-axis speed c ontrol 2-axis linea r interpol ation control (Com posit e speed) 2-axis linea r interpol ation control (Ref erence a xis speed) 2-axis ci rcular interpol ation control 2-axis speed [...]

3 - 4 Chapt er 3 Specific ations and F unc tions 3.2 List of functions 3.2.1 QD77MS control functions The S imple Mot ion m odule has s evera l func tions . In t his manual , the Sim ple Mot ion module func tions are c ateg orize d and expla ined as fol lows. Main f unctions (1) OPR control "OPR co ntrol" is a function (Fast O PR) that es[...]

3 - 5 Chapt er 3 Specific ations and F unc tions Sub f unctions W hen executing th e main f unctio ns, contro l com pensation , lim its and func tions c an be added. ( Refer to C hapte r 13 "Contro l Sub Functions ".) Common functions Comm on control us ing the Sim ple Motion m odul e for "par ameter initiali zatio n" or "b[...]

3 - 6 Chapt er 3 Specific ations and F unc tions Torque limit funct ion Control using " Positioning data" [Block start data] Control registered in QD77MS [Positioni ng start No.] [9002] [9001] Fas t O PR Machine OPR Sub functions Main functions High-level positio ning control Majo r position ing cont rol OPR control Man ual control Expan [...]

3 - 7 Chapt er 3 Specific ations and F unc tions 3.2.2 QD77MS main functions The ou tline of the m ain f unc tions f or pos itio ning c ontrol with the Sim pl e Moti on mod ule is des cribe d be low. (R efer t o "Sec tion 2" for detai ls on each f uncti on.) Main functions Details Reference section OPR control Machine OPR control Mechanic[...]

3 - 8 Chapt er 3 Specific ations and F unc tions Main functions Details Reference section High-level positioning control Block start (Normal start) W ith one start, ex ecutes the positioning d ata in a random block w ith the set order. 10.3.2 Condition start Carries out condition judgm ent set in the "condition data" for the designated po[...]

3 - 9 Chapt er 3 Specific ations and F unc tions 3.2.3 QD77MS sub functions The ou tline of the f unct ions t hat as sist posit ioni ng con trol using t he S imple Motio n module is desc ribed below. (R efer to " Section 2" for detai ls on each func tion .) Sub function Details Reference section Functions characteristic to machine OPR OPR[...]

3 - 10 Chapt er 3 Specific ations and F unc tions Sub function Details Reference section Absolute position system This function restores th e absol ute position of designated ax is. If the OPR is executed at the st art of system, after that, it is unnecessary to carry out the OPR when the power is turned ON . 13.6 Other functions Step function This[...]

3 - 11 Chapt er 3 Specific ations and F unc tions 3.2.4 QD77MS commo n functions The ou tline of the f unct ions execu ted as neces sar y is d escrib ed b elow. (Refer to "Sectio n 2" for det ails on eac h functi on.) Common functions Details Reference section Parameter initialization function This function returns the "para meters&q[...]

3 - 12 Chapt er 3 Specific ations and F unc tions Common functions Details Reference section Optional data monitor function This function is used to store th e data selected by user up to 4 data per axis to buffer memory and monitor them. 14.11 Module error collection function This function collects errors o ccurred in the Simple M otion module in [...]

3 - 13 Chapt er 3 Specific ations and F unc tions MEM O[...]

3 - 14 Chapt er 3 Specific ations and F unc tions 3.2.5 Combination of QD77M S main functions and sub functions W ith positi oning c ontro l us ing the Sim ple M otion m odule , the m ain f uncti ons an d sub functi ons c an be c ombi ned an d used as nec essar y. A list of the m ain f uncti on and s ub functi on com bin ations is g iven belo w. Su[...]

3 - 15 Chapt er 3 Specific ations and F unc tions Fun ction s that l imit con tro l Functi ons th at change cont rol deta ils Othe r func tions Speed limi t funct ion Torq ue lim it functi on Softwar e strok e limi t functi on Hard ware stro ke lim it func tion For ced stop functi on Speed chang e funct ion Overr ide f uncti on A cce lerati on/ dec[...]

3 - 16 Chapt er 3 Specific ations and F unc tions 3.3 Specifications of i nput/output sig nals with PLC CPU 3.3.1 List of input/outpu t signal s with PLC CPU The Sim ple Mot ion modu le uses 32 input po ints and 32 outpu t points for excha nging data with th e PLC CPU . The inp ut/outp ut signa ls when the he ad I/O num ber of Sim ple Mot ion m odu[...]

3 - 17 Chapt er 3 Specific ations and F unc tions (2) QD77 MS4 Signal direction: QD77M S4 PLC CPU Signal direction: PLC CPU QD77MS4 Device No. Signal name Device No. Signal name X0 READY Y0 PLC READY X1 Synchronization flag Y1 All axis serv o ON X2 Use prohibited Y2 Use prohibited X3 Y3 X4 Axi s 1 M code ON Y4 Axi s 1 Axis stop X5 Axi s 2 Y5 A xis [...]

3 - 18 Chapt er 3 Specific ations and F unc tions (3) QD77 MS16 Signal direction: QD77M S16 PLC CPU Signal direction: PLC CPU QD 77MS16 Device No. Signal name Device No. Signal name X0 READY Y0 PLC READY X1 Synchronization flag Y1 All axis serv o ON X2 Use prohibited Y2 Use prohibited X3 Y3 X4 Y4 X5 Y5 X6 Y6 X7 Y7 X8 Y8 X9 Y9 XA YA XB YB XC YC XD Y[...]

3 - 19 Chapt er 3 Specific ations and F unc tions 3.3.2 Details of input si gnals (QD77MS PLC CPU) The O N/OFF tim ing and c ondit ions of the input sign als ar e sho wn be low. (1) QD77M S2/QD77MS4 Device No. Signal nam e Details X0 READY ON: READY OFF: No t READY/ Watc h dog timer error • W hen the PLC REA DY signal [Y 0] turns from OFF to ON, [...]

3 - 20 Chapt er 3 Specific ations and F unc tions Important (Note- 1): T he BU SY sig nal t urns ON even when p ositi on co ntrol of m ovem ent am ount 0 is execu ted. Ho wever , since the O N tim e is s hort, t he ON stat us m ay not to be det ected in the sequen ce progr am. (Note- 2): " Posit ioning c om plete" of the Q D7 7MS2/Q D77MS[...]

3 - 21 Chapt er 3 Specific ations and F unc tions 3.3.3 Details of output signals (PLC CPU QD 77MS) The O N/OFF tim ing and c ondit ions of the out put si gnals ar e sho wn b elow. (1) QD77M S2/QD77MS4 Device No. Signal name Details Y0 PLC READY OFF: PLC READ Y OFF ON: PLC READ Y ON (a) This si gnal notifi es the Sim ple M otion m odule that t he P[...]

3 - 22 Chapt er 3 Specific ations and F unc tions (2) QD77 MS16 Device No. Signal name Details Y0 PLC READY OFF: PLC READ Y OFF ON: PLC READ Y ON (a) This si gnal notifi es the Sim ple M otion m odule that t he PLC CPU is normal. • I t is turned ON/OFF with t he sequence program . • Thi s signal i s turned ON during pos itioning cont rol, OPR c[...]

3 - 23 Chapt er 3 Specific ations and F unc tions 3.4 Specifications of i nterfaces with ex ternal devices 3.4.1 Electrical specifications of input sig nals (1) External input signals (a) S pecif icati ons of exter nal i nput s ignals Item Specifications Signal name Upper limit signal Lower limit signal STOP signal Near-point dog signal External co[...]

3 - 24 Chapt er 3 Specific ations and F unc tions (3) Manual pulse generator/Incremental synchronous encoder inpu t (a) S pecif icati ons of manual puls e gen erator/ incr emen tal s ynchr onous encod er Item Specifications Signal input form (Not e-1) Phase A/Phase B (Magnification by 4/ Magnification by 2/M agnification by 1), PLS/SIGN Differentia[...]

3 - 25 Chapt er 3 Specific ations and F unc tions 3.4.2 Signal l ayout for ex ternal input connection connector The s pecif icati ons of the c onn ector s ectio n, wh ich is the input/ outp ut inter face for t he Simpl e Motion modul e and exter nal dev ice, are sh own be low. QD77M S2 RUN ERR. AX1 AX2 QD77 MS2 AX2 AX1 QD77MS 16 RUN ERR. AX QD77MS [...]

3 - 26 Chapt er 3 Specific ations and F unc tions The s ignal l ayout f or th e ext ernal input c onnec tion c onn ector of Sim ple M otion m odul e is show n. Pin layout AX4 AX3 AX 2 AX1 Axis 4 (External inp ut signal 4) Axis 3 (External inp ut signal 3) Axis 2 (External inp ut signal 2) Axis 1 (External inp ut signal 1) Pin No. Signal nam e Pin N[...]

3 - 27 Chapt er 3 Specific ations and F unc tions 3.4.3 List of input sig nal details The de tails of each ext ernal inpu t conn ection c onnec tor of Sim ple Motion modul e ar e shown be low. Signal nam e Pin No. Signal detai ls Differe ntial- output type Manual pulse generator/ Increm ental synchronous enc oder A phase/P LS HAH (A+) 1A17 (1) Phas[...]

3 - 28 Chapt er 3 Specific ations and F unc tions Signal nam e Pin No. Signal detai ls Differe ntial- output type Manual pulse generator/ Increm ental synchronous enc oder A phase/P LS HAH (A+) 1A17 (2) PL S/SIGN Input the pul se signal f or counting the inc reased/dec reased pulse in t he pulse input (PLS ). Input t he signal for controlling f orw[...]

3 - 29 Chapt er 3 Specific ations and F unc tions Signal nam e Pin No. Signal detai ls Compatibility w ith the QD75MH Manual pulse gene rator power s upply output (+ 5V DC) (5V) 1A20 1A19 • P ower supply for m anual puls e generator MR-HDP01. (+ 5V DC) (This power suppl y is us ed with the external inp ut signal cable of QD75MH.) (Note): Do not c[...]

3 - 30 Chapt er 3 Specific ations and F unc tions 3.4.4 Interface internal circui t The ou tline diagram s of the intern al cir cuits f or the exter nal device c onnec tion interf ace (for t he Simpl e Moti on module , axi s 1) are show n below. (1) Interface between ex ternal input sig nals/forced stop input sig nals (Note-1): When using external [...]

3 - 31 Chapt er 3 Specific ations and F unc tions (2) Manual pulse generator/Incremental synchronous encoder i nput (a) In terface be twee n man ual pulse ge nerat or/inc rem ental s ynchro nous encoder (D iff erentia l-ou tput type) Input or Outp ut Sign al nam e Pin No. Wiring e xampl e In terna l cir cuit Input Manual pulse genera tor, phase A /[...]

3 - 32 Chapt er 3 Specific ations and F unc tions (3) W iring example for manual pulse gener ator/incremental synchronous encoder W ire the m anual p ulse g ene rator/i ncrem ental s ynchr onous enco der of diff erentia l output t ype and v oltage output t ype/open-c ollec tor t ype as follo ws. Switch the inp ut type of the Sim ple Moti on modul e[...]

3 - 33 Chapt er 3 Specific ations and F unc tions (b) Ma nual pu lse gener ato r/Increm ent al synchr onous encoder of volt age outpu t ty pe/open -colle ctor ty pe FG FG FG FG HA (A ) HB (B ) 5 V SG HA (A) HB (B) 5 V 0 V Simple Motion module HA (A) HB (B) 5 V SG HA (A) HB (B) 5 V 0 V When using the internal Manual pulse generator/ Incremental sync[...]

3 - 34 Chapt er 3 Specific ations and F unc tions 24VDC Power su pply 8 24VDC Power su pply 8 Emergen cy Stop EMG RS T CP1 3-phase 200 to 230V AC MCCB1 Ready ON Operation OFF Alarm RA1 1 EMG MC1 to 3 INPUT 100-240V AC FG LG Power Supp ly Q61P QnCPU PLC CPU QD77MS EMI EMI.COM Forc ed st op Output m odule QY41P Yn COM 12/24VDC SSCNET (/H) Simple M ot[...]

3 - 35 Chapt er 3 Specific ations and F unc tions RA2 MCCB 2 2 A L1 L2 L3 U W V L11 L21 CN1A CN1B DICOM ALM EM2/1 DOCOM MR-J 4-B M 24VDC U V W Ground Electro- magne tic brake 0 B L1 L2 L3 U W V L11 L21 CN1A CN1B DICOM ALM EM2/1 DOCOM MR-J 4-B M 24VDC U V W Ground Electro- magne tic brake 1 C L1 L2 L3 U W V L11 L21 CN1A CN1B DICOM ALM EM2/1 DOCOM MR[...]

3 - 36 Chapt er 3 Specific ations and F unc tions (Note-1): When the c ontrol power supply of servo am plifier is shut off, it is not poss ible to communi cate with the s ervo ampli f ier aft er that. Example) W hen the c ontrol power supply L11/ L21 of the s ervo ampli fier B in the fi gure is shut off, it is also not pos sible to communi cate wit[...]

3 - 37 Chapt er 3 Specific ations and F unc tions MEM O[...]

3 - 38 Chapt er 3 Specific ations and F unc tions 24VDC Power su pply 8 24VDC Power su pply 8 Emergen cy Stop EMG RS T CP1 3-phase 200 to 230V AC MCCB1 Ready ON Operation OFF Alarm RA1 1 EMG MC1 to 3 INPUT 100-240V AC FG LG Power Supp ly Q61P QnCPU PLC CPU QD77MS EMI EMI.COM Forc ed st op Output m odule QY41P Yn COM 12/24VDC SSCNET (/H) Simple M ot[...]

3 - 39 Chapt er 3 Specific ations and F unc tions RA2 MCCB 2 2 A L1 L2 L3 U W V CN1A CN1B DICOM MBR EM2/1 DOCOM MR-JE -B M 24VDC U V W Ground Electro- magne tic brake 0 B L1 L2 L3 U W V CN1A CN1B DICOM MBR EM2/1 DOCOM MR-JE -B M 24VDC U V W Ground Electro- magne tic brake 1 C L1 L2 L3 U W V CN1A CN1B DICOM MBR EM2/1 DOCOM MR-JE -B 24VDC U V W Groun[...]

3 - 40 Chapt er 3 Specific ations and F unc tions (Note-1): When the c ontrol power supply of servo am plifier is shut off, it is not poss ible to communi cate with the s ervo ampli f ier aft er that. Example) W hen the c ontrol power supply L11/ L21 of the s ervo ampli fier B in the fi gure is shut off, it is also not pos sible to communi cate wit[...]

3 - 41 Chapt er 3 Specific ations and F unc tions MEM O[...]

3 - 42 Chapt er 3 Specific ations and F unc tions 24VDC Pow er supp ly 7 24VDC Pow er supp ly 7 Emer gency S top EMG Ready ON Operat ion OFF Ala rm RA1 1 EMG MC1 to 3 6 Surge s uppres sor 6 6 SK SK SK RS T CP1 3-phas e 200 to 23 0VAC MCCB1 INPUT 100-240 VAC FG LG Power Suppl y Q61P QnCPU PLC CPU QD7 7MS EMI EMI.COM Forc ed sto p Output mod ule QY41[...]

3 - 43 Chapt er 3 Specific ations and F unc tions RA2 MC3 4 MCCB4 MC2 4 MCCB3 MC1 4 MCCB2 SSCNET (/H) 2 A L1 L2 L3 U W V L11 L21 CN1A CN1B DICOM ALM EM2/1 DOCOM MR-J4 -B M U V W Ground Electro- magneti c brake 0 B L1 L2 L3 U W V L11 L21 CN1A CN1B DICOM ALM EM2/1 DOCOM MR-J4 -B M U V W Ground Electro- magneti c brake 1 C L1 L2 L3 U W V L11 L21 CN1A [...]

3 - 44 Chapt er 3 Specific ations and F unc tions (Note-1): When the c ontrol power supply of servo am plifier is shut off, it is not poss ible to communi cate with the s ervo ampli f ier aft er that. Example) W hen the c ontrol power supply L11/ L21 of the s ervo ampli fier B in the fi gure is shut off, it is also not pos sible to communi cate wit[...]

3 - 45 Chapt er 3 Specific ations and F unc tions MEM O[...]

3 - 46 Chapt er 3 Specific ations and F unc tions 24VDC Pow er supp ly 7 24VDC Pow er supp ly 7 Emer gency S top EMG Ready ON Operat ion OFF Ala rm RA1 1 EMG MC1 to 3 6 Surge s uppres sor 6 6 SK SK SK RS T CP1 3-phas e 200 to 23 0VAC MCCB1 INPUT 100-240 VAC FG LG Power Suppl y Q61P QnCPU PLC CPU QD7 7MS EMI EMI.COM Forc ed sto p Output mod ule QY41[...]

3 - 47 Chapt er 3 Specific ations and F unc tions RA2 MC3 4 MCCB4 MC2 4 MCCB3 MC1 4 MCCB2 SSCNET (/H) 2 A L1 L2 L3 U W V CN1A CN1B DICOM MBR EM2/1 DOCOM MR-JE -B M U V W Ground Electro- magneti c brake 0 B L1 L2 L3 U W V CN1A CN1B DICOM MBR EM2/1 DOCOM MR-JE -B M U V W Ground Electro- magneti c brake 1 C L1 L2 L3 U W V CN1A CN1B DICOM MBR EM2/1 DOC[...]

3 - 48 Chapt er 3 Specific ations and F unc tions (Note-1): When the c ontrol power supply of servo am plifier is shut off, it is not poss ible to communi cate with the s ervo ampli f ier aft er that. Example) W hen the c ontrol power supply L11/ L21 of the s ervo ampli fier B in the fi gure is shut off, it is also not pos sible to communi cate wit[...]

4 - 1 4 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t Chapter 4 Installation, Wiring and Maintenance of the Product The installation, wiring and maintenance of the Simple Motion module a re explained in this chapter. Important information such as precautions to prevent malfunctioning of the Simple Motion module, accidents and i[...]

4 - 2 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t 4.1 Outline of instal lation, w iring and maintenance 4.1.1 Installation, w iring and mai ntenance pr ocedures The outl ine and proc edur es for Simple Mo tion m odule inst allat ion, wirin g and mainte nanc e are s hown belo w. Refer to Section 4.5 "Maintenance". Re[...]

4 - 3 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t 4.1.2 Names of each p art (1) T he part nam es of t he Sim ple Mot ion modul e are s hown below. 6) 6) 5) 5) 1) QD77 MS2 QD77MS4 Q D77MS 16 QD77M S2 RUN ERR. AX1 AX2 QD77MS2 AX2 AX1 7) 5) QD77M S4 RUN ERR. AX1 AX4 AX2 AX3 QD77MS4 AX2 AX1 AX4 AX3 QD77MS 16 RUN ERR. AX QD77MS 16[...]

4 - 4 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t (2) T he LED disp lay ind icates the follo wing o perat ion s tatus es of the Sim pl e Moti on module and axes . QD77MS4 QD77M S2 QD77MS2 RUN ERR. AX1 AX2 QD77MS4 RUN ERR. AX1 AX4 AX2 AX3 QD77MS16 RUN ERR. AX QD77M S16 LED Disp lay Description QD77MS 2 QD77MS 4 QD77MS 16 RUN L[...]

4 - 5 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t 4.1.3 Handling precautions Handle th e Sim ple Motion m odule and cab le while obs ervin g the fol lowin g precaut ions. [1] Handling p recautions CAUTION Use the programmable cont roller in an environment that meets the general specifications in t he manual "Safety Guide[...]

4 - 6 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t [2] Other precautions (1) Main body  The m ain bo dy case is m ade of plast ic. T ake car e not t o dro p or a ppl y stron g im pacts o nto the c as e.  Do not rem ove t he P CB of Sim ple Mot ion m odule f rom the cas e. F ailure to obs erve t his c ould lead t o f ault[...]

4 - 7 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t 4.2 Installation 4.2.1 Precautions for installation The prec au tions f or ins talli ng t he Sim ple M otio n modu le are give n be low. Ref er t o this sectio n as wel l as Secti on 4.1. 3 "Handli ng pre caution s" when ca rrying out the w ork. Precautions for insta[...]

4 - 8 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t 4.3 W iring The prec autions for wiri ng the S imple M otion m odule ar e given be low. Ref er to this sectio n as wel l as Secti on 4.1. 3 "Handli ng pre caution s" when ca rrying out the w ork. 4.3.1 Precautions for wiring DANGER Completely turn off the externally [...]

4 - 9 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t CAUTION Forcibly remov al the SSCNET cable from the Si mple Mot ion module will da mage the Simp le Motion module and SSCN ET cables. After removal of the SSC NET cable, be sure to put a cap on the SSCNET connector. Otherwise, adhesion of dirt det eriorates in characteristic a[...]

4 - 10 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t CAUTION If the adhesion of solvent and oil to the cord part of SSCNET cable may lower the optical characteristic and machine characteristic. If it is used such an environment, be sure to do the protection measures to the cord part. W hen keeping the Simple Motion module or se[...]

4 - 11 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t [1] Precautions for wiring (1) Use s epar ate c ables f or con nectin g to th e Sim ple Mot ion m odul e and f or the power c able that c reate s urge and induc tance. (2) T he cable for connect ing th e Simpl e Motion module ca n be placed in the duct or secur ed in plac e b[...]

4 - 12 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t Grou nding of FG wire Ground the FG wire securely to t he panel. Pane l Base unit[...]

4 - 13 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t [Processing exampl e of shielded cables] Connec tions of FG wire a nd eac h shi elded c able Coat the wire wi th insula ting t ape. Remove the covering from all shielded cables a nd bind the appeared shield with a conductive tape. Solder the shield of any one of the shielded [...]

4 - 14 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t (6) T o mak e this pr oduc t conf orm to the E MC d irecti ve instr uctio n and Low Volt age Dir ectiv es, be sure to us e an AD 75C K t ype cabl e clam p (m anufactur ed b y Mitsu bishi Electr ic) f or gro undi ng co nnecte d to th e contr ol box an d the shie lde d cable. A[...]

4 - 15 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t [2] Precautions for SSCNET cable wiring SSCNE T c able is made from optica l fiber . If o ptica l fi ber is adde d a po wer such as a majo r sho ck, late ral pre ssure, ha ul, sudd en bendin g or twi st, it s inside distor ts or break s, and optic al transm is sion will no t [...]

4 - 16 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t (4) T wisting If the S SCNET cable is t wisted , it will bec ome t he s ame s tress a dded condit ion as whe n loca l later al press ure or bend is adde d. Conseq uentl y, transm issio n loss incr eas es, and th e breakag e of SSCN ET cable m ay occur at worst. (5) Disposal W[...]

4 - 17 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t • Bund le fix ing Optic al cor d sh ould b e giv en lo ose s lack to avo id fr om becom in g sm aller t han the m inim um bend radi us, a nd it s hou ld not be t wisted. W hen la ying ca ble, f ix and ho ld it in pos itio n with usin g cus hionin g suc h as s pong e or r ub[...]

4 - 18 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t [3] Example of measur e against noise for compl iance wi th the EMC directiv e. 5) Power suppl y wiring QD77MS SSCNET cable 3) 1) 5) 4) 24VD C power supply AC power supply 2) : AD75CK cable clamp 1) Groun d the cabl es at a position within 30cm (11.82inc h) from the module wi[...]

4 - 19 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t 4.4 Confirmi ng the install ation and w iring 4.4.1 Items to confir m w hen installation and wi ring are compl eted Check the follo wing po ints whe n com pleted with the in stallat ion of Sim ple Mo tion module and wiri ng.  Is th e modu le cor rectl y wired ? The f ollow[...]

4 - 20 Chapt er 4 Installat ion, W iring and Mainte nance of the Produc t 4.5 Maintenance 4.5.1 Precautions for maintenance The prec au tions f or ser vic ing the Sim ple M otio n modu le are give n be low. Ref er t o this sectio n as wel l as Secti on 4.1. 3 "Handli ng pre caution s" when ca rrying out the w ork. DANGER Completely turn o[...]

5 - 1 5 Chapter 5 Data Us ed for P ositionin g Control Chapter 5 Data Used for Positioning Control The parameters and da ta used to carr y out positioning contro l with the Simple Moti on module are expl ained in this cha pter. With the position ing system using the Si mple Motion modul e, the various paramete rs and data explained in this chapter [...]

5 - 2 Chapter 5 Data Us ed for P ositionin g Control 5.1 Types of data 5.1.1 Parameters and data req uired for control The par am eters and dat a requ ired t o carr y out c ontrol with t he Simpl e Moti on modu le inclu de the "se ttin g data", " monitor data" an d "contr ol data " show n belo w. Expansion parameters S[...]

5 - 3 Chapter 5 Data Us ed for P ositionin g Control T he follo wing m ethods are avail able f or dat a sett ing: • Set us ing G X W ork s2. • Creat e the s equ ence pr ogram for data set ting us ing G X W orks 2 and ex ecute it. In th is m anual, t he m ethod using the GX W orks2 wi ll be expla ined. (Refer to "POINT " on the nex t p[...]

5 - 4 Chapter 5 Data Us ed for P ositionin g Control Monitor data (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.) Monitors the sp ecifications and the o peration history of Simple Motion module. Monitors the da ta for syn chronous con trol. Monitors the d ata related to the operat ing axis, s uch as [...]

5 - 5 Chapter 5 Data Us ed for P ositionin g Control 5.1.2 Setting items for positioning parameters The ta ble be low l ists items set to the pos itio ning p aram eters. T he "pos itio ning param eters " are s et for each ax is f or al l contr ols achie ved by the Sim ple Mot ion m odule. For det ails of con trols , ref er to "Sect i[...]

5 - 6 Chapter 5 Data Us ed for P ositionin g Control Control Pos itionin g paramet er OPR cont rol Majo r positi oning co ntrol Manual control Expa nsion control Relat ed s ub func tion Positio n control 1 to 4 axis sp eed cont rol Speed -posi tion o r pos ition -speed contro l Othe r cont rol Manual puls e gener ato r operat ion Inch ing op eratio[...]

5 - 7 Chapter 5 Data Us ed for P ositionin g Control 5.1.3 Setting items for OPR parameters W hen carr ying out "OPR contr ol", the "O PR par am eters" m ust be s et. T he set ting item s f or the "O PR par am eters" ar e sho wn bel ow. The "O PR p aram eters" are set for each axis . Refe r to Ch apte r 8 &qu[...]

5 - 8 Chapter 5 Data Us ed for P ositionin g Control 5.1.4 Setting it ems for expansion par ameters The s etting item s for the "ex pans ion par am eters" ar e sho wn bel ow. T he "expa nsio n param eters " are s et for each ax is. Refe r to "S ecti on 2" fo r detai ls on th e each cont rol, and re fer t o Secti on 5.2[...]

5 - 9 Chapter 5 Data Us ed for P ositionin g Control 5.1.6 Setting items for positioning data Posit ionin g data m us t be se t for c arr ying out any "m ajor pos itioni ng con trol ". The table below lists the item s to be s et for pro ducin g the p ositi oning data . One to 600 posit ionin g dat a item s can be set for each axis . For d[...]

5 - 10 Chapter 5 Data Us ed for P ositionin g Control Majo r positi oning co ntrol Pos itionin g data Positio n control 1 to 4 axis sp eed cont rol Speed -posi tion sw itch ing control Pos ition-s peed sw itchi ng control Othe r cont rol 1-axi s line ar co ntrol 2/3/ 4-axis l inea r inter polati on cont rol 1-axi s fixed -feed control 2/3/ 4-axis f[...]

5 - 11 Chapter 5 Data Us ed for P ositionin g Control 5.1.7 Setting items for block start data The " block start data" m ust be set when carr ying o ut "hi gh-le vel p ositi oning c ontr ol". The s etting item s for the "bl ock s tart dat a" ar e sho wn bel ow. Up to 50 poi nts of "block sta rt data " can be [...]

5 - 12 Chapter 5 Data Us ed for P ositionin g Control 5.1.8 Setting items for condition data W hen carr ying out "high- level posit ionin g contr ol" or usi ng the J UM P instr uctio n in t he "maj or pos ition ing co ntrol ", t he "co nditi on data " m ust be set as requ ired. T he set tin g item s for the "condi[...]

5 - 13 Chapter 5 Data Us ed for P ositionin g Control 5.1.9 Types and r oles of monitor data The m onitor data area i n the b uff er m emor y stores dat a rel ating to th e oper ating s tate of th e positi oning s yst em, whic h ar e moni tored as req uired while the posit ioning system is operat ing. The fo llowin g data a re availa ble fo r moni [...]

5 - 14 Chapter 5 Data Us ed for P ositionin g Control Monitoring details Corresponding item History of all w arnings Axis in w hich the warning occurred [Md.14] Axis in w hich the warning occurred Axis w arning No. [M d.15] Axis w arning No. Servo warning [Md.58] Servo w arning Axis w arning occurrence Year: month [ Md.56] Ax is warning occurrence [...]

5 - 15 Chapter 5 Data Us ed for P ositionin g Control [2] Monitoring the axis operati on state Monitoring the position Monitor details Corresponding item Monitor the current machine fe ed value [ Md.21] Machine feed value Monitor the current "current feed v alue" [Md.20] Current feed value Monitor the current target value [M d.32] Target [...]

5 - 16 Chapter 5 Data Us ed for P ositionin g Control Monitoring the status of servo amplif ier Monitor details Corresponding item Monitor the real current value (current feed v alue - deviation counter). [Md.101] Real current value Monitor the difference betw een current feed value and real cur rent value. [Md.102] Deviation counter v alue Monitor[...]

5 - 17 Chapter 5 Data Us ed for P ositionin g Control Monitor details Corresponding item Monitor the block No. [Md.45] Block No. being executed Monitor the current torque limit value [Md.35] Torque limit stored value/forward torque limit stored value [Md.120] Reverse torque limit stored v alue Monitor the command torque at torque control mode or co[...]

5 - 18 Chapter 5 Data Us ed for P ositionin g Control 5.1.10 Types and r oles of control data Opera tion of the p ositi oning s ystem is achie ved thr ough the ex ecutio n of necess ar y contr ols. (D ata requ ired for controls are gi ven thro ugh the def aul t values when the power is s witche d ON, which c an be m od ified as requ ired b y the se[...]

5 - 19 Chapter 5 Data Us ed for P ositionin g Control [2] Controlling the operation Contr olling the operat ion Control details Corresponding item Set which positioning to ex ecute (start No.). [Cd.3] Positioning start No. Clear (reset) the axis error ([Md.23]) and warning ([M d.24]). [Cd.5] Axis error reset Issue instruction to restart ( W hen ax [...]

5 - 20 Chapter 5 Data Us ed for P ositionin g Control Contr olling the speed Control details Corresponding item Set new speed when changing speed during operation. [Cd.14] N ew speed value Issue instruction to change speed in operation to [Cd.14] v alue. (Only during positioning operat ion and JOG operation). [Cd.15] Speed change request Change pos[...]

5 - 21 Chapter 5 Data Us ed for P ositionin g Control Control details Corresponding item Set "same setting/individual setting" of the forw ard torque limit value or reverse torque limit value in t he torque change function. [Cd.112] T orque change function sw itching request Change "[M d.35] Torque limit stored value/forw ard torque [...]

5 - 22 Chapter 5 Data Us ed for P ositionin g Control 5.2 List of parameter s The s etting item s of the posi tionin g par ameter , OPR param eter or s er vo param eter are expl ained in this se ction. • Guide to buf fer m emor y address In the buffer me mory ad dress, "n" in "1+150n" , etc. ind icate s a value corr espondi ng[...]

5 - 23 Chapter 5 Data Us ed for P ositionin g Control [Pr.1] Unit setting Set the unit used f or def ining posi tioning o peratio ns. C hoose from the f ollowing units dep ending on the t ype of the c ontrol target: mm , inch, degree , or PL S. Diff erent units ca n be defin ed for dif ferent ax es. (Exam ple) Diff erent units ( mm , inch, degre e,[...]

5 - 24 Chapter 5 Data Us ed for P ositionin g Control POINT (1) Set the electr onic g ear within t he f ollowi ng rang e. If the valu e outs ide th e sett ing r ange is set, the er ror "O utsi de elec tronic ge ar settin g rang e" ( error co de: 907) wi ll oc cur. • Pro duct informati on i s befor e 1504 100000 0000 0. 0.001  Electro[...]

5 - 25 Chapter 5 Data Us ed for P ositionin g Control [Pr.2] Number of pulses per rot ation (AP) Set the number of pulses r equired f or a com plete rotat ion of the m otor s haft. If you are using th e Mitsubi shi servo amplif ier MR-J4( W )-B/MR-JE- B/MR-J3(W )-B, set the va lue g iven as the "resolut ion per servom otor rotat ion" in t[...]

5 - 26 Chapter 5 Data Us ed for P ositionin g Control [Pr.7] Bias speed at start Set the bias speed (m inimum speed) upon s tarting. W hen using a steppi ng m otor, etc., set it to start th e m otor smoothl y. (If the m otor spe ed at s tart is lo w, the stepping m otor does not star t sm oothly.) The s pecified " bias spee d at s tart" w[...]

5 - 27 Chapter 5 Data Us ed for P ositionin g Control POINT For t he 2-ax is or mor e inter pola tion c ontro l, the bias s peed a t star t is appli ed b y the settin g of "[Pr. 20] I nterp olat ion s peed d esign atio n meth od".  "0: C om posite s peed " : Bias spee d at st art s et to t he ref erenc e axis is appli ed to t[...]

5 - 28 Chapter 5 Data Us ed for P ositionin g Control 5.2.2 Basic paramet ers 2 Item Setti ng value, set ting range Default value Buffe r memory address Value se t with GX W ork s2 V alue set with sequenc e program QD77MS2 QD77MS4 QD77MS16 [Pr.8] Speed lim it value The sett ing range differs depending on the "[Pr. 1] Unit sett ing". 20000[...]

5 - 29 Chapter 5 Data Us ed for P ositionin g Control 5.2.3 Detailed par ameters 1 Item Setti ng value, set ting range Default val ue Buffe r memory address Value se t with GX W ork s2 V alue set with sequenc e program QD77MS2 QD77MS4 QD77MS16 [Pr.11] Back lash compens ation amount The sett ing value range dif fers accordi ng to the "[ Pr.1] U[...]

5 - 30 Chapter 5 Data Us ed for P ositionin g Control Item Setti ng value, set ting range Default val ue Buffe r memory address Value se t with GX W ork s2 V alue set with sequenc e program QD77MS2 QD77MS4 QD77 MS16 [Pr.22] Input si gnal logic selecti on b0 Lower limit 0: Negative logic 1: Positive logic (Not e-1): Onl y the v alue specified agai n[...]

5 - 31 Chapter 5 Data Us ed for P ositionin g Control [Pr.11] Backlash compensation amount The err or that occur s due t o backlas h when m oving th e mac hine via gears can be compens ated. (W hen the backlas h com pensation am ount is set, com mands equivalent to the compens ation am ount will be output eac h tim e the dir ection c hanges dur ing[...]

5 - 32 Chapter 5 Data Us ed for P ositionin g Control [Pr.1] setting value Value set with GX W orks2 (unit) Value set with sequence progr am (unit) 0 : mm 0 to 6553.5 (  m) 0 to 65535 (  10 -1  m) 1 : inch 0 to 0.65535 (inch) 0 to 65535 (  10 -5 inch) 2 : degree 0 to 0.65535 (degree) 0 to 65535 (  10 -5 degree) 3 : PLS 0 to 65535 (PL[...]

5 - 33 Chapter 5 Data Us ed for P ositionin g Control [Pr.14] Software str oke limit selection Set whet her to appl y the so ftware str oke lim it on the "cur rent feed value" or the "m achine feed value". T he s oftware st roke lim it will be va lidate d accor ding to th e set v alue. To inva lidate th e sof tware strok e lim i[...]

5 - 34 Chapter 5 Data Us ed for P ositionin g Control [Pr.18] M code ON signal output timing This parameter sets the M code ON si gnal outpu t tim ing. Choose e ither W ITH m ode or AFT ER m ode as th e M c ode ON si gnal outp ut tim ing. [QD77MS4 operat ion exam ple] WITH m ode ............ An M c ode is output and the M code ON signal is turned O[...]

5 - 35 Chapter 5 Data Us ed for P ositionin g Control [Pr.19] Speed switching mode Set whet her to switc h the s peed switc hing m ode with the stan dard s witching or front- loading sw itching m ode. 0 : Standard s witchi ng .............. Switch the s peed when exec uting the nex t position ing dat a. 1 : Front-loa ding s witching ........ The sp[...]

5 - 36 Chapter 5 Data Us ed for P ositionin g Control [Pr.21] Current feed valu e during speed contr ol Specif y whether you wish to enabl e or disable the update of "[ Md.20] Current fee d value" while oper ations are perf ormed under the sp eed contr ol (incl uding the speed co ntrol in speed-pos ition an d positi on-spee d switc hing c[...]

5 - 37 Chapter 5 Data Us ed for P ositionin g Control [Pr.80] External input signal select ion Set whet her to use "extern al input s ignal of QD77 MS", "ex ternal input si gnal of servo am plifier" , or "buf fer m em ory of Q D77MS" as an ex ternal inpu t signal (upper/ lower lim it signal , near- point dog s ignal, o[...]

5 - 38 Chapter 5 Data Us ed for P ositionin g Control [Pr.24] Manual pulse generator/ Incremental synchronous encoder input selection Set the m anual pu lse gen erator/i ncrem ental synchr onous enc oder in put puls e m ode. (Only the value sp ecified a gainst th e axis 1 is va lid.) 0: A-phas e/B-ph ase m ultiplied b y 4 1: A-phas e/B-ph ase m ult[...]

5 - 39 Chapter 5 Data Us ed for P ositionin g Control (2) PLS /SIGN [Pr.22] Input signal logic selecti on Positive logic Negative logic Forward run and rev erse run are controlled with the ON/OFF of the direction sign (SIGN) . • The motor will forw ard run when the direction sign is HIG H. • The motor will rev erse run when the direction sign i[...]

5 - 40 Chapter 5 Data Us ed for P ositionin g Control 5.2.4 Detailed par ameters 2 Item Setti ng value, set ting range Default value Buffe r memory address Value se t with GX W ork s2 V alue set with sequenc e program QD77MS2 QD77MS4 QD77MS16 [Pr.25] A cceler ation ti me 1 1 to 8388608 (m s) 1 to 8388608 (m s) 1000 36+150n 37+150n [Pr.26] A cceler [...]

5 - 41 Chapter 5 Data Us ed for P ositionin g Control Item Setti ng value, set ting range Default value Buffe r memory address Value se t with GX W ork s2 V alue set with sequenc e program QD77MS2 QD77MS4 QD77MS16 [Pr.41] Allowable c ircular interpolat ion error width The setti ng value range dif fers depending on the " [Pr.1] Unit setting&quo[...]

5 - 42 Chapter 5 Data Us ed for P ositionin g Control [Pr.28] D ecele ration time 1 to [P r.30 ] Decel eration time 3 These par ameter s set the tim e for the s peed to dec rease f rom the "[Pr .8] Spe ed limit va lue" ( "[Pr.31] J OG s peed lim it value " at JOG o peratio n contr ol) to zero during a positio ning o perati on. [[...]

5 - 43 Chapter 5 Data Us ed for P ositionin g Control [Pr.34] Acceleration/deceler ation process selection Set whether to use tra pezoi d acceler ation/dec eleration or S-cur ve acceler ation/ decelerati on for the acceler ation/dec elerati on proces s. Note) Refer to Sec tion 13 .7.6 "Acc eleration/dec eleration proc essing f unction" fo[...]

5 - 44 Chapter 5 Data Us ed for P ositionin g Control [Pr.36] Sudden stop deceleration tim e Set the t ime to reac h speed 0 from "[Pr.8] Sp eed lim it value" ( "[Pr.31] J OG spee d limit va lue" at JOG oper atio n contro l) during the su dden stop. T he il lustrat ion below sho ws the re lations hips with oth er param eters. Wh[...]

5 - 45 Chapter 5 Data Us ed for P ositionin g Control [Pr.40] Positioning complet e signal output time Set the outp ut tim e of the p ositioning c omplete signal output fr om the Sim ple Motion m odule. A positi oning com plet es when th e specif ied dw ell tim e has pas sed af ter the Sim ple Motion m odule had ter mina ted the com m and output. F[...]

5 - 46 Chapter 5 Data Us ed for P ositionin g Control [Pr.41] Allowable circular inter polation err or width The allo wable er ror rang e of the c alculate d arc path a nd en d point ad dress is set. 1 If the error of the c alculat ed arc path a nd end point a ddress is within th e set range, c ircular int erpolat ion will b e carrie d out to the s[...]

5 - 47 Chapter 5 Data Us ed for P ositionin g Control [Pr.42] External command funct ion selection Select a c omm and with which the external c omm and signal shou ld be associate d. 0: Exter nal positio ning star t The ex ternal comm and sig nal input is used to start a positioni ng operatio n. 1: Exter nal speed c hange r equest The ex ternal com[...]

5 - 48 Chapter 5 Data Us ed for P ositionin g Control [Pr.84] Restart allowable rang e when servo OFF to ON (1) Restar t function a t switc hing servo OF F to ON The res tart func tion at s witching s ervo OF F to ON per form s continuo us position ing oper ation (p ositioni ng start, r estart) when s witching s ervo OFF to ON while t he Sim ple Mo[...]

5 - 49 Chapter 5 Data Us ed for P ositionin g Control (2) Setting method For perf orming res tart at s witching ser vo OFF to ON, s et the rest art allo wable range in t he follo wing buf fer m emor y . Buffe r memory address Item Sett ing range Default val ue QD77MS2 QD77MS4 QD77 MS16 64+150n 65+150n [Pr.84] Restart al lowable range when servo OFF[...]

5 - 50 Chapter 5 Data Us ed for P ositionin g Control (g) Restar t can also be executed while the positio ning s tart signal is ON. However, do not set t he po sitionin g start si gnal fr om OF F to ON dur ing a stop. If the posi tioning s tart s ignal is s witched f rom OFF to O N, positio ning is perform ed from the position ing data num ber s et[...]

5 - 51 Chapter 5 Data Us ed for P ositionin g Control [Pr.90] Operation setting for speed- torque control mode Operation s etting of the s peed co ntrol m ode, torqu e control m ode or cont inuous operatio n to torqu e contro l m ode at the speed- torque control is execut ed. (1) T orque initi al valu e sel ection Set the t orque init ial v alue at[...]

5 - 52 Chapter 5 Data Us ed for P ositionin g Control [Pr.95] Ex ternal com mand signal selection QD77 MS16 Set the external c omm and signal. 0: Not used ........ Ex ternal com m and signal is not used. 1: DI1 ................. DI1 is us ed as exter nal com mand signa l. 2: DI2 ................. DI2 is us ed as exter nal com mand signa l. 3: DI3 .[...]

5 - 53 Chapter 5 Data Us ed for P ositionin g Control [Pr.43] OPR m ethod Set the "OPR m ethod" for carr ying out m achine OPR. 0: Near-point d og method ......... After dec elerating a t the n ear-point d og ON, s top at the zer o signal and com plete the m achine O PR. 4: Count m ethod 1) ................... Af ter deceler ating at th e[...]

5 - 54 Chapter 5 Data Us ed for P ositionin g Control 0 : Near-point dog method (1) Start machine OPR. (Start movement at the "[Pr.46] O PR speed" in the "[Pr.44] OPR direction".) (2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to "[Pr.47] Creep sp eed", and move with the creep speed. (At this [...]

5 - 55 Chapter 5 Data Us ed for P ositionin g Control 5 : Count method 2) (1) Start machine OPR. (Start movement at the "[Pr.46] O PR speed" in the "[Pr.44] OPR direction".) (2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to "[Pr.47] Creep sp eed", and move with the creep speed. (4) After the n[...]

5 - 56 Chapter 5 Data Us ed for P ositionin g Control [Pr.44] OPR dir ection Set the direction to start m ovem ent when st arting m achine O PR. 0: Positi ve dir ection ( addre ss incr ement dir ection) Moves in the direc tion th at the addr ess incr ements . (Arrow 2)) 1: Negat ive direc tion (ad dress dec rem ent directio n) Moves in the direc ti[...]

5 - 57 Chapter 5 Data Us ed for P ositionin g Control [Pr.45] OP address Set the address us ed as th e referenc e point f or posit ionin g control ( ABS s ystem ). (W hen the mac hine OPR is com pleted, the s top pos ition ad dress is changed to th e address s et in "[Pr .45] O P address ". At the s ame tim e, the "[Pr .45] O P addre[...]

5 - 58 Chapter 5 Data Us ed for P ositionin g Control [Pr.47] Creep speed Set the cr eep spe ed after n ear-point d og ON (t he low s peed jus t before stop ping after dec elerating f rom the OPR speed) . The c reep speed is set with in the fol lowing r ange. ([Pr.46] OPR speed) ([Pr.47] Creep speed) ([Pr.7] Bias speed at start) ON V Machine OPR st[...]

5 - 59 Chapter 5 Data Us ed for P ositionin g Control [Pr.48] OP R retry Set whether to carry out O PR retry. W hen the OPR retr y functio n is val idated an d the m achine O PR is star ted, fir st the axis will move in the O PR direc tion (1) ). If the upper/lo wer lim it signal turns OF F before the near- point dog si gnal ON is detect ed (2)), t[...]

5 - 60 Chapter 5 Data Us ed for P ositionin g Control 5.2.6 OPR detailed par ameters Item Setti ng value, set ting range Default value Buffe r memory address Value se t with GX W ork s2 V alue set with sequenc e program QD77MS2 QD77MS4 QD77MS16 [Pr.50] Setti ng for the movem ent amount after near-point dog ON The setti ng value range dif fers depen[...]

5 - 61 Chapter 5 Data Us ed for P ositionin g Control [Pr.50] Setting for the movement amount after near-point dog ON W hen using the co unt meth od 1) or 2), set the m ovem ent amount t o the OP after the near-po int dog s ignal tur ns ON. (The m ovem ent amount af ter near-p oint do g ON sho uld be equ al to or greater than the sum of the "d[...]

5 - 62 Chapter 5 Data Us ed for P ositionin g Control [Pr.52] OPR deceleration t ime selection Set which of "dece leratio n tim e 0 to 3" to use for the deceler ation tim e durin g OPR . 0 : Use the value set in "[Pr .10] D ecelerati on tim e 0". 1 : Use the value set in "[Pr .28] D ecelerati on tim e 1". 2 : Use the v[...]

5 - 63 Chapter 5 Data Us ed for P ositionin g Control [Pr. 54] OPR torq ue limit value Set the value to limit the ser vomotor torque af ter reach ing the cree p speed during machine O PR. Refer to S ection 13 .4.2 "T orque lim it function " for deta ils on t he torqu e lim its. [Pr.55] Operation setting for incom pletion of O PR Set whet [...]

5 - 64 Chapter 5 Data Us ed for P ositionin g Control [Pr.56] Speed designation dur ing OP shift Set the operatio n speed f or when a value oth er than " 0" is s et for " [Pr.53] OP shif t amount". S elect th e setting from "[Pr.46] OPR s peed" o r "[Pr.47] Cr eep sp eed". 0 : Design ate "[Pr .46] OPR sp[...]

5 - 65 Chapter 5 Data Us ed for P ositionin g Control 5.2.7 Expansion par ameters Item Setti ng value, set ting range Default val ue Buffe r memory address Value se t with GX W ork s2 Value s et with sequenc e program QD77MS2 QD77MS4 QD77MS16 [Pr.91] Optional data m onitor: Data ty pe se tting 1 0 : No setting 1 : Effecti ve load ratio 2 : Regenera[...]

5 - 66 Chapter 5 Data Us ed for P ositionin g Control [Pr.91] Optional data monitor : Data type sett ing 1 to [Pr.94] Opt ional data monito r: Data ty pe se tting 4 Set the data type m onitor ed in opt ional dat a m onitor func tion. Setting value Data type Used point 0 No setting (Note-1) 1 word 1 Effective load ratio 2 Regenerative load factor 3 [...]

5 - 67 Chapter 5 Data Us ed for P ositionin g Control POINT (1) T he moni tor a ddress of option al data m onitor is re gist ered t o serv o am plifi er wit h init ialize d comm unic atio n after power supp ly ON or PLC CPU r eset. (2) Set the da ta t ype of "use d point: 2 words " in "[Pr .91] Opt ional dat a mon itor: Dat a type s [...]

5 - 68 Chapter 5 Data Us ed for P ositionin g Control [Pr.96] Operation cycle setting Set the operatio n cycle. (O nl y the value spec if ied agai nst the ax is 1 is v alid.) 0: 0.88m s 1: 1.77m s POINT (1) I n this param eter, the va lue s et in f lash RO M of Sim ple M otion m odu le is valid at powe r supply ON or PL C CPU reset . Fet ch by PLC [...]

5 - 69 Chapter 5 Data Us ed for P ositionin g Control POINT In this par ameter , the val ue set in flash RO M of Sim ple Motion m odule is valid at powe r supply ON or PL C CPU reset . Fet ch by PLC READY si gnal OFF to ON is not ex ecuted . Exec ute f lash ROM writin g to ch ange after settin g a va lue to buf fer me mo ry . [Pr.114] External comm[...]

5 - 70 Chapter 5 Data Us ed for P ositionin g Control 5.2.8 Servo par ameters (1) Se rvo series Item Setting detai ls Setti ng range Default value Buffe r memory address QD77MS2 QD77MS4 QD77MS16 [Pr.100] Servo serie s Used to s elect the s ervo amplif ier series to connec t to the Simpl e Motion module. [POINT] • Be su re to se t up servo serie s[...]

5 - 71 Chapter 5 Data Us ed for P ositionin g Control (a) Bas ic sett ing param eter s Servo am plifier Param eter No. Buffe r memory address S ervo amplif ier Param eter No. Buffe r memory address QD77MS2 QD77MS4 QD77 MS16 QD77MS2 QD77MS4 QD77MS16 PA01 30101+ 200n 28401+100n PA18 30118+ 200n 28418+100n PA02 30102+ 200n 28402+100n PA19 30932+ 50n S[...]

5 - 72 Chapter 5 Data Us ed for P ositionin g Control (b) Ga in/filt er se tting para m eters Servo am plifier Param eter No. Buffe r memory address S ervo amplif ier Param eter No. Buffe r memory address QD77MS2 QD77MS4 QD77 MS16 QD77MS2 QD77MS4 QD77MS16 PB01 30119+ 200n 28419+100n PB33 30151+200n 28451+100n PB02 30120+ 200n 28420+100n PB34 30152+[...]

5 - 73 Chapter 5 Data Us ed for P ositionin g Control (c) Extension setting parameters Servo am plifier Param eter No. Buffe r memory address S ervo amplif ier Param eter No. Buffe r memory address QD77MS2 QD77MS4 QD77 MS16 QD77MS2 QD77MS4 QD77MS16 PC01 30164+200n 28464+100n PC33 64432+ 250n 64432+ 70n PC02 30165+200n 28465+100n PC34 64433+ 250n 64[...]

5 - 74 Chapter 5 Data Us ed for P ositionin g Control (d) I/O s ettin g par ameter s Servo am plifier Param eter No. Buffe r memory address S ervo amplif ier Param eter No. Buffe r memory address QD77MS2 QD77MS4 QD77 MS16 QD77MS2 QD77MS4 QD77MS16 PD01 30196+200n Set w ith GX Works 2 PD25 30220+200n Set w ith GX Works 2 PD02 30197+200n PD26 30221+ 2[...]

5 - 75 Chapter 5 Data Us ed for P ositionin g Control (e) Ext ens ion s etting 2 par am eters Servo am plifier Param eter No. Buffe r memory address S ervo amplif ier Param eter No. Buffe r memory address QD77MS2 QD77MS4 QD77 MS16 QD77MS2 QD77MS4 QD77MS16 PE01 30228+ 200n Set w ith GX Works 2 PE33 30260+ 200n Set w ith GX Works 2 PE02 30229+ 200n P[...]

5 - 76 Chapter 5 Data Us ed for P ositionin g Control (f) Specia l s ett ing par amet ers Servo am plifier Param eter No. Buffe r memory address S ervo amplif ier Param eter No. Buffe r memory address QD77MS2 QD77MS4 QD77 MS16 QD77MS2 QD77MS4 QD77MS16 PS01 30268+ 200n Set w ith GX Works 2 PS17 30284+ 200n Set w ith GX Works 2 PS02 30269+ 200n P S18[...]

5 - 77 Chapter 5 Data Us ed for P ositionin g Control (h) Opt ion s etting par ameters Servo am plifier Param eter No. Buffe r memory address S ervo amplif ier Param eter No. Buffe r memory address QD77MS2 QD77MS4 QD77 MS16 QD77MS2 QD77MS4 QD77MS16 Po01 30916+50n Set w ith GX Works 2 Po17 64536+250n Set w ith GX Works 2 Po02 30917+50n Po18 64537+ 2[...]

5 - 78 Chapter 5 Data Us ed for P ositionin g Control (3) Pa rame ters of MR-J3( W )-_B The par am eter lis t for MR-J 3(W )-_B is show n bel ow. Refer t o eac h ser vo am plif ier ins truc tio n manu al f or det ails of set ting item s. Do not chan ge other than the b uff er mem ory addres ses of the param eters de sc ri be d i n e ach s ervo ampl[...]

5 - 79 Chapter 5 Data Us ed for P ositionin g Control (a) Bas ic sett ing param eter s Servo am plifier Param eter No. Buffe r memory address S ervo amplif ier Param eter No. Buffe r memory address QD77MS2 QD77MS4 QD77 MS16 QD77MS2 QD77MS4 QD77MS16 PA01 30101+ 200n 28401+100n PA11 30111+200n 28411+100n PA02 30102+ 200n 28402+100n PA12 30112+200n 28[...]

5 - 80 Chapter 5 Data Us ed for P ositionin g Control (c) Expansio n setting parameters Servo am plifier Param eter No. Buffe r memory address S ervo amplif ier Param eter No. Buffe r memory address QD77MS2 QD77MS4 QD77 MS16 QD77MS2 QD77MS4 QD77MS16 PC01 30164+200n 28464+100n PC17 30180+ 200n 28480+ 100n PC02 30165+200n 28465+100n PC18 30181+ 200n [...]

5 - 81 Chapter 5 Data Us ed for P ositionin g Control (e) Ext ens ion c ontrol p aram eter s Servo am plifier Param eter No. Buffe r memory address S ervo amplif ier Param eter No. Buffe r memory address QD77MS2 QD77MS4 QD77 MS16 QD77MS2 QD77MS4 QD77MS16 PE01 30228+ 200n Set w ith GX Works 2 PE21 30248+ 200n Set w ith GX Works 2 PE02 30229+ 200n P [...]

5 - 82 Chapter 5 Data Us ed for P ositionin g Control (g) Other setting parameters Servo am plifier Param eter No. Buffe r memory address S ervo amplif ier Param eter No. Buffe r memory address QD77MS2 QD77MS4 QD77 MS16 QD77MS2 QD77MS4 QD77MS16 PF01 30900+50n Set w ith GX Works 2 PF09 30908+50n Set w ith GX Works 2 PF02 30901+50n PF10 30909+ 50n PF[...]

5 - 83 Chapter 5 Data Us ed for P ositionin g Control 5.3 List of positioni ng data Be fore expl aini ng the po sitionin g dat a settin g items [Da.1 ] to [Da.10] , [Da.2 0] to [D a.22] the co nfig urati on of th e pos itio ning d ata wi ll be s how n belo w. The pos itio ning data st ored in t he buf fer m em ory of Sim ple Mot ion m odul e has th[...]

5 - 84 Chapter 5 Data Us ed for P ositionin g Control The des crip tions that fo llow relate to the posit ionin g da ta set item s [Da.1] to [D a.10], [Da.20] t o [D a.22]. (The buf fer m em ory addr ess es shown are t hose of the "pos ition ing da ta No. 1".) • Guide to buf fer m emor y address In the buffer memory ad dress, "n&qu[...]

5 - 85 Chapter 5 Data Us ed for P ositionin g Control Item Setting value Default value Buffe r mem ory ad dres s Val ue set with GX W or ks2 Value s et wi th se quence progr am QD77M S2 QD77M S4 QD77MS16 Pos itionin g ident ifier [Da. 1] Operati on patter n 00: Po siti oning complete 00 O peration pattern b15 Setting value Control sy stem H b12 b8 [...]

5 - 86 Chapter 5 Data Us ed for P ositionin g Control Item Setti ng value, set ting range Def ault value Buffe r memory address Value se t with GX W ork s2 Value set with sequence program QD77MS2 QD77MS4 QD77MS16 [Da.6] Posit ioning address/ movem ent amount The s etting value rang e differs according to t he "[Da.2] Control syste m". 0 2[...]

5 - 87 Chapter 5 Data Us ed for P ositionin g Control [Da.1] O peration pattern The operat ion patt ern des ignates wheth er pos itioning of a c ertain data No. is to be ended with j ust that data, o r whether the positio ning fo r the nex t data No. is to be carrie d out in successi on. [Operation patt ern] Positioning complete Independent positio[...]

5 - 88 Chapter 5 Data Us ed for P ositionin g Control [Da.4] D ecele ration time No . Set which of "dece leratio n tim e 0 to 3" to use for the deceler ation tim e durin g position ing. 0: Use the value se t in "[Pr .10] Dec elerati on tim e 0". 1: Use the value se t in "[Pr .28] Dec elerati on tim e 1". 2: Use the val[...]

5 - 89 Chapter 5 Data Us ed for P ositionin g Control (2) Incremental (INC) system, f ixed-fe ed 1, fix ed-feed 2, fixed-feed 3, fixed-feed 4  The sett ing v alue (m ovem ent am ount) f or th e INC s yste m is set as a movem ent am ount with s ign. W hen movem ent am ount is posit ive: Moves in t he pos iti ve direc ti on (ad dress increm ent d [...]

5 - 90 Chapter 5 Data Us ed for P ositionin g Control W hen "[ Pr.1] U nit se tting " is "mm " The table below l ists the co ntrol s ystem s that requ ire the sett ing of the posit ioning address or movem ent am ount and the associate d setti ng ranges. (W ith any control s ystem exc luded from the table b elow, ne ither the pos[...]

5 - 91 Chapter 5 Data Us ed for P ositionin g Control W hen "[ Pr.1] U nit se tting " is "degr ee" The table below l ists the co ntrol s ystem s that requ ire the sett ing of the posit ioning address or movem ent am ount and the associate d setti ng ranges. (W ith any control s ystem exc luded from the table b elow, ne ither the[...]

5 - 92 Chapter 5 Data Us ed for P ositionin g Control W hen "[ Pr.1] U nit sett ing " is " PLS" The table below l ists the co ntrol s ystem s that requ ire the sett ing of the posit ioning address or movem ent am ount and the associate d setti ng ranges. (W ith any control s ystem exc luded from the table b elow, ne ither the po[...]

5 - 93 Chapter 5 Data Us ed for P ositionin g Control W hen "[ Pr.1] U nit sett ing " is " inch" The table below l ists the co ntrol s ystem s that requ ire the sett ing of the posit ioning address or movem ent am ount and the associate d setti ng ranges. (W ith any control s ystem exc luded from the table b elow, ne ither the p[...]

5 - 94 Chapter 5 Data Us ed for P ositionin g Control W hen "[ Pr.1] U nit se tting " is "mm " The table below l ists the co ntrol s ystem s that requir e the sett ing of the arc addr ess and sho ws the setting r ange. (W ith any control s ystem excluded f rom the table bel ow, the ar c addres s does n ot need to be s et.) [Da.2[...]

5 - 95 Chapter 5 Data Us ed for P ositionin g Control W hen "[ Pr.1] U nit sett ing " is " inch" The table below l ists the co ntrol s ystem s that requir e the sett ing of the arc addr ess and sho ws the setting r ange. (W ith any control s ystem excluded f rom the table bel ow, the ar c addres s does n ot need to be s et.) [Da[...]

5 - 96 Chapter 5 Data Us ed for P ositionin g Control [Da.9] Dwell t ime/JU MP designation positi oning data No. Set the "d well tim e" or "pos itionin g data N o." correspon ding to the "[Da.2] Control sy s tem" .  W hen a method other tha n "JUMP instruc tion" is set f or "[Da.2] Control s ystem &qu[...]

5 - 97 Chapter 5 Data Us ed for P ositionin g Control [Da.10] M code/C ondition dat a No./Number of LOOP to LEND repetit ions Set an "M c ode", a "con dition d ata No.", or the "Num ber of LOOP to LEN D repetitio ns" dep ending on ho w the "[Da.2 ] Control s ystem " is s et. 1  If a m ethod other th an &qu[...]

5 - 98 Chapter 5 Data Us ed for P ositionin g Control [Da.20] Axis to be int erpolat ed No.1 to [Da. 22] Axis to be inte rpolated No.3 QD77MS16 Set the axis to be interpol ated to ex ecute the 2 to 4-ax is interp olation o peratio n. • 2-axis interp olatio n ......... Set the target axis num ber in "[D a.20] Ax is to be interpol ated No.1&qu[...]

5 - 99 Chapter 5 Data Us ed for P ositionin g Control 5.4 List of block start data The i llustrat ions b elow s how th e orga nizat ion of the block star t data s tored in the buff er mem ory of S imple Mot ion m odule. T he b lock start d ata s etting item s [Da.1 1] to [D a.14] are exp lained in th e pages t hat fol low. • QD77 MS2/Q D77MS4 260[...]

5 - 10 0 Chapter 5 Data Us ed for P ositionin g Control The f ollowi ng pag es ex plain th e bl ock s tart dat a sett ing i tem s [Da.11] to [Da. 14] . (The buf fer m em ory addr ess es show n are t hos e of the "1st point block start data (bl ock No. 70 00)" .) • Guide to buf fer m emor y address In the buffer me mory ad dress, "n[...]

5 - 10 1 Chapter 5 Data Us ed for P ositionin g Control REMARK To perf orm a hig h-leve l pos ition ing contr ol us ing block start data, set a number between 7000 and 7004 to the "[ Cd.3] Positio ning star t No." an d use the "[C d.4] Posit ionin g starting point N o." to spec if y a point num ber betwe en 1 and 50, a posit ion[...]

5 - 10 2 Chapter 5 Data Us ed for P ositionin g Control • QD77 MS4 Block No. 1 Axis Block start data Condition Buffer memory GX Works2 7000 Ax is 1 Start block 0 Condition data (1 to 10) Supports the settings Supports the settings Axis 2 Condition data (1 to 10) Axis 3 Condition data (1 to 10) Axis 4 Condition data (1 to 10) 7001 Ax is 1 Start bl[...]

5 - 10 3 Chapter 5 Data Us ed for P ositionin g Control Item Setting v alue Default value Buffe r memory address Value set with GX Works 2 Val ue set with sequenc e program QD77MS2 QD77MS4 QD77MS16 [Da.11] Shape 0 : End 0 b15 b0 b3 b7 b11 000 Start data N o. Shap e 0000 H 26000+1000n 22000+400n 1 : Continue 1 [Da.12] Start dat a No. Posit ioning da[...]

5 - 10 4 Chapter 5 Data Us ed for P ositionin g Control [Da.11] Shape Set whether to car ry out onl y the local "block start data " and the n end contr ol, or to execute t he "bloc k s tart data" set in the next p oint. Setting value Setting details 0 : End Ex ecute the designated point's "block start data", and t[...]

5 - 10 5 Chapter 5 Data Us ed for P ositionin g Control 5.5 List of condition dat a The i llustrat ions b elow s how th e orga nizat ion of the c ondit ion d ata stor ed in the buf fer mem ory of S imple Mot ion m odule. T he c ondit ion data s etting item s [Da.1 5] to [D a.1 9] and [D a.23] t o [Da .26] are expl ained in th e pages that fol low. [...]

5 - 10 6 Chapter 5 Data Us ed for P ositionin g Control The f ollowi ng pag es ex plain th e cond ition data setti ng it ems [Da.15] to [Da. 19] and [Da.23] t o [D a.26]. (The buf fer m em ory addr ess es show n are t hos e of the "co nditio n data No. 1 (block No. 7000) ".) • Guide to buf fer m emor y address In the buffer me mory ad d[...]

5 - 10 7 Chapter 5 Data Us ed for P ositionin g Control REMARK To perf orm a hig h-leve l pos ition ing contr ol us ing block start data, set a number between 7000 and 7004 to the "[ Cd.3] Positio ning star t No." an d use the "[C d.4] Posit ionin g starting point N o." to spec if y a point num ber betwe en 1 and 50, a posit ion[...]

5 - 10 8 Chapter 5 Data Us ed for P ositionin g Control • QD77 MS4 Block No. 1 Axis Block start data Condition Buffer memory GX W orks2 7000 Ax is 1 Start block 0 Condition data (1 to 10) Supports the settings Supports the settings Axis 2 Condition data (1 to 10) Axis 3 Condition data (1 to 10) Axis 4 Condition data (1 to 10) 7001 Ax is 1 Start b[...]

5 - 10 9 Chapter 5 Data Us ed for P ositionin g Control Item Setting v alue Default value Buffe r memory address Value set with GX Works 2 Value s et with sequence prog ram QD77 MS2 QD77MS4 QD77MS16 Condition ide ntifi er [Da.15] Condition target 01 : Devi ce X 01H b15 b0 b7 b8 Condition operator Condition tar get 0000H 26100+1000 n 22100+400n 02 :[...]

5 - 11 0 Chapter 5 Data Us ed for P ositionin g Control Item Setting v alue Defaul t value Buffe r memory address Value set with GX Works 2 Value s et with sequenc e program QD77MS2 QD77MS4 QD77MS16 Simult ane ously st arting axi s [Da.23] Number of simult aneously start ing axes QD77MS16 2: 2 axes 2H Da.24 Da.26 Da.25 Da.23 b0 b4 b8 b12 b1 5 0000H[...]

5 - 11 1 Chapter 5 Data Us ed for P ositionin g Control [Da.15] Condit ion target Set the co ndition t arget as required f or each c ontro l. Setting value Setting details 01H : Device X Set the input/output signal ON/OFF as the condition s. 02H : Device Y 03H : Buffer memory (1-word) Set the value stored in the buffer memory as the condition. 03H:[...]

5 - 11 2 Chapter 5 Data Us ed for P ositionin g Control [Da.18] Par ameter 1 • QD77 MS2/Q D77MS4 Set t he param eters as r equi red for the "[D a.16 ] Con ditio n oper ator". [Da.16] Condition operator Setting value Setting details 01H :  =P1 Value The value of P1 should be equ al to or smaller than the value o f P2. (P1  P2) I[...]

5 - 11 3 Chapter 5 Data Us ed for P ositionin g Control [Da.19] Par ameter 2 • QD77 MS2/Q D77MS4 Set t he param eters as r equi red for the "[D a.16 ] Con ditio n oper ator". [Da.16] Condition operator Setting value Setting details 01H :  =P1 — Not used. (No need to be set.) 02H :   P1 03H :  P1 04H :  ?[...]

5 - 11 4 Chapter 5 Data Us ed for P ositionin g Control [Da.23] Num ber of simultaneously start ing axes QD77MS16 Set the num ber of simultan eousl y starting ax es to exe cute the s imultane ous start. 2: Sim ultaneous s tart b y 2 axes of the starting axis an d axis set in "[Da .24] Simultan eousl y starting ax is No.1". 3: Sim ultaneou[...]

5 - 11 5 Chapter 5 Data Us ed for P ositionin g Control MEM O[...]

5 - 11 6 Chapter 5 Data Us ed for P ositionin g Control 5.6 List of moni tor data The s etting item s of the m onitor data ar e ex plain ed in t his s ectio n. • Guide to buf fer m emor y address In the buffer memory ad dress, "n" in "2406+ 100n", etc. indi cate s a value corres pondi ng to ax is N o. suc h as t he fol lowing [...]

5 - 11 7 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address (common for all ax es) QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a decimal. Stora ge value 0: Not in tes t mode 1: In test mode Monitor v alue 0 1200 4000 (Unless noted in particular, the monitor value is sav ed as b[...]

5 - 11 8 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details Reading the monitor v alue Starting history (Up to 16 records can be stored) [Md.3] Start information [Storage details] T his area stores the start information (restar t flag, start origin, and start ax is) :  Restart flag: Indicat es whether the operation has o[...]

5 - 11 9 Chapter 5 Data Us ed for P ositionin g Control Default value Buffer memory address (common for all axes) QD77MS 2/QD77MS4 QD77MS16 0000H 0123456 789 1 0 1 1 1 2 1 3 1 4 1 5 4018 4241 4019 4020 4023 4242 4024 4025 4028 4038 40 43 40 33 4029 4244 4245 42 46 4030 4243 4034 4035 4039 4040 4044 4045 4048 4247 4049 4050 4053 4248 4054 4055 4058 [...]

5 - 12 0 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details Reading the monitor value Starting history (Up to 16 records can be stored) [Md.54] Start Year: month The starting time (Y ear: month) is stored. Refresh cycle: At start Monitoring is carried out w ith a hex adecimal display. 0 b15 b1 2 0001 00000 0 0110 b8 b4 b0 8[...]

5 - 12 1 Chapter 5 Data Us ed for P ositionin g Control Default value Buffer memory address (common for all axes) QD77MS 2/QD77MS4 QD77MS16 0000H 0123 45678 9 1 0 1 1 1 2 1 3 1 4 1 5 4018 4241 4019 4020 4023 4242 4024 4025 4028 4038 40 43 40 33 4029 4244 4245 42 46 4030 4243 4034 4035 4039 4040 4044 4045 4048 4247 4049 4050 4053 4248 4054 4055 4058[...]

5 - 12 2 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details Reading the monitor value Error history (Up to 16 records can be stored) [Md.9] Axis in w hich the error occurred Stores an axis N o. in which an error occurred. Refresh cycle: Immed iate Monitoring is carried out w ith a decimal displ ay. Monit or value Storage va[...]

5 - 12 3 Chapter 5 Data Us ed for P ositionin g Control Default value Buffer memory address (common for all axes) QD77MS 2/QD77MS4 QD77MS16 0 Axis error No. Pointer No. Md.10 0 Item Md.9 Axis in which the erro r occu rred 4093 4094 2 4101 4102 3 4105 4106 4 4109 4110 5 4113 4114 6 4118 4117 7 4121 4122 8 4125 4126 9 4129 4130 10 4133 4134 11 4137 4[...]

5 - 12 4 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details Reading the monitor value Warning history (Up to 16 recor ds can be stored) [Md.14] Axis in w hich the warning occurred Stores an axis N o. in which a warning occurred. Refresh cycle: Immed iate Monitoring is carried out w ith a decimal displ ay. Monit or value Sto[...]

5 - 12 5 Chapter 5 Data Us ed for P ositionin g Control Default value Buffer memory address (common for all axes) QD77MS 2/QD77MS4 QD77MS16 0 4272 4160 4161 4273 4164 4165 4274 4168 4169 4275 4172 4173 4276 4176 4177 4277 4180 4181 4278 4184 4185 4279 4188 4189 4280 4192 4193 4281 4196 4197 4282 4200 4201 4283 4204 4205 4284 4208 4209 4285 4212 421[...]

5 - 12 6 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details Reading the monitor value [Md.19] Number of write accesses to flash ROM Stores the number of write accesses to the flash R OM after the power is sw itched ON. The count is cleared to "0" when the number of w rite accesses reaches 26 an d an error reset op[...]

5 - 12 7 Chapter 5 Data Us ed for P ositionin g Control Default value Buffer memory address (common for all axes) QD77MS 2/QD77MS4 QD77MS16 0 1424 1425 4224 4225 0 1431 4231 0 1432 4232 0 1434 4234 0 1433 4233 QD77MS 2: 1000H QD77MS 4: 1001H QD77MS 16: 1002H 31332 (Monitors this buffer memory address too. QD77M S2/QD77MS4: 1435, QD77MS16: 4235) Fac[...]

5 - 12 8 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details Reading the monitor value [Md.132] Operation cycle setting Stores the current operation cycle. Refresh cycle: At pow er supply ON Monitoring is carried out w ith a decimal displ ay. Monit or value Storag e value 0: 0.8 8m s 1: 1.7 7m s [Md.133] Operation cycle over[...]

5 - 12 9 Chapter 5 Data Us ed for P ositionin g Control Default value Buffer memory address (common for all axes) QD77MS 2/QD77MS4 QD77MS16 0 1438 4238 0 1439 4239 0 1208 4008 0 1209 4009[...]

5 - 13 0 Chapter 5 Data Us ed for P ositionin g Control 5.6.2 Axis monitor data Storage item Storage details [Md.20] Current feed value The currently commanded addr ess is stored. (Different from the actual motor position during operation) The current position address is stored. If "degree" is select ed as the unit, the addresses w ill ha[...]

5 - 13 1 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a hex adecimal. A B C D A B C D E F G H E R F G H b15 b12 b4 b0 b8 EF G H b31 b28 b20 b16 b24 AB C D Monitor value Low-ord er buffer memory E xampl e) 800 High-or der buff er[...]

5 - 13 2 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details [Md.24] Axis w arning No. Whenever an ax is warning is reported, a related warning code is stored.  This area stores the late st warning code alway s. ( W henever an axis w arning is reported, a new warning code replaces th e stored warning cod e.)  When the [...]

5 - 13 3 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a decimal display. Monit or value Axis warning For detai ls of warning codes, refer to Section 16.5 " List of warni ngs". 0 807+100n 2407+100n M onitoring is carrie[...]

5 - 13 4 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details [Md.28] Axis feedrate  The speed w hich is actually output as a command at t hat time in each ax is is stored. (May be different from the actual m otor speed) "0" is stored w hen the axis is at a stop. Refresh cycle: Operation cy cle [POINT] Refer to &[...]

5 - 13 5 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a hex adecimal. A B C D A B C D E F G H E R F G H b15 b12 b4 b0 b8 EF G H b31 b28 b20 b16 b24 ABC D Monitor value Low-ord er buffer memory E xampl e) 812 High-or der buffer m[...]

5 - 13 6 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details [Md.31] Status This area st ores the stat es (ON/OFF) of various flags. Inform ation on the f ollowing flags is stored. I n speed control flag This si gnal that comes ON under the speed cont rol can be used t o judge whether t he operation i s performed under the s[...]

5 - 13 7 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a hex adecimal display. 0000000 0000 01000 b15 b0 b4 b8 b12 0 0 0 1 0 0 0 0 0: OFF 1: ON b0 b1 b2 b3 b4 b5 b9 b10 Monitor value Buffer memory Not used Stored items Meaning No[...]

5 - 13 8 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details [Md.32] Target value This area stores the target valu e ([Da .6] Positioning address/m ovement amount) for a positioning operation.  At the beginning of positioning control and c urrent value changing: Stores the value of "[Da.6] Posi tioning address/moveme[...]

5 - 13 9 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a decimal display. R Monitor value Decimal integer value Unit conversion table A ctual v alue Unit conversion R  10 m ) ) Md.3 2 Target value Md.3 2 inch degree PLS -1 -5 [...]

5 - 14 0 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details [Md.35] Torque limit stored v alue/ forward torque limit stored value "[Pr.17] Torque limit setting val ue", "[Cd. 101] Torque output setting v alue", "[Cd.22] New torque value/forw ard new torque value" or "[Pr.54] OPR torque lim[...]

5 - 14 1 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a decimal display. Monitor v alue Storage value 1 to 1 000 (%) 0 826+100n 2426+100n M onitoring is carried out with a decimal display. 00: Block start (Norma l start) 01: Con[...]

5 - 14 2 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details [Md.39] In speed limit flag  If the speed exceeds the "[Pr.8] Speed lim it value" ("[Pr.31] JO G speed limit value" at JOG operation control ) due to a speed change or ove rride, the speed limit functions, and the in sp eed limit flag turn s [...]

5 - 14 3 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a decimal display. Storag e value Mon it or v alue 0: Not in speed limit (OFF) 1: In sp eed limi t (ON) 0 830+100n 2430+100n M onitoring is carried out with a decimal display[...]

5 - 14 4 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details [Md.46] Last ex ecuted positioning data No.  This area stores the positioning data No. attached to the positi oning data that was executed last time.  The v alue is retained until a new positioning operation is ex ecuted.  This area stores "0" w [...]

5 - 14 5 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a decimal display. Monito r value Storage value 1 to 600, 9 001 to 90 03 0 837+100n 2437+100n Information is stored in the follo wing addresses: 0 838+100n to 847+100n 2438+1[...]

5 - 14 6 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details [Md.100] OPR re-travel v alue  This area stores the trav el distance duri ng the OPR trav el to the zero point that w as ex ecu te d l as t t ime . "0" is s tored at mach ine OPR start. For setting units Example) mm ( B u f f e r m e m o r y 0.1) µm R[...]

5 - 14 7 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a hex adecimal display. PLS r/min A B C D A B C D E F G H E R F G H b15 b12 b4 b0 b8 EF G H b31 b28 b20 b16 b24 A B C D Monit or value Low-o rder buffer m emory Example) 848 [...]

5 - 14 8 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details [Md.107] Parameter error No.  When a servo parameter error occurs, the area that correspon ds to the parameter number affected by the error comes O N.  When the "[Cd.5] A xis error reset" (axis control data) is set to ON after remove the error facto[...]

5 - 14 9 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a decimal display. Mon itor val ue Storage val ue When SSCNET setting is SSCNET /H When SSCNET setting is SSCNET Storage value Parameter No. 1 to 64 PA01 to PA64 64 to 128 PB[...]

5 - 15 0 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details [Md.109] Regenerative load ratio/ Optional data monitor output 1  The rate of regenerative power to the allow able regenerative power is indicated as a percentage.  When the regenerative option i s used, the rate to the allow able regenerative power of the op[...]

5 - 15 1 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a decimal display. Monitor value Regenerative load ratio/ Optional data monitor o utput 1 0 878+100n 2478+100n M onitoring is carried out with a decimal display. Monit or val[...]

5 - 15 2 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details [Md.116] Encoder option inform ation  The option information of en coder is indicated. Refresh cycle: Servo amplifier' s pow er supply ON [Md.120] Reverse torque limit s tored valu e "[Pr.17] Torque limit setting val ue", "[Cd. 101] Torque ou[...]

5 - 15 3 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a hex adecimal display. b3 b6 b7 0: INC mode 1: A BS mode ABS/IN C mode distinction f or magnetism type encoder Stored items Det ails b15 b12 b8 b4 b0 Connecting to single-re[...]

5 - 15 4 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details [Md.122] Speed during comma nd  This area stores the co mmand speed during speed control mode.  This area stores the co mmand speed dur ing continuous operation to torque control mode.  "0" is stored other than duri ng speed control mode or cont [...]

5 - 15 5 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a decimal display. m mm/min inch/min degree/ min -2 -3 -3 0 PLS/s Unit ( ) R Monitor value Actual va lue Unit convers ion R  10 m Speed during command Md.12 2 Torque durin[...]

5 - 15 6 Chapter 5 Data Us ed for P ositionin g Control Storage item Storage details [Md.502] Drive r operation alar m number  T hi s ar ea sto re s th e d ri ve r oper ation alarm numb er. Refresh cycle: Immed iate[...]

5 - 15 7 Chapter 5 Data Us ed for P ositionin g Control Reading the monitor v alue Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 M onitoring is carried out with a hex adecimal display. Mon itor value Deta iled n umbe r Driver oper ation alarm Example ) When the dr iver operat ion a lar m is "1 0H" an d the d etai led number[...]

5 - 15 8 Chapter 5 Data Us ed for P ositionin g Control 5.7 List of control data The s etting item s of the con trol data ar e ex plain ed in t his s ectio n. • Guide to buf fer m emor y address In the buffer memory ad dress, "n" in "4303+ 100n", etc. indi cate s a value corres pondi ng to ax is N o. suc h as t he fol lowing t[...]

5 - 15 9 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address (common for all ax es) QD77MS2 QD77MS4 QD77MS 16 Set w ith a decimal. Setting value K Flash ROM write request 1: Requests write acc ess to flash ROM. The Simple Motion module resets the value to "0" automatically when the write access[...]

5 - 16 0 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.41] Deceleration start flag v alid  Set whether "[Md.48] Deceleration start flag" is mad e valid or inv alid. Fetch cycle: At PLC READY ON [POINT] The "[Cd.41] Deceleration start flag valid" become v alid when the PLC R EADY signal [Y0] t[...]

5 - 16 1 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address (common for all ax es) QD77 MS2 QD77 MS4 QD77MS16 Set w ith a decimal. Setting value K Deceler ation st art flag valid 0: Deceleration start flag invalid 1: Deceleration star t flag valid 0 1905 5905 Set w ith a decimal. Setting value K Stop co[...]

5 - 16 2 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.44] External input signal op eration device  Operate the external input signal stat us (U pper/lower limit signal, near-point dog signal, stop signal) of Q D77MS when "2" is set in "[Pr.80] Ex ternal input signal selection". Fetch cycle: [...]

5 - 16 3 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address (common for all ax es) QD77 MS2 QD77 MS4 QD77MS16 Set w ith a hexadecimal. Axis 1 U pper l imit si gnal (FLS) Axis 1 Lo wer l imit si gnal (RLS) Axis 1 Near- point d og signal (DO G) Axis 1 STO P signal (STOP) Axis 2 U pper l imit si gnal (FLS)[...]

5 - 16 4 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.47] QD75MH initial v alue setting request  Request to set the initial value of QD75MH in setting data. Refer to Section 14.14 for initial ized setting data. Fetch cycle: 103[ms] Note: After completing the initia lization of setting data, sw itch the power ON[...]

5 - 16 5 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address (common for all ax es) QD77 MS2 QD77 MS4 QD77MS16 Set w ith a decimal. K 1 QD75MH initial v alue setting r equest Setting va lue The Simple Motion module resets the value t o "0" automat ically after the i nitial value setting is comp[...]

5 - 16 6 Chapter 5 Data Us ed for P ositionin g Control 5.7.2 Axis control data Setting item Setting details [Cd.3] Positioning start No.  Set the positioning start No. (Only 1 to 600 for the Pre-reading start f unction. For details, refer to Section 13.7.7 "Pre-reading start function".) Fetch cycle: At start [Cd.4] Positioning startin[...]

5 - 16 7 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS 16 Set w ith a decimal. Setting v alue Positioning data No. 1 to 600 7000 to7004 9001 9002 9003 9004 K : Positioning data No. : Block start designation : Machine OPR : Fast-OPR : Current value changing : Simultaneous star[...]

5 - 16 8 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.7] M code OFF request  The M code ON signal turns O FF. Fetch cycle: Operation cy cle [Cd.8] External command v alid  Validates or invalidates ex ternal command signals. Fetch cycle: At request by ex ternal command signal [Cd.9] New current value  W he[...]

5 - 16 9 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS 16 Set w ith a decimal. K 1 M code OFF request Setting val ue A fter the M code ON signal turns OFF, "0" is s tored by the Simple Motion module automaticall y . ( Indicates that the OFF request is co mpleted. ) [...]

5 - 17 0 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.12] Acceleration/decelerati on time change during speed change, enable/disable selection  Enables or disables modifications to the ac celeration/decelerat ion time during a speed change. Fetch cycle: At change request [Cd.13] Positioning operation s peed ove[...]

5 - 17 1 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. Setting value K Accelerati on/dece leration time chan ge during speed chan ge, enabl e/disabl e selectio n 1 : Enables mo difications to acceler ation/deceler ation time Other than 1: Disab les modi[...]

5 - 17 2 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.16] Inching movement amount  Use this data item to set the a mount of movement by inching.  The machine performs a JOG operation if "0" is set.  Set a value w ithin the following range: [Pr.1] Un it setting mm (  10 -1 µm) inch (  10 -[...]

5 - 17 3 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. A ctual value Conversio n into an integer value Cd.16 Inch ing movement amount 10 m Unit convers ion table ( Cd.16 ) m 1 5 5 0 R Setting value (Decimal) inch degree PLS Unit m Example: When the &quo[...]

5 - 17 4 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.19] OPR request flag O FF request  The sequence program can us e this data it em to forcibly turn the O PR request flag from ON to OFF. Fetch cycle: 14.2[ms] [POINT] This parameter is made valid w hen the increment sy stem is valid. [Cd.20] Manual pulse gene[...]

5 - 17 5 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. Setting value K OPR request flag OFF request 1: Turns the " OPR request flag" from ON to OFF. The Simple Motion module resets the value to "0" automatically when the OPR r equest[...]

5 - 17 6 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.23] Speed-position sw itching control movement amount change register  During the speed control stage of the speed-po sition switching control (INC mode), it is possible to chan ge the specifi cation of the movem ent amount during the position control st age[...]

5 - 17 7 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. 10 m A ctual value m inch degree m 1 5 5 0 PLS Unit R Setting valu e (De ci mal ) Conversio n into an integer value Unit conve rsion table ( Cd.23 ) Speed-position switching control movement amount [...]

5 - 17 8 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.26] Position-speed sw itching enable flag  Set whether the sw itching signal set in "[Cd.45] Speed-positio n switching dev ice selection" is enabled or not. Fetch cycle: At sw itching request [Cd.27] Target position change value (New address)  W[...]

5 - 17 9 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. Setting value K Position-speed switching enable flag 0: Position control will not be taken over by speed contr ol even when the signal set in " Speed-positi on swit ching de vice selection &quo[...]

5 - 18 0 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.30] Simultaneous starting ax is start data No. (ax is 1 start data No.) QD77MS2 QD77MS4  Use these data items to specify an ax is 1 start data No. for each axis that has to start si multaneously.  Set "0" to any ax is that should not start simul[...]

5 - 18 1 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. Setting value K QD77MS4 u se Cd.30 Cd.33 to Simultan eous startin g axis start data No. 1 to 60 0 QD77MS16 use Cd.30 Simultan eous startin g own axis start data No. Cd.31 Cd.33 to Simultan eous star[...]

5 - 18 2 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.35] Step valid flag  This data item v alidates or invalidates step operations. Fetch cycle: At start [Cd.36] Step start information  To continue the step operat ion w hen the step function is used, set "1" in the data item. Fetch cycle: 14.2[ms][...]

5 - 18 3 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. Setti ng value Step val id flag 0: Invalida tes step o perations 1: Vali dates step op erations K 0 1545+100n 4345+100n Set w ith a decimal. Setting value Step st art informa tion 1: Continu es step[...]

5 - 18 4 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.40] ABS direction in degrees  This data item specifies th e ABS moving direction carrying out the position control when "degree" is select ed as the unit. Fetch cycle: At start [Cd.43] Simultaneous starting a xis QD77MS16  Set the number of simu[...]

5 - 18 5 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. Setting value ABS directi on in de grees K 0: Takes a shortcut. (Specifie d direction igno red. ) 1: ABS circular right 2: ABS circular left 0 1550+100n 4350+100n Set w ith a hexadecimal. Setting va[...]

5 - 18 6 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.100] Servo OFF command  E x ecutes servo OFF for each ax is. Fetch cycle: Operation cy cle [POINT] To exec ut e s er vo ON fo r ax es other than ax is 1 being servo OFF, write "1" to storage buffer memory address of axis 1 and then turn O N all axi[...]

5 - 18 7 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. Setting value Servo OF F command 0: Servo O N 1: Servo O FF K Valid only during servo O N for all axes. 0 1551+100n 4351+100n Set w ith a decimal. Setting value K Torque output sett ing 0 to 1000 (%[...]

5 - 18 8 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.113] Reverse new torque value  "1" is set in "[Cd.112] T orque change function sw itching request", a new reverse torque limit value is set. (w hen "0" is set in "[Cd.112] T orque change function switching request", th[...]

5 - 18 9 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. K Reverse new torqu e value 0 to Pr.17 To rque limit se tting value (%) Setting value 0 1564+100n 4364+100n Set w ith a decimal. Set "1" for MR-J4 (W )- B/MR-J E- B/MR-J 3(W ) -B, and set [...]

5 - 19 0 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.132] Change data  Set the change value of servo parameter set in "[Cd.131] Parameter N o.". Fetch cycle: At change request [Cd.133] Semi/Fully close d loop switching request  Set the switching of semi closed control and ful ly closed contr ol. F[...]

5 - 19 1 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal or hexadecimal. [1 word write request] When "1" is set in "[Cd.130] Pa rameter write request", set the change value to low-order buffer memory . The value set to high-order buffer[...]

5 - 19 2 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.136] PI-PID switching request  Set the PI-PID switching to ser vo amplifier. Fetch cycle: Operation cy cle [Cd.138] Control mode sw itching request  Request the control mode switching. Set "1" after setting "[Cd.139] Control mode s etting&q[...]

5 - 19 3 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. Setting value K PI-PID switchi ng reque st 1 : PID cont rol switching reques t Othe r th an 1: N ot re que st 0 1565+100n 4365+100n Set w ith a decimal. Settin g value K Contr ol mode swi tching re [...]

5 - 19 4 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.142] Deceleration time at s peed control mode  Set the deceleration time at speed control mode. (Set the time for the speed to decrease from "[Pr.8] Speed limit value" to "0".) 0 to 65535 (ms) Fetch cycle: At control mode s witching [Cd.1[...]

5 - 19 5 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. Setting value K Decelerat ion time at speed c ontrol mode (ms ) 0 to 65535 1000 1579+100n 4379+100n Set w ith a decimal. Setting value K Command t orque at torque control mode( 0.1 %) -10000 t o 100[...]

5 - 19 6 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.147] Speed limit value at continuous operation to torque control mode  Set the speed limit v alue at continuous operation to torque c ontrol mode.  Set a value w ithin the following range: [Pr.1] Un it setting mm (  10 -2 mm/min) inch (  10 -3 inch/[...]

5 - 19 7 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. A ctual value Conv ers ion i nto an int eger val ue m 2 mm/mi n 3 inc h/ min degree/m in 0 PLS/s Unit R Settin g value 3 Unit conversion t able ( ) Cd.147 Pr.83 : When " Speed control 10 x mult[...]

5 - 19 8 Chapter 5 Data Us ed for P ositionin g Control Setting item Setting details [Cd.152] Torque time constant at continuous operation to torque control mode (Negative direction)  Set the time constant at regene ration during continuous operat ion to torque control mode. (Set the time for the torque to decrease fr om "[Pr.17] T orque li[...]

5 - 19 9 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. Setting value K Torque ti me constant a t continuou s operation torque c ontrol mode (Negative d irection) ( ms) 0 to 6553 5 1000 1592+100n 4392+100n Set w ith a decimal. Setting value K Control mod[...]

5 - 20 0 Chapter 5 Data Us ed for P ositionin g Control 5.7.3 Expansion ax is control data Setting item Setting details [Cd.180] Axis stop QD77MS16  When the ax is stop signal turns O N, the OPR control, positioning control, JOG operation, inching operation, m anual pulse generator operatio n, speed-torque control, etc. will stop.  By turning[...]

5 - 20 1 Chapter 5 Data Us ed for P ositionin g Control Setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set w ith a decimal. Setting value K Axis stop 1 : Axis stop requested Other than 1: Axis sto p not requeste d 0 30100+10n Set w ith a decimal. Setting value K Forw ard run JOG start/Rev erse run JOG start 1 : JOG star [...]

5 - 20 2 Chapter 5 Data Us ed for P ositionin g Control MEM O[...]

6 - 1 6 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Chapter 6 Sequence Program Used for Positioning Control The pro grams r equired to car ry out po sitioni ng control wit h the Si mple Motion module are expl ained in this chapt er. The sequ ence pro gram requ ired for contro l is crea ted allo wing for the "start c onditio[...]

6 - 2 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol 6.1 Precautions for creating progr am The comm on prec autions to be tak en when writ ing data f rom the PLC CP U to the buff er m emor y of Sim ple M otio n modu le are desc ribe d belo w. W hen divert ing a ny of t he pr ogram exam ples i ntrod uced in this m anual t o the actu[...]

6 - 3 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol (4) System configuration Unless part icular ly des igna ted, t he seq uenc e progr am f or t he fol lowing system usin g QD77MS4 is shown in this chap ter and subseq uent. Refer t o Sec tion 6. 2 for the applic ation of the devic es to be us ed. X40 to X4F External devices Q35B p[...]

6 - 4 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol (b) W hen the c ircu it uses the "intel ligent funct ion device " o n the s ource( s) si de and the dest ination (D) s ide of a MO V com mand, c hang e the c omm and to a FROM c omm and and a TO com mand. MOVP G8 26 G1 X15 FROMP D 100 X15 K826 H0 K1 U6 TOP D1 00 K1 H6 [...]

6 - 5 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol (7) Conversion of sequence prog ram from Q D77MS2/QD77MS4 to QD77MS16 W hen the seq uence progr am is chan ged fr om Q D77M S2/QD7 7MS4 t o QD77MS 16, ch ange th e I/O si gnals wit h differ ent arrange ment a s follow s. (a) W hen not usin g in dex m odif ication Axis sto p sig n[...]

6 - 6 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol 6.2 List of devi ces used In th e sequ ence pr ogram s us ing QD 77MS4 s hown in t his c hapter and s ubseq uent, the applic ation of t he dev ices used are as f oll ows. The I/O num bers f or Sim ple Mo tion m odu le ind icate thos e when t he h ead I/O num ber is s et to "[...]

6 - 7 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Devic e name Devic e Application Details when ON Ax is 1 Axis 2 Axis 3 Axi s 4 External input (command) X2C — M code OFF command Commanding M code OFF X2D JOG operation speed setti ng command Commanding JO G operation speed setting X2E Forward run JOG/inching command Commanding[...]

6 - 8 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Devic e name Devic e Application Details when ON Ax is 1 Axis 2 Axis 3 Axi s 4 Internal relay M0 — OPR request OFF command Commanding OPR request OFF M1 OPR request OFF command p ulse OPR request OFF commanded M2 OPR request OFF command st orage OPR request OFF command h eld M3[...]

6 - 9 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Devic e name Devic e Application Details when ON Ax is 1 Axis 2 Axis 3 Axi s 4 Internal relay M34 — ZP.TEACH1 instr uction complete device ZP.TEACH 1 instruction completed M35 ZP.TEACH1 instruction error complete device ZP.TEACH1 instruction error completed M36 ZP.PINIT instruc[...]

6 - 10 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Devic e name Devic e Application Details of storage Ax is 1 Axis 2 Axis 3 Axi s 4 Data register D15 — Acceleration time setting (low-order 16 bits) [Cd.10] N ew acceleration time v alue D16 Acceleration time setting (high-order 16 bits) D17 Deceleration time setting (low-order[...]

6 - 11 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Devic e name Devic e Application Details of storage Ax is 1 Axis 2 Axis 3 Axi s 4 Data register D52 — Number of pulses per rotation (low-order 16 bits) [Pr.2] Number of pulses p er rotation (AP) D53 Number of pulses per rotation (high-order 16 bits) D54 Movement amount per rot[...]

6 - 12 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Devic e name Devic e Application Details of storage Ax is 1 Axis 2 Axis 3 Axi s 4 Data register D110 — Positioning identifier Data No.2 [Da.1] Operation pattern [Da.2] Control system [Da.3] Acceleration time No. [Da.4] Deceleration time No. [Da.5] Axis to be interpolated [Da.6[...]

6 - 13 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Devic e name Devic e Application Details of storage Ax is 1 Axis 2 Axis 3 Axi s 4 Data register D140 — Positioning identifier Data No.5 [Da.1] Operation pattern [Da.2] Control system [Da.3] Acceleration time No. [Da.4] Deceleration time No. [Da.5] Axis to be interpolated [Da.6[...]

6 - 14 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Devic e name Devic e Application Details of storage Ax is 1 Axis 2 Axi s 3 Ax is 4 Data register D200 — Positioning identifier Data No.11 [Da.1] Operation pattern [Da.2] Control system [Da.3] Acceleration time No. [Da.4] Deceleration time No. [Da.5] Axis to be interpolated [Da[...]

6 - 15 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Devic e name Device Application Details of storage Code U0G806 Error code [Md.23] Ax is error No. U0G809 Axis operation status [Md.26] Ax is operation status U0G817 Status [Md.31] Status U0G1500 Positioning start No. [Cd.3] Positioning start No. U0G1501 Positioning starting[...]

6 - 16 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol 6.3 Creating a program The " posit ioning contr ol op er ation pr ogram " ac tuall y use d is ex plaine d in this c hap ter . The f unctio ns and progr am s expla ined in "Sec tion 2" ar e assem ble d into the "posi tioni ng con trol operat ion pr ogr am[...]

6 - 17 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol 6.3.2 Positioning control operati on program The v arious program s that c onfigure the "pos ition ing co ntrol opera tion pr ogr am" ar e shown belo w. W hen cr eating t he pro gram , refer to the ex planat ion of each progr am and Sec tio n 6.4 "Pos itio ning pr[...]

6 - 18 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol No.5 No.6 No.7 No.8 All axis se rvo ON signal [Y1] ON pr ogram OPR unco mplet ed ? No.28 Error rese t program Yes Absol ute syst em ? No Continued o n next page Carried out OPR request OFF progr am External command function valid setting program PLC RE ADY si gnal [Y0] ON progr [...]

6 - 19 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Conti nued f rom p revio us pa ge No. 9 No.12 JOG op erat ion pro gram No.15 Manual pulse g enerato r oper ation pr ogram No.10 Positi onin g start progr am No.11 M code OFF progra m Refe r to Sect ion 6. 5.2 Refe r to Sect ion 6. 5.3 Refer to Sec tion 1 1.2.4 Refer to Sec tion [...]

6 - 20 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol No.16 No.29 Stop program Speed change program No.17 No.18 No.19 No.20 No.21 No.22 No.23 No.25 No.26 No.27 Override program Acceleration/deceleration time change program Torque change program Step operation program Skip program Teaching program Flash ROM write program Parameter i[...]

6 - 21 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol 6.4 Positioning program examples An ex am ple of t he " Axis 1" pos itio ning progr am using Q D77M S4 is gi ven i n th is sec tion. When setting the parameters or data with the sequence program, set them in the Simple Motion module using the TO com mand from the PLC C[...]

6 - 22 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol * * No.21 Conti nuous op erati on int errup t prog ram * *<Cre ep speed set ting > K76 K1200 K1 DTOP H0 SM402 64 X4D ON for 1 scan o nl y after RUN * Uni t "Degr ee" set ting pr ogra m * <For a xis 1> * Speed-position change control (ABS m ode) execution an[...]

6 - 23 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol MOVP K9843 M code * <Setting of M code > * <Setting of dwell time > * * No.2-1 P ositioning data se tting progra m * (For po sitioning d ata No.1 < Axis 1>) * <Pos ition ing id enti fier> * Oper ation patter n: Positi oning ter minated * Control system: 1[...]

6 - 24 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol DMO VP K 0 Arc addr ess * <Setting o f arc addres s > D108 D100 K10 * <Setting o f positioning da ta No. > Position ing id en tif ier H0 TO P * * No.2-2 Positioning data setting p rogram * (For p ositioning data No.2 < Axis 1>) * <Positi oning iden tifier>[...]

6 - 25 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol DMOVP K250 00 Position ing ad dr ess * <Setting o f Positioning add ress > D116 D110 K10 * <Settin g of positioni ng data No. > H0 TOP * * No.2-3 Positioning data setting p rogram * (For p ositioning data No.3 < Axis 1>) * <Positi oning iden tifier> * Ope[...]

6 - 26 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol DMOVP K 200000 Position ing addr ess * <Setting of positio ning addres s > D126 D120 K10 * <Settin g of positioni ng data No.3 > H0 TO P * * No.2-4 P ositioning data se tting progra m * (For po sitioning d ata No.4 < Axis 1>) * <Pos ition ing id enti fier>[...]

6 - 27 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol DMOVP K500 00 Position ing ad dr ess * <Setting o f positioning ad dress > D136 D130 K10 * <Setting of p ositioning data No. > H0 TOP K2030 * <Positioning address > DMOVP K180 00000 D136 For U nit (deg re e ) X4D DMOVP K0 Arc addr ess * <Setting o f arc addr[...]

6 - 28 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol DMOVP K 100000 Position ing ad dr ess * <Setting o f positioning ad dress > D146 * <Positioning address > DMOVP K 36000000 D146 For Uni t (degree ) X4D Position ing addr ess * <Command sp eed > DMO VP K6000 000 D1 44 For Uni t (degree ) X4D DMO VP K3600 0 Comma[...]

6 - 29 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol DMOVP K0 Arc addr ess * <Setting o f arc addres s > D148 D140 K10 * <Settin g of positioni ng data No. > Position ing id en tif ier H0 TO P * * No.2-6 P osition ing data s etting prog ram * (F or pos ition ing d ata N o.6 < Axis 1>) * <Posi tioning identifi [...]

6 - 30 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol DMOVP K500 00 Position ing ad dr ess * <Setting o f positionin g address > D156 D150 K10 * <Setting of posit ioning data N o. > H0 TO P * * No.2-7 Positioning data setting p rogram * (For p ositioning data No. 10 <Axi s 1>) * <Positi oning iden tifier> * [...]

6 - 31 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol DMOVP K 10000 Position ing addr ess * <Setting of positioni ng address > D196 D190 K10 * <Setting o f positionin g data No. > H0 TOP * * No.2-8 Position ing data setting pr ogram * (For p ositioning da ta No.11 <Axis 1>) * <Posit ioning ident ifier> * Ope[...]

6 - 32 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol DMOVP K -100000 Position ing ad dr ess * <Setting o f positioning ad dress > D206 D200 K10 * <Setting of p ositioning data No. > H0 TOP K2100 * <Positioning address > DMOVP K -360000 00 D206 For U nit (deg re e ) X4D DMOVP K0 Arc addr ess * <Setting o f arc [...]

6 - 33 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol DMOVP K 50000 Position ing addr ess * <Se tting of posi tioning add ress > D246 * <Posi tioning address > DMOVP K 18000000 D246 For U nit (degree ) X4D Position ing addr ess * <Comman d speed > DMOVP K180000 0 D244 For U nit (degree ) X4D DMOVP K 9000 Comm and [...]

6 - 34 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol DMOVP K0 Arc addr ess * <Settin g of arc addre ss > D248 D240 K10 * <Setting o f positioning d ata No. > Position ing iden tifier H0 TOP * * No.3 B lock start data setti ng progra m * Block s tart data of start block 0 ( Axis1) * Fo r setting of points 1 to 5 * ( Con[...]

6 - 35 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol MOVP H0 D73 *<Setting o f normal s tart > SM402 ON for 1 scan onl y after RUN Point 1 *<Setting o f normal s tart > MOVP H0 D74 Point 2 *<Setting o f normal s tart > MOVP H0 D75 Point 3 *<Setting o f normal s tart > MOVP H0 D76 Point 4 *<Setting o f no[...]

6 - 36 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol OPR requ est O FF command storage RST M2 OPR requ est OFF command sto ra ge OPR requ est O FF command pulse OPR requ est O FF command ON for 1 scan onl y after RUN *<Absolute position system valid > *<OPR requ est OFF comm and pul se > SM402 682 *No.4 Se rvo paramete[...]

6 - 37 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol All axis servo O N signal PLC READ Y signal Sy nchr on iza tio n flag Machi ne OPR comm and Fast OPR command Paramete r settin g comple te devic Para me te r initia lization command Flas h RO M writ e comma nd storage PLC READ Y signal ON OFF for 1scan on ly after RUN External c[...]

6 - 38 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Position ing sta r t com man d Speed- po siti on s witching operati MOVP K9002 X27 818 MOVP K1 X26 810 MOVP K2 D32 X25 803 * * (3) Po sition ing w ith pos ition ing dat a No.1 * SET M3 Fast OPR sign al Start No . Start No . U0 G152 8 *<Sett ing of speed- posi tion s witch &g[...]

6 - 39 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Position -speed s witching operat i X41 843 MOVP K1 X40 836 MOVP K3 D32 * * (5) Position-speed swi tching operat ion (Positi oning data No.3) * Start No . U0 G1532 *<Setting of p osition-speed switch > *<Setting of positioning d ata No.3 > * * (7) Fast OPR command a[...]

6 - 40 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol PLS M5 *<Positi oning s tart comm and pulse > X2B Position ing sta r t comman d Position ing sta r t comman d pulse 889 X26 Spee d-po sition s witching operati X40 Position -speed s witching operati X2A Hi gh-l ev el posit ioning c ontrol c M6 Position ing sta r t comman d[...]

6 - 41 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Position ing sta r t com man d stor ag *<Positi oning s tart co mmand storag > *<Posi tionin g start co mmand pulse > Position ing sta r t com man d puls e Position ing s tar t sign al M code O N signal In-JOG/ i nchin g o peratio n flag *<Setti ng of Positio ning[...]

6 - 42 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol X2C 975 MOVP K1 U0 G1504 *<M code OF F request > M code O FF com ma nd M code O N comman d M code O FF reque st JOG oper ation sp eed sett ing com m X2D 985 DMOVP K10000 D6 *<Setting of JOG operat ion speed > MOVP K0 * * (7) Fast OPR com mand and fa st OPR com mand [...]

6 - 43 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Manual p ulse ge n erator 1 puls e i In-JOG/i nching o perati on flag In-JOG/i nching o perati on flag Forwar d run JOG start si gnal Reverse run JOG star t si gnal Manu al p ulse ge n erator o perati on Manu al p ulse ge n erator 1 pulse i Manu al p ulse ge n erator o perati on[...]

6 - 44 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Manual p ulse ge n erator o perat ion Speed c h ange com mand s to rage *<Manu al pulse g enera tor operat ing > *<Sett ing of speed change value > *<Speed change command ho ld > SET M9 1068 X31 M12 * * No.1 6 Sp eed ch ange p rog ram * M10 1072 M9 X0C BUSY sig[...]

6 - 45 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Speed ch ange val ue *<Spee d changing wr ite > 1120 X33 M13 1127 X0C BUSY sig nal (A xi s 1) MOV K20 0 *<Overri de comma nd > PLS M13 Override command *<Setting of overri de value t o 200% > *<Overri de value w rite > MOV D1 4 U0 G1513 Override * * No.1[...]

6 - 46 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol *<Torqu e change co mmand > * * No. 19 Torque change pr ogram * 1185 X36 *<Setting of torque change val ue > Torqu e c hange co mmand M14 1159 X0C BUSY sig nal (A xi s 1) DMOV K2000 *<Setting of accel. time to 2000ms > D15 Accel. t ime set t ing (l ow -orde r X[...]

6 - 47 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Step sta rt infor mation c ommand Step ope ration c ommand p ulse M15 1195 X0C X37 1202 PLS M16 MOVP K10 D32 Torq ue c hange co mmand BUSY sig nal (Ax i s 1) *<Step opera tion c ommand pulse > *<Setting o f torque limit value > *<Star t program K 10 > Start No [...]

6 - 48 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol *<Skip co mmand storage OFF > 1250 M18 *<Skip comm and write > Skip com mand sto rage MOVP K1 Skip com mand RST M18 Skip com mand sto rage * * No.22 T eaching p rogram * * * A location to the target p osition is executed b y manual * operation * * * * No.21 S kip ope[...]

6 - 49 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol * * No.21 Conti nuous operat ion interrup t program * 1299 X3A *<Contin uous opera tion inter rupt c > Continuo us op era tion int errupt c PLS M21 *<Setting of position ing data No. > K3 K1 *<Teaching execution > "U0" D33 M34 ZP.TEACH1 *<Teachi ng[...]

6 - 50 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Restart command storage Restart command target p osit ion (low-o rd er 16bi target p osition (low-ord er 16bi Targe t s peed (lo w-order 16bits) Targe t p osition change r equest Targe t p osition change c omm Position ing comp lete sig nal Restart command storage Start co mplet[...]

6 - 51 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol PLC READ Y signal OFF con firmatio Paramet e r initia liza ti on command Paramet e r initia liza ti on command PINIT in structio n contro l data PINIT i n str uc tio n comple te devic Paramet e r initia liza ti on command Flash R O M write command pulse Flash R O M write command[...]

6 - 52 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol BUSY sig nal (Axi s 1) X0C PFWRT in structio n cont ro l data PFWRT in structio n comple te devic ZP.PFWR T M38 "U0" D39 Error re set Error de tection signal Error re set comm and Error re set Error de tection signal *<Erro r code rea d > *<Error r eset com ma[...]

6 - 53 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol 6.5 Progr am details 6.5.1 Initiali zation prog ram [1] OPR request OFF program This program f orcibl y turns OFF th e "O PR req uest flag " ([M d.31] S tatus : b3) whic h is ON. W hen using a s ystem th at d oes no t requ ire O PR, ass em ble the pr ogram to cance l t[...]

6 - 54 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol 6.5.2 Start detai ls setting program This progra m s ets wh ich c ontro l, o ut of "O PR ", "m ajor p ositi onin g contr ol", "hig h-le vel posit ioni ng con trol " or " expa nsion c on trol" to ex ecute. Fo r "h igh-l evel posit ioni[...]

6 - 55 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol (4) F or "positi on-spee d switchi ng contro l", set the c ontrol data sho wn belo w. (As requir ed, set the "[Cd.2 5] Position- speed s witching control s peed c hange register" .) Setting item Setting value Setting details Buffer memory address QD77MS2 QD77[...]

6 - 56 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol 6.5.3 Start prog ram This program is used t o st art the c ontr ol wit h st art com man ds. The c ontro l can be start ed with th e fol lowin g two m etho ds. [1] Starting by inputt ing pos itioning star t signal [2] Starting by inputt ing ex ternal comm and sign al [QD77MS4 ope[...]

6 - 57 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Servo ON conditions Setting of servo param eter PLC RE ADY sign al [Y0] O N All axis servo O N [Y1] ON Starting conditions To s tart the contro l, the fol lowing c ondit ions m ust be s atisfied. The nec essar y start condit ions m ust be incor porated in the s equence pr ogram [...]

6 - 58 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol [1] Starting by inputting posi tioning start sig nal Oper ation w hen star ting (1) W hen the pos itioning st art s ignal tur ns ON, the s tart c omplete s ignal and BUSY signa l turn O N, and t he position ing oper ation sta rts. It can be s een that th e axis is operat ing whe[...]

6 - 59 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol POINT The BUS Y signa l turns ON even wh en posit ion contro l of movem ent am ount 0 is executed. However, s ince t he ON tim e is shor t, the ON status ma y not be detected i n the sequen ce program . (The O N status of the start complete s ignal, positio ning com plete sig na[...]

6 - 60 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol (2) T ime char t for st arting "fast OPR" [QD77MS4 operat ion exam ple] OFF OFF ON ON ON ON OFF OFF OFF 9002 V t ON OFF Positioning start sign al PLC REA DY si gna l READY signal Start c omplete signal BUSY signal Error d etection signal Cd. 3 P osit ion ing s tar t No[...]

6 - 61 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol (3) T ime c hart for starting "m ajor pos itionin g contr ol" [QD77MS4 operat ion exam ple] 1 V t Positio ning da ta No. Dwell time 2(00) Operat ion p attern 1(11) Positi oning s tart si gnal PLC READY s ignal READY si gnal Start compl ete signa l BUSY sign al Error de[...]

6 - 62 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol (4) T ime c hart for starting "sp eed- positio n switch ing contr ol" [QD77MS4 operat ion exam ple] V t Dwell time Operat ion p attern( 00) Speed contr ol Positio n contr ol Positio ning dat a No.(1) Positi oning s tart signal [Y1 0] Speed-pos ition s witch ing si gnal[...]

6 - 63 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol (5) T ime c hart for s tarting "posi tion-spe ed switc hing co ntrol" [QD77MS4 operat ion exam ple] Po sition ing star t si gnal V t Operat ion pattern (0 0) Positi oning data No. (1) Position control Speed control [Y10 ] PLC RE ADY s igna l READY sign al Start co mple[...]

6 - 64 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Machine OPR operat ion timing and pr ocess time [QD77MS4 operat ion exam ple] BUSY si gnal Standb y OPR Standby Positionin g opera tion t1 t4 t2 t3 Md. 26 Axis ope ration stat us OPR request flag ( Md. 31 Status: b3 ) Positi oning start signal [Y10, Y11, Y12, Y13] [XC , XD , XE,[...]

6 - 65 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Position contr ol operatio n timing and process time [QD77MS4 operat ion exam ple] t1 t2 t3 t4 t5 t2 t6 Cd. 7 M code OF F reque st Standb y Position con trol Standby BUSY signal Positi oning opera tion Md. 26 Ax is operatio n status Cd. 7 M code OFF re quest Positi oning st art [...]

6 - 66 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol [2] Starting by inputting external command signal W hen starti ng pos itionin g contr ol b y inp utting the ex terna l comm and sig nal, t he start c omm and can be dir ectl y input in to the Sim ple Mo tion modu le. Th is allo ws the var iati on tim e equ ival ent to one sc an [...]

6 - 67 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol Startin g time char t [QD77MS4 operat ion exam ple] V t 1(00) Dwell time Operat ion pattern Positi oning s tart signal Posi tioni ng dat a No. [Y10] All ax is ser vo ON [Y1] 0 Extern al co mmand s ignal 1 0 1 Cd. 8 External command valid PLC RE ADY s ign al READY signa l Sta rt [...]

6 - 68 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol 6.5.4 Continuous oper ation i nterrupt prog ram During posi tioning c ont rol, the c ontro l can be int errup ted dur ing c ontin uous p ositi oning contr ol and c onti nuous path c ontro l (cont inuous oper ation interr upt f unction) . W hen "con tinuou s ope ration int e[...]

6 - 69 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol (2) Ev en if the s top com m and is turned ON after ex ecuting the "cont inuous operatio n interrupt reques t", the "c ontinuous operat ion inter rupt req uest" cannot be cancele d. Thus , if "restar t" is ex ecuted af ter stopp ing b y turning t he[...]

6 - 70 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol 6.5.5 Restart prog ram W hen a stop f act or occur s d uring pos it ion con tro l and t he o perat ion st ops, t he posit ioning can be r estarte d f rom the s topp ed pos itio n to th e pos itio n contr ol e nd poi nt by us ing the "res tart c om mand" ( [Cd.6] Res ta[...]

6 - 71 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol (6) W hen stopped with i nterpol ation oper ation, write "1: R estarts " into "[C d.6] Restart com m and" for the r eferenc e axis, and t hen res tart. (7) If the PLC READ Y sign al is c hanged fr om O FF to ON whi le stoppe d, restart ing is not pos sible. I[...]

6 - 72 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol (2) S ign al state Signal name Signal state Devic e QD77MS2 QD77MS4 QD77M S16 Interface signal PLC READY signal ON PLC CPU preparation complet ed Y0 READY signal ON QD77MS preparation completed X0 All axis serv o ON ON All axis servo ON Y 1 Synchronization flag ON QD77MS buffer [...]

6 - 73 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol 6.5.6 Stop prog ram The ax is sto p s ignal or stop signa l from exter nal input s ignal is us ed to s top t he c ontr ol. Create a pro gram to tur n ON t he axis stop s igna l as t he sto p progr am . Signal QD77MS2 QD77 MS4 QD77MS16 Axis stop s ignal Y4, Y5 Y4, Y5, Y6, Y7 [Cd.[...]

6 - 74 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol [2] Types of stop processes The op erati on ca n be st opped with d eceler atio n stop, sud den st op or imm ediate stop. (1) Decele ration stop 1 The op erati on sto ps wit h "d ecelera tion t im e 0 to 3 " ([Pr. 10], [ Pr.28 ], [Pr .29], [Pr.30 ]). W hich tim e fr om[...]

6 - 75 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol [3] Order of priority for stop process The ord er of prior it y for the Sim ple Mot ion modul e stop proc ess is as f ollo ws. Deceler atio n stop < Sudden stop < Ser vo OFF (1) If the deceler ation s top com mand ON ( stop signal ON) or dec eleration stop cause occ urs du[...]

6 - 76 Chap ter 6 Se quen ce Progra m Used fo r Posi tionin g Cont rol [4] Inputting the stop signal during deceler ation (1) Ev en if s top is inp ut during decel eration (i ncluding a utom atic dec eleration), the operatio n will s top at that d ecelerat ion spe ed. (2) If stop is in put duri ng deceler ation f or OPR, the operati on will stop at[...]

7 - 1 7 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess Chapter 7 Memory Configuration and Data Process The memory configuration and data transmis sion of Simple Moti on module a re explained in this ch apter. The Simpl e Motion module is c onfigured of four memories . By understanding t he configurati on and roles of two memori es, the inte[...]

7 - 2 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess 7.1 Config uration and roles of QD77M S memo ry 7.1.1 Config uration and roles of QD77M S memory The S imple Motio n m odule i s conf igured of th e foll owin g four mem ories . Model Me mor y configuration Role Area configuration Backup Parameter area Monitor data area Control data area [...]

7 - 3 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess Details of areas  Param eter ar ea Area where param eters, s uch as pos ition ing par ameter s an d OPR param eters, requir ed for pos ition ing c ontr ol are set a nd st ored .  Monitor data area Area where t he oper at ion st atus of posi tionin g s ystem is store d.  Control d[...]

7 - 4 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess Parameter area Positioning d ata area (No.1 to 600) Block start data area (No. 7000 to 7004) PLC CPU memo area Monitor data area Control data area Ser vo pa ram et er ar ea User acces ses her e. Data is backed up here. QD77MS Buffer me mory/Inte rnal memory Parameter area Positio ning dat[...]

7 - 5 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess 7.1.2 Buffer mem ory area con figurati on The buf fer m em or y of S impl e Mot ion m odule is co nfig ured of the f oll owing types of areas . Buffer m emory area confi guration B uffer m emory addres s Writing possibility QD77MS2/QD77 MS4 QD77MS16 Paramet er area Basic parameter area 0+[...]

7 - 6 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess Buffer m emory area confi guration B uffer m emory addres s Writing possibility QD77MS2/QD77 MS4 QD77MS16 Servo param eter area Servo series 30100+200n 28400+ 100n Possible PA group PA01 to PA18 30101+200n t o 30118+200n 28401+ 100n to 28418+10 0n PA19 30932+ 50n Set with G X Works2 PA20 [...]

7 - 7 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess 7.2 Data transmission pr ocess The da ta is trans mitted betw een th e m emories of Sim ple M otio n modu le with ste ps (1) to (10) s how n bel ow. : The data tr ansm iss ion patt erns corr esp ond to the n umbers ( 1) t o (10) in the foll owing dr awi ngs. QD77MS PLC CPU Servo ampl ifie[...]

7 - 8 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess (1) Transmitting data w hen power is turned ON or PLC CPU is r eset ( ) W hen the po wer is turne d ON or the PLC C PU is reset, the "param eters area (c) 1 ", "pos itioni ng d ata", "blo ck start da ta" an d "ser vo p ar ameter " stor ed (back ed u[...]

7 - 9 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess POINT The sett ing values of the pa ram eters that c orres pond to par ameter area (b) are valid when writt en int o the b uff er mem or y with the T O comm and. However , the s etti ng val ues of the par am eters that corr espond to p arameter are a (a) ar e not valida ted until t he PLC[...]

7 - 10 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess (7) Flash ROM write request (7) Flash ROM write request (7) Flash ROM write request (6) Flash ROM write GX W orks 2 (6) Flash ROM write (Set "1" in with TO command) Cd.1 PLC CPU Servo amp lifier Buffer memory/Inte rnal memory Parameter area (a) Parameter a rea (b) Positioning d[...]

7 - 11 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess (6) W riting the flash ROM by a PLC CPU request ( ) The fol lowing transm ission process is carr ied out b y setting " 1" in "[Cd. 1] Flash ROM write req uest" . 1) The "par am eters", " posit ion ing da ta (No . 1 t o 600)", "b lock start da [...]

7 - 12 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess GX W orks 2 PLC CPU (8) Data read (9) Data write (9) Data write (8) Data read Servo amp lifier Para mete r ar ea (a ) Pr.1 Pr.7 Pr.11 Pr.24 Pr.43 Pr.57 Pr.80 Pr.83 Pr.89 Pr.95 to to to to to Para mete r ar ea (b ) Pr.8 Pr.10 Pr.25 Pr.42 Pr.84 to to QD77MS Buffer memory /Intern al memory [...]

7 - 13 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess (8) Reading data from buffer m emory/i nternal memory to GX W orks2 ( ) The f ollowi ng tra nsm ission process es ar e carr ied out with th e [Read f rom m odule (Read f rom QD77M S)] from the GX W orks2. 1) The "par am eters", " posit ion ing da ta (No . 1 t o 600)",[...]

7 - 14 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess Servo a mplifie r (10) Servo parameter transfer Buffer memory/In ternal memory Parameter area (a) Parameter a rea (c) Positioning data a rea (No.1 to 600) Block star t data area (No.7000 to 70 04) PLC CPU memo area Monitor data area Con tr ol dat a a rea Servo parameter ar ea QD77MS Para[...]

7 - 15 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess (10) Transmitting servo parameter from th e buffer me mory/i nternal memory ar ea to serv o amplifier ( ) The ser vo param eter in the buffer memor y/intern al memor y area is trans mitt ed to th e servo am plifier b y the f ollo wing t iming . 1) The ser vo par am eter is tr ansm itte d[...]

7 - 16 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess How to transfer the serv o parameter setup from sequence progr am/GX Works2 to the servo ampl ifier The s ervo s eries of s ervo p aram eter "[ Pr. 100] S ervo s eries " ins ide t he int ernal memory (nonv olatil e) set to "0". (I nitial value: "0") The sett[...]

7 - 17 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess (1) W hen the serv o amplif ier's power suppl y is tur ned ON bef ore the s ystem's power su pply ON. (a) W hen the serv o param eter "[Pr .100] Ser vo seri es" "0" is stored in the internal memory (nonvola tile). Comm unication st art tim ing to th e servo [...]

7 - 18 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess Transfe r the servo p arameter at this poi nt to the servo ampl ifier Md.2 6 Axis oper atio n status Commu nicatio n operati on status with servo amplifier Serv o pa rame ter o f buffer me mory/internal memor y 0 (S tand by) 21 (Servo OFF) 20 (Servo amplifier ha s not been connected/ ser[...]

7 - 19 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess Ho w to chang e individually the servo par ameter after tr ansfer of servo par ameter The ser vo param eters ca n be indi vidua lly chan ged from Sim ple Moti on modul e wi th the fo llowi ng axi s cont rol dat a. Setti ng item Setting detai ls Buffe r memory address QD77MS2 QD77MS4 QD77[...]

7 - 20 Chapt er 7 Mem or y Conf igurat ion an d Data Proc ess MEM O[...]

Section 2 Section 2 Control Details and Setting Sectio n 2 is con figured f or the following purposes shown in (1 ) to ( 3). (1) U nderstand ing of the o peration and restr ictions of each contr ol. (2) C arrying out the re quired se ttings in each con trol (3) Dealing w ith errors The requi red sett ings in ea ch co ntrol incl ude param eter setti[...]

MEM O[...]

8 - 1 8 Chapter 8 O PR Control Chapter 8 OPR Control The de tails and usage of " OPR cont rol" ar e explai ned in this chapte r. OPR cont rol in cludes "machine OPR" that establis h a machi ne OP without usin g addres s data, and "fast OP R" that sto re the co ordinates establishe d by the ma chine O PR, and carr y out[...]

8 - 2 Chapter 8 O PR Control 8.1 Outline o f OPR control 8.1.1 Two ty pes of OPR control In "OP R contr ol", a po sitio n is estab lishe d as the sta rting poin t (or "OP" ) when ca rrying out p osition ing c ontro l, and posit ioni ng is c arried out toward that s tarti ng poi nt. It is us ed to retur n a m achin e s ystem at a[...]

8 - 3 Chapter 8 O PR Control REMARK OPR req uest ( Note-1) The "O PR r eques t flag " ([M d.31] Status : b3) mus t be tur ned ON in the Sim ple Motion m od ule, an d a m achin e OPR m ust be exec uted in the fol lowing cases. (1) W hen no t using an a bsolute posi tion s ystem (a) T his fl ag tur ns on in t he f ollowi ng cas es: • Syst[...]

8 - 4 Chapter 8 O PR Control W iring the near -point dog The "ex ternal input sig nal of QD77MS", "externa l input signal of the ser vo am plifier" or "buff er mem ory of QD77 MS" can be selec ted b y "[Pr.80] External input sig nal selec tion" as the ne ar-point d og. W hen the "buff er memor y of QD77M[...]

8 - 5 Chapter 8 O PR Control 8.2 Machine OPR 8.2.1 Outline of th e machine OPR oper ation Important Use the OPR r etr y function when the O P posit ion is not al ways in the s am e direc tion f rom the work piece opera tion area ( when the O P is not set near the up per or lo wer lim it of the m achine ). The m achin e OPR m ay n ot com plete u nle[...]

8 - 6 Chapter 8 O PR Control 8.2.2 Machine OPR me thod The met hod by which t he machi ne OP is e stabli shed (me tho d for ju dging th e OP posit ion a nd m achin e OPR com plet ion) is desi gnat ed in the m achine O PR ac cor ding to th e conf igurat ion a nd app licat ion of the p ositi oning method . The fo llowin g tabl e show s the met hods t[...]

8 - 7 Chapter 8 O PR Control 8.2.3 OPR method ( 1): Near- point dog method The fo llowin g shows an op erat ion outli ne of t he OPR m ethod "near-p oint d og m ethod". Operation chart 1) The mac hine OPR is started. (The mac hine begins the ac celeration desi gnated in "[P r.51] OPR ac celeration tim e select ion", in the direc[...]

8 - 8 Chapter 8 O PR Control Precaut ions during operation (1) T he error "St art at O P" (err or code: 201) will occ ur if another m achine O PR is attempted af ter a m achine O PR com pletion when t he OPR r etry funct ion is n ot set ("0" is s et in "[ Pr.48] OP R retry"). (2) Mac hine O PR carried o ut from the nea[...]

8 - 9 Chapter 8 O PR Control 8.2.4 OPR method ( 2): Count meth od 1) The f ollowi ng sho ws an oper ation o utlin e of t he OP R meth od "c ount m ethod 1)". In the "co unt m ethod 1)", th e mac hine OPR can b e perf ormed in the follo wing cas es:  W her e the near-poi nt dog is on  After the m achine O PR is c ompleted O[...]

8 - 10 Chapter 8 O PR Control Precaut ions during operation (1) T he error "Cou nt method m ovem ent am ount fault "(err or code: 206) will occ ur if the "[Pr .50] Sett ing f or the m ovem ent amount af ter near -point do g ON" is smaller than t he deceler ation dis tance from the "[ Pr.46] O PR speed " to "[Pr.47[...]

8 - 11 Chapter 8 O PR Control 8.2.5 OPR method ( 3): Count meth od 2) The fo llowin g shows an operat ion outli ne of th e OPR metho d "co unt m ethod 2)". The "c ount meth od 2)" m ethod is ef fecti ve when a "zer o signa l" cannot be recei ved. (Note t hat c ompar ed to the " count m etho d 1)" m etho d, us[...]

8 - 12 Chapter 8 O PR Control Restrictions W hen this method is used, a deviati on will oc cur in t he s top positi on (OP) compared to other O PR methods because an error of about 1 ms occurs in tak ing in the n ear-point dog ON. Precaut ions during operation (1) T he error "Count m ethod movem ent am ount fault " (err or code: 206) will[...]

8 - 13 Chapter 8 O PR Control 8.2.6 OPR method ( 4): Data set method The fo llowin g shows an operat ion outli ne o f the OPR m ethod "data set m ethod ". The "Dat a set meth od" m ethod is effecti ve when a "N ear- point do g" is not us ed. It can be use d with abs olute positio n system . W ith the data set m ethod O[...]

8 - 14 Chapter 8 O PR Control 8.2.7 OPR method ( 5): Scale ori gin signal detecti on method The fo llowin g shows an operat ion outli ne of th e OPR m ethod "scal e or igin s ignal detection m ethod". POINT Set "0: Need to pass servo m otor Z-ph ase after power on " in "Func tion selecti on C- 4 (PC1 7)". If "1: N[...]

8 - 15 Chapter 8 O PR Control Precaut ions during operation (1) T he error "St art at O P" (error code: 201) will occ ur if another mac hine OPR is attempted im m ediately af ter a m achine OPR c omplet ion whe n the OP is in the near-point dog ON pos ition. (2) T he follo wing sho ws the operat ion when a m achine O PR is start ed from t[...]

8 - 16 Chapter 8 O PR Control (6) W hen the zero s ignal is detecte d again d uring dece leration ( 4) of F ig. 8.12) with detec tion of zero signa l, the o peration s tops at the zero s ignal det ected lastl y to com plete the OPR. V Zero s ignal Near-p oint d og 1) Pr.47 Creep spee d OPR directi on Pr.44 Pr.46 OPR speed ON 2) 3) OFF 5) 6) 4) Fig.[...]

8 - 17 Chapter 8 O PR Control 8.3 Fast OPR 8.3.1 Outline of the fast OPR operati on Fast OPR operat ion After es tablish ing OP pos ition b y a m achine OPR, position ing contro l to th e OP position is exec uted with out using a near- point do g or a zero signal. The f ollowing sh ows the op eration d uring a basic f ast OPR star t. 1) The f ast O[...]

8 - 18 Chapter 8 O PR Control Oper ation timing and processing t ime of fast OPR The f ollowing sh ows detai ls about th e operat ion tim ing and t ime dur ing fas t OPR. [QD77MS4 operat ion exam ple] t1 t3 t2 Position control Standby Stan db y Positioning operation Md.26 Axis operation status Positioning start signal [Y10, Y1 1, Y12, Y13] Start co[...]

8 - 19 Chapter 8 O PR Control 8.4 Selection of the OP R setting condi tion 8.4.1 Outline of the OP R setting condition If execut ing the hom e positi on retur n (OPR) whe n s el ec ti ng "0 : N ee d t o p a ss se rv o motor Z-phase af ter power on" with "F uncti on selecti on C-4 ( PC17)", it is neces sary that the serv omoto r [...]

8 - 20 Chapter 8 O PR Control MEM O[...]

9 - 1 9 Chap ter 9 Major Po siti oning Co ntrol Chapter 9 Major Positioning Control The de tails a nd usage of the maj or posi tionin g contro ls (co ntrol fun ctions u sing the "posi tioning data") ar e explained in t his chapter . The m ajor po sitioni ng contr ols in clude s uch con trols as "posi tioni ng con trol" in which [...]

9 - 2 Chap ter 9 Major Po siti oning Co ntrol 9.1 Outline of maj or positioning controls "Major posit ion ing contr ols" ar e carri ed out usi ng the "p osit ioning data" stored in th e Simpl e Motion modul e. The bas ic co ntrols suc h as posit ion co ntrol and s peed control are execu ted b y setti ng the re quire d item s in [...]

9 - 3 Chap ter 9 Major Po siti oning Co ntrol Major positioning control Details [Da.2] Control system Speed control 1-axis speed control Forward run speed 1 Reverse run speed 1 The speed control of the de signated 1 ax is is carried out. 2-axis speed control (Note-1) Forward run speed 2 Reverse run speed 2 The speed control of the de signated 2 ax [...]

9 - 4 Chap ter 9 Major Po siti oning Co ntrol 9.1.1 Data req uired for maj or positioning control The fo llowin g table show s an outli ne of th e "positio ning data" con figur ation an d settin g detai ls re quire d to carry out the " major po sition ing co ntrols" . Setting item Setting details Positioning data No. 1 [Da.1] Op[...]

9 - 5 Chap ter 9 Major Po siti oning Co ntrol 9.1.2 Operation p atterns of major positioning controls In "m ajor pos iti oning c ontr ol" ( high-le vel p ositi oning c ont rol), " [Da.1 ] Oper atio n patt ern" can be set to design ate whether to cont inue exec utin g posit ionin g data af ter the star ted posit ioning data . The[...]

9 - 6 Chap ter 9 Major Po siti oning Co ntrol POINT (1) W hen the operat ion pat tern is contin uous pos ition ing contro l or con tinuous path contr ol, the s ame addr ess as the last value is spec ified in abs olute system or the m ovem ent amount 0 is specif ied in i ncrem ental system , position ing contr ol of m ovem ent amount 0 is exec uted.[...]

9 - 7 Chap ter 9 Major Po siti oning Co ntrol [2] Continuous positioning control (1) T he m achine a lwa ys autom atic all y deceler ates each t im e the p ositi oning is com pleted. Accel erati on is the n carr ied out after the Sim ple Mot ion m odule comm and spe ed re aches 0 to c arry o ut th e next posit ionin g dat a opera tion . If a d well[...]

9 - 8 Chap ter 9 Major Po siti oning Co ntrol [3] Continuous path control (1) Continuous path contr ol (a) The spee d is chan ged with out de celer ation st op betw een the comm and spe ed of the " posit ioni ng dat a No. c urre ntly b eing ex ecut ed" and t he spe ed of t he "pos iti oning data No. to c arr y out the next operat ion[...]

9 - 9 Chap ter 9 Major Po siti oning Co ntrol [QD77MS4 operat ion exam ple] OFF ON OFF ON OFF ON OFF ON t Positioning cont inue (11) Dwell time Positioning co ntinue ( 11) Start complet e signal BUSY signal Positioning co mplete sig nal Pos ition ing star t sig nal Positioning complete (00) Address (+ ) direction Address (- ) direction [Y10, Y11, Y[...]

9 - 10 Chap ter 9 Major Po siti oning Co ntrol (b) During operat ion b y step operat ion. (Refer to Sectio n 13.7. 1 "Step functi on".) (c) W hen there is an error in th e positi oning data to carr y o ut the n ext operat ion. POINTS (1) The mov ement direction is not checked during interpo lation operations. Thus, automati c deceleration[...]

9 - 11 Chap ter 9 Major Po siti oning Co ntrol (3) Speed handling (a) Con tinuous path contr ol c omm and spee ds are s et wi th eac h posit ioning data . The S imple Motio n modu le carries out the pos itioni ng at the sp eed desig nated with e ach p ositi oning data. (b) T he com mand s peed c an b e set t o "– 1" in c onti nuous path[...]

9 - 12 Chap ter 9 Major Po siti oning Co ntrol (4) Speed switching (Refer to "[Pr.19] Speed switching mode".) The t wo m odes for c hang ing the speed are s how n belo w. • Stand ard s peed s witch ing…… …Swi tch th e spee d when exec uting t he next p ositi onin g data. • Front- load ing s peed s witc hing….T he spe ed s witc[...]

9 - 13 Chap ter 9 Major Po siti oning Co ntrol 3) Spee d sw itchi ng co ndit ion If the movem ent am ount is sm all i n reg ard to the tar get speed, the curren t spee d m ay not re ach t he tar get sp eed even if acceler ation /dece lerat ion is c arried ou t. In this cas e, the m achine is acc elerat ed/d eceler ated so tha t it ne ars t he tar g[...]

9 - 14 Chap ter 9 Major Po siti oning Co ntrol [QD77MS4 operat ion exam ple] OFF ON OFF ON OFF ON OFF ON 11 11 1 1 01 00 V Dwell time t Da. 1 Op eration pattern Start complete signal BUSY s ignal Positi oning comple te signal Positioning start signal Positioning [Y10, Y11, Y12, Y13] [X10, X11, X12, X13] Dwell time [XC, XD, XE, XF ] [X14, X15, X16, [...]

9 - 15 Chap ter 9 Major Po siti oning Co ntrol 9.1.3 Designati ng the positioni ng address The f ollowi ng sho ws t he t wo m ethods f or com m anding t he pos itio n in c ontro l usi ng posit ioni ng data . Absolute system Position ing is c arried o ut to a des ignated positi on (abs olute addr ess) ha ving the OP as a ref erence. This ad dress is[...]

9 - 16 Chap ter 9 Major Po siti oning Co ntrol 9.1.4 Confirmi ng the curr ent value Values showing t he current value The f ollowing t wo types of addres ses are used as values to show the positio n in the Sim ple Moti on modul e. Thes e addresses ("current feed va lue" and "m achine feed value ") are s tored in t he monitor dat[...]

9 - 17 Chap ter 9 Major Po siti oning Co ntrol Monitoring the current value The "c urrent feed value " and "m achine f eed valu e" are stored i n the foll owing buff er mem ory addresses , and can be read us ing a "D FRO( P) instruc tion" or "DMOV( P) instr uction" f rom the PLC CPU . Buffer memory addresses [...]

9 - 18 Chap ter 9 Major Po siti oning Co ntrol 9.1.5 Control uni t "degree" han dling W hen the con tro l unit is s et to "d egree ", t he fo llowi ng ite ms dif fer from when other contr ol units are se t. [1] Current feed value and mac hine feed v alue addresses The ad dress of "[M d.20] Cur rent f eed value " becom [...]

9 - 19 Chap ter 9 Major Po siti oning Co ntrol POINT (1) W hen th e upper /lo wer li mit va lue of the axis which set th e soft ware s trok e lim it as vali d are cha nged, per for m the mac hine OPR af ter that. (2) W hen th e soft ware s trok e lim it is s et as valid in t he inc rem ental da ta s ystem , per form the machine OPR after pow er sup[...]

9 - 20 Chap ter 9 Major Po siti oning Co ntrol (b) W h en the software st roke limit is valid The pos itio nin g is car rie d ou t in a c lock wise/c ount ercloc kwise direc tion depend ing on the s oftw are strok e lim it range s ett ing m ethod. Becaus e of this , pos ition ing with "s hortc ut c ontr ol" m ay not be poss ible. Example [...]

9 - 21 Chap ter 9 Major Po siti oning Co ntrol 9.1.6 Interpolation co ntrol Meaning of interpolation control In "2-axis linear i nterpola tion contr ol", "3- axis l inear in terpol ation co ntrol", "4-ax is linear interpol ation contr ol", "2-ax is fixed- feed co ntrol", "3- axis f ixed-feed c ontrol&quo[...]

9 - 22 Chap ter 9 Major Po siti oning Co ntrol Sett ing the positioning dat a during int erpolation contr ol W hen carrying out interpo lation contr ol, the s ame pos itioning d ata Nos. are set for the "ref erence ax is" an d the "i nterpola tion ax is". The f ollowing t able sho ws t he "posit ioning d ata" sett ing [...]

9 - 23 Chap ter 9 Major Po siti oning Co ntrol Star ting the inter polation control The pos itioning data Nos. of the r eferenc e axis (ax is in whic h int erpolation c ontro l was set in "[ Da.2] Co ntrol syst em") ar e started when st arting the interpo lation control. ( Starting of the inter polatio n axis is not requ ired.) The follo [...]

9 - 24 Chap ter 9 Major Po siti oning Co ntrol POINT W hen the "r eferenc e ax is s peed" is s et duri ng inter pol ation c ontr ol, s et so t he m ajor axis s ide becom es the r efer ence axis. If th e minor axis sid e is s et as the ref erenc e axis, the m ajor ax is s ide s peed m a y exceed the "[Pr. 8] S peed l imit v alue"[...]

9 - 25 Chap ter 9 Major Po siti oning Co ntrol MEM O[...]

9 - 26 Chap ter 9 Major Po siti oning Co ntrol 9.2 Setting the posit ioning data 9.2.1 Relation betw een each control and posi tioning data The s etting r equ irements and d etails for the se tting item s of th e pos itioni ng data to be set diffe r acc ordin g to th e "[Da.2 ] Cont rol system" . The fo llowin g tabl e show s the posi tio[...]

9 - 27 Chap ter 9 Major Po siti oning Co ntrol Speed-posit ion switching c ontrol Posit ion- speed switching c ontrol Other control NOP in struction Current value changing JUM P instru ction LOOP LEND – – – – – – – – – – – – Forward run speed/pos ition Reverse run speed/pos ition Forward run positi on/speed Reverse run posit[...]

9 - 28 Chap ter 9 Major Po siti oning Co ntrol 9.2.2 1-axi s linear control In "1- axis linear contr ol" ( "[Da.2 ] Contr ol s ystem " = A BS li near 1, INC line ar 1), o ne mo tor is us ed t o carr y out p ositi on con trol in a s et ax is d irectio n. [1] 1-axis linear control (ABS linear 1) Operation chart In absolut e system[...]

9 - 29 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting example [When "1- axis linear con trol ( ABS linear 1)" is s et in po sitionin g data N o. 1 of ax is 1.] Setting item Setting example Setting details QD77MS2 QD77MS4 QD77MS16 Axis 1 Positioning data No. 1 [Da.1] Operation pattern Positioning complete Set "Positi[...]

9 - 30 Chap ter 9 Major Po siti oning Co ntrol [2] 1-axis linear control (INC linear 1) Operation chart In increm ental s ystem 1-axis lin ear contro l, posit ionin g is c arried out f rom the current s top posit ion (s tart point a ddress ) to a posit ion at the end of the m ovem ent amount s et in "[D a.6] Pos itioning addr ess/m ovem ent am[...]

9 - 31 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting example [When "1- axis lin ear con trol (INC l inear 1)" is set in positi oning data No. 1 of ax is 1] Setting item Setting example Setting details QD77MS2 QD77MS4 QD77MS16 Axis 1 Positioning data No. 1 [Da.1] Operation pattern Positioning complete Set "Positioni[...]

9 - 32 Chap ter 9 Major Po siti oning Co ntrol 9.2.3 2-axi s linear i nterpolation control In "2- axis l inear inter polat ion c ontro l" (" [Da.2] C ontr ol s ystem " = A BS lin ear 2, INC linear 2), two m otors ar e us ed to c arr y out pos ition c ont rol i n a li near pat h wh ile carr ying out int erpol atio n for the ax is[...]

9 - 33 Chap ter 9 Major Po siti oning Co ntrol Restrictions An error will occur and the posit ioning will not s tart in t he follo wing cases. The machine will im m ediately stop if the er ror is d etected d uring a p osition ing contr ol.  If the movem ent am ount of eac h axis exc eeds "10 73741824 ( =2 30 )" when "0: Compos ite[...]

9 - 34 Chap ter 9 Major Po siti oning Co ntrol POINT  W hen the "ref erenc e axis spe ed" is set d urin g 2-ax is l inear inter polati on co ntrol, set so the m ajor ax is s ide bec omes the ref erenc e ax is. If the m inor ax is sid e is s et as the r efer ence axis, the m ajor ax is s ide s peed m a y exceed the "[Pr. 8] Spe ed [...]

9 - 35 Chap ter 9 Major Po siti oning Co ntrol [2] 2-axis linear i nterpolation control ( INC linear 2) Operation chart In increm ental s ystem 2- axis lin ear interp olation c ontrol, the designat ed 2 ax es are used. Lin ear interp olation p ositioning is carried out f rom the current stop pos ition (start poi nt address ) to a po sition at the e[...]

9 - 36 Chap ter 9 Major Po siti oning Co ntrol Restrictions An error will occur and the posit ioning will not s tart in t he follo wing cases. The machine will im m ediately st op if the err or is d etecte d during a positi oning op eratio n.  If the movem ent am ount of eac h axis exc eeds "10 73741824 ( =2 30 )" when "0: Compos [...]

9 - 37 Chap ter 9 Major Po siti oning Co ntrol POINT  W hen the "r efer ence axis s pee d" is s et dur ing 2- axis line ar int erpol ation c ontr ol, set so the m ajor ax is s ide bec omes the ref erenc e ax is. If the m inor ax is sid e is s et as the r efer ence axis, the m ajor ax is s ide s peed m a y exceed the "[Pr. 8] Spe e[...]

9 - 38 Chap ter 9 Major Po siti oning Co ntrol 9.2.4 3-axi s linear i nterpolation control In "3- axis l inear inter polat ion c ontro l" (" [Da.2] C ontr ol s ystem " = A BS lin ear 3, INC linear 3), three m otors are used to car ry out pos ition c ontrol in a linear pa th whi le carr ying out int erpol atio n for the ax is dir[...]

9 - 39 Chap ter 9 Major Po siti oning Co ntrol Restrictions An error will occur and the posit ioning will not s tart in t he follo wing cases. The machine will im m ediately stop if the err or is d etected d uring a p ositioning contro l.  If the movem ent am ount of eac h axis exc eeds "10 73741824 ( =2 30 )" when "0: Compos ite [...]

9 - 40 Chap ter 9 Major Po siti oning Co ntrol POINTS  W hen the "ref erenc e axis sp eed" is set during 3-ax is li near i nterp olatio n contr ol, set so the m ajor ax is s ide bec omes the ref erenc e ax is. If the m inor ax is sid e is s et as the r efer ence axis, the m ajor ax is s ide s peed m a y exceed the "[Pr. 8] Spe ed [...]

9 - 41 Chap ter 9 Major Po siti oning Co ntrol [2] 3-axis linear i nterpolation control ( INC linear 3) Operation chart In the inc rem ental system 3-axis linear interpolati on control, the des ignated 3 axes are used. Linear int erpolat ion pos itioning is carrie d out from the current stop position ( start po int addres s) to a pos ition a t the [...]

9 - 42 Chap ter 9 Major Po siti oning Co ntrol Restrictions An error will occur and the posit ioning will not s tart in t he follo wing cases. The machine will im m ediately st op if the err or is d etecte d during a positi oning op eratio n.  If the movem ent am ount of eac h axis exc eeds "10 73741824 ( =2 30 )" when "0: Compos [...]

9 - 43 Chap ter 9 Major Po siti oning Co ntrol POINTS  W hen the "ref erenc e axis sp eed" is set during 3-ax is li near i nterp olatio n contr ol, set so the m ajor ax is s ide bec omes the ref erenc e ax is. If the m inor ax is sid e is s et as the r efer ence axis, the m ajor ax is s ide s peed m a y exceed the "[Pr. 8] Spe ed [...]

9 - 44 Chap ter 9 Major Po siti oning Co ntrol 9.2.5 4-axi s linear i nterpolation control In "4- axis l inear inter polat ion c ontro l" (" [Da.2] C ontr ol s ystem " = A BS lin ear 4, INC linear 4), f our m otors ar e us ed to c arr y out p osition c ont rol i n a li near p ath wh ile carr ying out int erpol atio n for the ax [...]

9 - 45 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting example [W hen "4-axis linear interpo lation contr ol (ABS linear 4)" is set in positio ning data No. 1 of axis 1] • Reference ax is ............. Axis 1 • Interpolati on axis.......... Axis 2, Axis3, Axis4 (T he required v alues are als o set in position ing dat [...]

9 - 46 Chap ter 9 Major Po siti oning Co ntrol POINTS  W hen the "r efer ence axis s pee d" is s et dur ing 4- axis line ar int erpol ation c ontr ol, set so the m ajor ax is s ide bec omes the ref erenc e ax is. If the m inor ax is sid e is s et as the r efer ence axis, the m ajor ax is s ide s peed m a y exceed the "[Pr. 8] Spe [...]

9 - 47 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting example [When "4- axis linear inter polat ion contr ol (INC linear 4) " is s et in pos itioning data No. 1 of axis 1] • Reference ax is ............. Axis 1 • Interpolati on axis.......... Axis 2, Axis3, Axis4 (T he required v alues are als o set in position ing d[...]

9 - 48 Chap ter 9 Major Po siti oning Co ntrol POINT  W hen the "ref erenc e axis sp eed" is set during 4-ax is li near i nterp olatio n contr ol, set so the m ajor ax is s ide bec omes the ref erenc e ax is. If the m inor ax is sid e is s et as the r efer ence axis, the m ajor ax is s ide s peed m a y exceed the "[Pr. 8] Spe ed l[...]

9 - 49 Chap ter 9 Major Po siti oning Co ntrol 9.2.6 1-axi s fixed-feed control In "1- axis f ixed-f eed contro l" ( "[Da.2] Contr ol s ystem " = f ixed-f eed 1) , on e motor is used t o carr y out f ixed- feed contr ol in a set ax is direct ion. In fix ed-fee d contr ol, any re m ainder of belo w contr ol ac curac y is roun ded[...]

9 - 50 Chap ter 9 Major Po siti oning Co ntrol POINT  W hen the m ovem ent am ount is con verted t o the actua l num ber of c omm and pulses , a f ractio n appe ars af ter t he d ecim al poi nt, acc ord ing to the m ovem ent amount per p uls e. Th is frac tion is n orm ally ret aine d in t he Simpl e Mot ion m odule and refl ected at th e next p[...]

9 - 51 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting example [When "1- axis f ixed-feed c ontrol ( fixed-f eed 1) " is set i n posit ionin g data No.1 of axis 1] Setting item Setting example Setting details QD77MS2 QD77MS4 QD77MS16 Axis 1 Positioning data No. 1 [Da.1] Operation pattern Positioning complete Set "Pos[...]

9 - 52 Chap ter 9 Major Po siti oning Co ntrol 9.2.7 2-axi s fixed-feed control (interpol ation) In "2- axis f ixed-f eed c ontro l" ( "[Da.2] Contr ol s ystem " = f ixed-f eed 2) , two motor s are used to carr y out fixe d-fee d contr ol in a line ar path wh ile carr ying out in terpo lation for the ax is dir ections set in eac[...]

9 - 53 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting example [When "2- axis f ixed-feed c ontrol (f ixed-f eed 2)" is set i n posit ioning da ta No. 1 of axis 1] • Reference ax is ............. Axis 1 • Interpolati on axis.......... Axis 2 (The required values are also set in posit ioning data No. 1 of axis 2.) Axis[...]

9 - 54 Chap ter 9 Major Po siti oning Co ntrol POINTS  W hen the m ovem ent am ount is con verted t o the actua l num ber of c omm and pulses , a f ractio n appe ars af ter t he d ecim al poi nt, acc ord ing to the m ovem ent amount per p uls e. Th is frac tion is n orm ally ret aine d in t he Simpl e Mot ion m odule and refl ected at th e next [...]

9 - 55 Chap ter 9 Major Po siti oning Co ntrol Operation chart In increm ental s ystem 3- axis fix ed-feed contr ol, the ad dresses ([Md.20] Cur rent feed va lue) of the curren t stop p osition (s tart addres ses) of ever y axes are s et to "0". Line ar interpo latio n positioni ng is the n carrie d out fr om that pos ition to a position [...]

9 - 56 Chap ter 9 Major Po siti oning Co ntrol Restrictions (1) T he error "Continuous path c ontrol not possible " (error code: 516) will occ ur and the operatio n cannot s tart if "contin uous path c ontr ol" is set in "[D a.1] Operation p attern". ("Contin uous path c ontrol" c annot b e set in f ixed-feed[...]

9 - 57 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting example [When "3- axis f ixed-feed c ontrol (f ixed-f eed 3)" is set i n posit ioning da ta No. 1 of axis 1] • Reference ax is ............. Axis 1 • Interpolati on axis.......... Axis 2, Axis3 (T he required values are a lso set in position ing dat a No. 1 of axi[...]

9 - 58 Chap ter 9 Major Po siti oning Co ntrol POINTS  W hen the m ovem ent am ount is con verted t o the actua l num ber of c omm and pulses , a f ractio n appe ars af ter t he d ecim al poi nt, acc ord ing to the m ovem ent amount per p uls e. Th is frac tion is n orm ally ret aine d in t he Simpl e Mot ion m odule and refl ected at th e next [...]

9 - 59 Chap ter 9 Major Po siti oning Co ntrol 9.2.9 4-axi s fixed-feed control (interpol ation) In "4- axis f ixed-f eed c ontro l" ("[ Da.2] Contr ol s ystem " = fi xed-f eed 4) , four motor s are used to carr y out fixe d-fee d contr ol in a line ar path wh ile carr ying out in terpo lation for the ax is dir ections set in ea[...]

9 - 60 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting example [When "4- axis f ixed-feed c ontrol ( fixed-f eed 4) " is set i n posit ionin g data No.1 of axis 1] • Reference ax is ............. Axis 1 • Interpolati on axis.......... Axis 2, Axis3, Axis4 (T he required v alues are als o set in position ing dat a No. [...]

9 - 61 Chap ter 9 Major Po siti oning Co ntrol POINTS  W hen the m ovem ent am ount is con verted t o the actua l num ber of c omm and pulses , a f ractio n appe ars af ter t he d ecim al poi nt, acc ord ing to the m ovem ent amount per p uls e. Th is frac tion is n orm ally ret aine d in t he Simpl e Mot ion m odule and refl ected at th e next [...]

9 - 62 Chap ter 9 Major Po siti oning Co ntrol 9.2.10 2-axi s circular interpolation control with sub point designati on In "2- axis circu lar int erp olati on con trol" ("[D a.2] C ontro l s ystem" = ABS circ ular s ub, INC circ ular sub), t wo m otors ar e use d to c arry o ut pos ition c ontr ol in an arc path passing thr oug[...]

9 - 63 Chap ter 9 Major Po siti oning Co ntrol Restrictions (1) 2- axis cir cular int erpolat ion contr ol canno t be set i n the f ollowing cases.  W hen "degre e" is set in "[ Pr. 1] Unit sett ing"  W hen the units set i n "[ Pr.1] Unit s etti ng" are dif ferent f or th e refer ence axis and int erpo lation axi[...]

9 - 64 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting example [When "2- axis cir cular i nterpolati on contr ol with s ub po int desig nation ( ABS circ ular sub)" is s et in positio ning d ata No. 1 of axis 1] • Reference ax is ............. Axis 1 • Interpolati on axis.......... Axis 2 (The required values are also[...]

9 - 65 Chap ter 9 Major Po siti oning Co ntrol [2] 2-axis circular interpolati on control with sub point desi gnation (IN C circular sub) Opera tion ch art In the inc rem ental system , 2-axis circular interpo lation control wit h sub poi nt designat ion, posi tioning is carr ied out from the c urrent s top positi on (start p oint address) to a pos[...]

9 - 66 Chap ter 9 Major Po siti oning Co ntrol Restrictions (1) 2- axis cir cular int erpolat ion contr ol canno t be set i n the f ollowing cases.  W hen "degre e" is set in "[ Pr. 1] Unit sett ing"  W hen the units set i n "[ Pr.1] Unit s etti ng" are dif ferent f or th e refer ence axis and int erpo lation axi[...]

9 - 67 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting example [When "2- axis circ ular inter polati on control with s ub point designat ion (INC c ircula r sub)" is s et in positio ning d ata No. 1 of axis 1] • Reference ax is ............. Axis 1 • Interpolati on axis.......... Axis 2 (The required values are also s[...]

9 - 68 Chap ter 9 Major Po siti oning Co ntrol 9.2.11 2-axi s circular interpolation control with center point desig nation In "2- axis circu lar int erp olati on con trol" ("[D a.2] C ontro l s ystem" = ABS circ ular r ight , INC circ ular ri ght, A BS circ ular left, I NC circu lar lef t), two motor s are us ed to c arr y out [...]

9 - 69 Chap ter 9 Major Po siti oning Co ntrol Circular interpolatio n error com pensation In circular inter polation contr ol with ce nter poin t design ation, the ar c path calcula ted from the star t point addr ess and c enter p oint addres s m ay deviate f rom the position of the end po int address set in "[D a.6] Positioni ng address/m ov[...]

9 - 70 Chap ter 9 Major Po siti oning Co ntrol [1] 2-axis circular interpolati on control with center poi nt designation (ABS circul ar right, ABS circular left) Operation chart In the abso lute s ystem, 2-a xis c ircular inter polatio n co ntrol with c enter po int designat ion posit ioni ng is car ried out f rom the current stop pos ition (start [...]

9 - 71 Chap ter 9 Major Po siti oning Co ntrol In circular inter polation cont rol with ce nter po int des ignation, a n angu lar ve locit y is calcula ted on the assum ption th at operat ion is car ried out at a com mand s peed on the arc usi ng the ra dius cal culated f rom the start point address an d cent er point address, an d the rad ius is c[...]

9 - 72 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting examples [When "2- axis circ ular inter polati on control with cent er poi nt design ation ( ABS circular right, AB S circu lar lef t)" is set in p osition ing data No. 1 of ax is 1] • Reference ax is ............. Axis 1 • Interpolati on axis.......... Axis 2 (Th[...]

9 - 73 Chap ter 9 Major Po siti oning Co ntrol [2] 2-axis circular interpolati on control with center poi nt designation (INC circu lar r ight, IN C circula r lef t) Operation chart In the inc rem ental system , 2-axis circular interpo lation control wit h center point designat ion, posi tioning is carr ied out from the c urrent s top positi on (st[...]

9 - 74 Chap ter 9 Major Po siti oning Co ntrol In circular inter polation cont rol with ce nter po int des ignation, a n angu lar ve locit y is calcula ted on the assum ption th at operat ion is car ried out at a com mand s peed on the arc usi ng the ra dius cal culated f rom the start point address an d cent er point address, an d the rad ius is c[...]

9 - 75 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting examples [When "2- axis circ ular inter polati on control with cent er poi nt design ation (IN C circular right, INC c ircular le ft) " is set in pos itioni ng data No. 1 of axis 1] • Reference ax is ............. Axis 1 • Interpolati on axis.......... Axis 2 (The[...]

9 - 76 Chap ter 9 Major Po siti oning Co ntrol 9.2.12 1-axi s speed control In "1- axis s peed c ontro l" ("[ Da.2] Contro l s ystem" = Forw ard ru n: spe ed 1, Revers e run: s peed 1) , co ntrol is car rie d out i n th e axis direc tio n in which t he pos ition ing da ta has be en set b y continu ousl y outp uttin g puls es for[...]

9 - 77 Chap ter 9 Major Po siti oning Co ntrol Curr ent feed value during 1-axis speed control The f ollowing t able shows the " [Md.20] Cur rent f eed value " durin g 1-axis s peed control cor resp onding to t he "[ Pr.21] Cur rent f eed valu e during s peed c ontrol" sett ings. "[Pr.21] Current feed value during speed con[...]

9 - 78 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting examples [When "1- axis spe ed co ntrol (f orward r un: speed 1)" is set in the posit ionin g data No. 1 of axis 1] Setting item Setting example Setting details QD77MS2 QD77MS4 QD77MS16 Axis 1 Positioning data No. 1 [Da.1] Operation pattern Positioning complete Settin[...]

9 - 79 Chap ter 9 Major Po siti oning Co ntrol 9.2.13 2-axi s speed control In "2- axis s peed c ontro l" ("[ Da.2] Contro l s ystem" = Forw ard ru n: spe ed 2, Revers e run: s peed 2) , co ntrol is car rie d out in th e 2-axis d irectio n in which the pos itio nin g data has be en set b y continu ousl y outp uttin g puls es for[...]

9 - 80 Chap ter 9 Major Po siti oning Co ntrol Curr ent feed value during 2-axis speed control The f ollowing t able shows the " [Md.20] Cur rent f eed value " durin g 2-axis s peed control cor resp onding to t he "[ Pr.21] Cur rent f eed valu e during s peed c ontrol" settings . (Note that the ref erence axis settin g values ar[...]

9 - 81 Chap ter 9 Major Po siti oning Co ntrol (4) W hen either of two axes exceeds the spee d lim it, that axis is controll ed with the speed lim it value. T he speeds of the other axes are lim ited at th e ratios of "[Da.8] C omm and speed". (Example s) Ax is Setting item Axis 1 setting Axis 2 setting [Pr.8] Speed limit value 4000.00mm/[...]

9 - 82 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting examples [When "2- axis spe ed co ntrol (f orward r un: speed 2)" is set in the posit ionin g data No. 1 of ax is 1] • Reference ax is ............. Axis 1 • Interpolati on axis.......... Axis 2 (The required values are also set in posit ioning data No.1 of axis 2[...]

9 - 83 Chap ter 9 Major Po siti oning Co ntrol 9.2.14 3-axi s speed control In "3- axis s peed c ontro l" ("[ Da.2] Contro l s ystem" = Forw ard ru n: spe ed 3, Revers e run: s peed 3) , co ntrol is car rie d out in th e 3-axis d irectio n in which the pos itio nin g data has be en set b y continu ousl y outp uttin g puls es for[...]

9 - 84 Chap ter 9 Major Po siti oning Co ntrol Curr ent feed value during 3-axis speed control The f ollowing t able shows the " [Md.20] Cur rent f eed value " durin g 3-axis s peed control cor resp onding to t he "[ Pr.21] Cur rent f eed valu e during s peed c ontrol" settings . (Note that the ref erence axis settin g values ar[...]

9 - 85 Chap ter 9 Major Po siti oning Co ntrol (4) W hen either of three axes exc eeds the spee d lim it, that axis is contr olled with the speed lim it value. T he speeds of the other axes are lim ited at th e ratios of "[Da.8] C omm and speed". (Example s) Ax is Setting item Axis 1 setting Axis 2 setting Axis 3 setting [Pr.8] Speed limi[...]

9 - 86 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting examples [When "3- axis spe ed co ntrol (f orward r un: speed 3)" is set in the posit ionin g data No. 1 of ax is 1] • Reference ax is ............. Axis 1 • Interpolati on axis.......... Axis 2, Axis 3 (T he require d values are also set in position ing dat a No.[...]

9 - 87 Chap ter 9 Major Po siti oning Co ntrol 9.2.15 4-axi s speed control In "4- axis s peed c ontro l" ("[ Da.2] Contro l s ystem" = Forw ard ru n: spe ed 4, Revers e run: s peed 4) , co ntrol is car rie d out in th e 4-axis d irectio n in which the pos itio nin g data has be en set b y continu ousl y outp uttin g puls es for[...]

9 - 88 Chap ter 9 Major Po siti oning Co ntrol Operation chart The f ollowing ch art sho ws the oper ation timing f or 4-ax is speed contro l with ax is 1 as the ref erence ax is. The "in s peed c ontrol" f lag ([ Md.31] Stat us: b0) is turne d ON dur ing spee d contro l. The "pos itionin g com plete s ignal" is not tur ned ON. [...]

9 - 89 Chap ter 9 Major Po siti oning Co ntrol Curr ent feed value during 4-axis speed control The f ollowing t able shows the " [Md.20] Cur rent f eed value " durin g 4-axis s peed control cor resp onding to t he "[ Pr.21] Cur rent f eed valu e during s peed c ontrol" settings . (Note that the ref erence axis settin g values ar[...]

9 - 90 Chap ter 9 Major Po siti oning Co ntrol (4) W hen either of four axes exc eeds the s peed lim it, that axis is contro lled with the speed lim it value. T he speeds of the other axes are lim ited at th e ratios of "[Da.8] C omm and speed". (Example s) Ax is Setting item Ax is 1 setting Ax is 2 setting Ax is 3 setting Ax is 4 setting[...]

9 - 91 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting examples [When "4- axis spe ed co ntrol (f orward r un: speed 4)" is set in the posit ionin g data No. 1 of ax is 1] • Reference ax is ............. Axis 1 • Interpolati on axis.......... Axis 2 t o Axis 4 (The requ ired values are also set i n position ing dat a [...]

9 - 92 Chap ter 9 Major Po siti oning Co ntrol 9.2.16 Speed-posi tion sw itching control (IN C mode) In "sp eed-p osit ion s witch ing contr ol (I NC mode) " ( "[Da .2] C ontrol system " = For ward run : speed/ positio n, Reve rse run : speed/ positio n), th e pulses of the sp eed set in "[Da. 8] Comm and s peed " are [...]

9 - 93 Chap ter 9 Major Po siti oning Co ntrol (2) "[Cd. 24] Sp eed-posit ion s witching enable f lag" m ust be turned ON to s witch over fr om s peed control to position c ontro l. (If the "[Cd.24] Spe ed-pos ition switchin g enable f lag" turns O N after the s peed-p ositio n switch ing sign al turns ON, the co ntrol will cont[...]

9 - 94 Chap ter 9 Major Po siti oning Co ntrol Operation chart The f ollowing ch art (Fig. 9.13) s hows the op eration t iming f or speed-p osition switchin g contr ol (INC m ode). T he "in spee d cont rol flag" ( [Md.3 1] Status : b0) is turned ON during sp eed co ntrol of speed-pos ition s witc hing contr ol (INC m ode). [QD77MS4 operat[...]

9 - 95 Chap ter 9 Major Po siti oning Co ntrol [Oper ation ex ample ] The f ollowi ng o perat ion ass um es that t he spe ed-pos it ion s witchi ng sig nal is inp ut at th e pos itio n of t he curren t fee d val ue of 9 0.000 00 [degr ee] d uring execut io n of "[D a.2] Contr ol s ystem" "For ward ru n: speed/ posit ion" at &quo[...]

9 - 96 Chap ter 9 Major Po siti oning Co ntrol Oper ation timing and processing t ime during speed-position s witching control (I NC mode) [QD77MS4 operat ion exam ple] Positionin g star t signal BUSY sign al M code ON si gnal [X4, X5 , X6, X7]( WITH m ode) Stan dby Spe ed control Start c omplete s ignal Positi oning ope ration Posit ioning compl e[...]

9 - 97 Chap ter 9 Major Po siti oning Co ntrol Norm al timing tim e Unit: [m s] Operation cycle t1 t2 t3 t4 t5 t6 t7 QD77MS2 0.88 0.2 to 0.3 0 to 0.9 0 to 0.9 1.8 to 2.7 0 to 0.9 0.2 Follow s parameters 1.77 0.2 to 0.3 0 to 1.8 0 to 1.8 2.5 to 3.9 0 to 1.8 0.2 Follows parameters QD77MS4 0.88 0.2 to 0.3 0 to 0.9 0 to 0.9 1.8 to 2.7 0 to 0.9 0.2 Foll[...]

9 - 98 Chap ter 9 Major Po siti oning Co ntrol Curr ent feed value during speed-position swit ching contr ol (INC mode) The f ollowing t able shows the " [Md.20] Cur rent f eed value " durin g speed-pos ition switchin g contr ol (INC m ode) c orrespond ing to the "[Pr.21] C urrent f eed valu e during s peed con trol" sett ings. [...]

9 - 99 Chap ter 9 Major Po siti oning Co ntrol (2) T he following t able sho ws the i tem s that m ust be set to use t he near- point do g signal (D OG) as speed-pos ition s witchin g signa ls. Setting ite m Setting value Setti ng details Buffe r memory address QD77MS2 QD77MS4 QD77 MS16 [Cd.45] Speed-posit ion switching devi ce selecti on 1 Use the[...]

9 - 10 0 Chap ter 9 Major Po siti oning Co ntrol t Movement amount Speed-position switching signal ON OFF Speed c ontrol Posi tion control Positio n control start Speed-position switching control (INC mode) st art 0 P2 OFF ON ON OFF P3 P2 becomes the position control m ovement amoun t Cd.23 Sp eed-posi tion switch ing contr ol movement amount chang[...]

9 - 10 1 Chap ter 9 Major Po siti oning Co ntrol Restrictions (1) T he error "Continuous path c ontrol not possible " (error code: 516) will occ ur and the operatio n cannot s tart if "contin uous pos itionin g contro l" or "continu ous path c ontrol " is set in "[Da.1] Operat ion patter n". (2) "S peed-[...]

9 - 10 2 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting examples [When "s peed-pos ition s witc hing contro l (INC m ode) b y forward r un" is set in position ing dat a No. 1 of axis 1] Setting item Setting example Setting details QD77MS2 QD77MS4 QD77MS16 Axis 1 Positioning data No. 1 [Da.1] Operation pattern Positioning[...]

9 - 10 3 Chap ter 9 Major Po siti oning Co ntrol 9.2.17 Speed-posi tion sw itching control (ABS mode) In cas e of "s peed- posi tion s witc hing c ontro l (A BS m ode)" ( "[Da.2] Contro l s ystem " = Forwar d run: spee d/posi tion , Rev erse r un: sp eed/pos it ion), t he puls es of the s peed s et in "[Da .8] C omm and spe[...]

9 - 10 4 Chap ter 9 Major Po siti oning Co ntrol Switching over from speed control t o position contro l (1) T he contr ol is selec ted th e switc hing m ethod from speed contro l to p osition control b y the setti ng value of "[Cd.45] Speed-p osition swit ching devic e sele ction" . Setting ite m Setting value Setti ng details Buffe r me[...]

9 - 10 5 Chap ter 9 Major Po siti oning Co ntrol Operation chart The f ollowing ch art (Fig. 9.16) s hows the op eration t iming f or speed-p osition switchin g contr ol (AB S mode). T he "in s peed con trol fla g" ([M d.31] Stat us: b0) is turned ON during s peed c ontrol of speed-pos ition s wit ching co ntrol (A BS mode) . [QD77MS4 ope[...]

9 - 10 6 Chap ter 9 Major Po siti oning Co ntrol [Oper ation ex ample ] The f ollowi ng o perat ion ass um es that t he spe ed-pos it ion s witchi ng sig nal is inp ut at th e pos itio n of t he curren t fee d val ue of 9 0.000 00 [degr ee] d uring execut io n of "[D a.2] Contr ol s ystem" "For ward ru n: speed/ posit ion " at &[...]

9 - 10 7 Chap ter 9 Major Po siti oning Co ntrol Oper ation timing and processing t ime during speed-position s witching control (ABS m ode) [QD77MS4 operat ion exam ple] Positio ning start signal BUSY si gnal M code ON signa l [X4, X5 , X6, X7](WITH mode) Standby Spe ed cont rol Star t comp lete s igna l Positi oning o peration Position ing co mpl[...]

9 - 10 8 Chap ter 9 Major Po siti oning Co ntrol Curr ent feed value during speed-position swit ching contr ol (ABS mode) The f ollowing t able shows the " [Md.20] Cur rent f eed value " durin g speed-pos ition switchin g contr ol (ABS m ode) c orrespond ing to t he "[Pr .21] Current f eed v alue during s peed con trol" sett ing[...]

9 - 10 9 Chap ter 9 Major Po siti oning Co ntrol Speed-posit ion switchin g signal sett ing (1) T he follo wing tab le shows t he item s that m ust be s et to use the ext ernal comm and signals [DI] as s peed-posit ion sw itching s ignals. Setting ite m Setting value Sett ing details Buffe r memory address QD77MS2 QD77MS4 QD77MS16 [Pr.42] External [...]

9 - 11 0 Chap ter 9 Major Po siti oning Co ntrol Restrictions (1) T he error "Continuous path c ontrol not possible " (error code: 516) will occ ur and the operatio n cannot s tart if "contin uous pos itionin g contro l" or "continu ous path c ontrol " is s et in "[Da.1] Operat ion pa ttern". (2) "S peed[...]

9 - 11 1 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting examples [When "s peed-pos itio n switc hing contr ol (A BS mode) by for ward run " is set i n position ing dat a No. 1 of axis 1] Setting item Setting example Setting details QD77MS2 QD77MS4 QD77MS16 Axis 1 Positioning data No. 1 [Da.1] Operation pattern Positionin[...]

9 - 11 2 Chap ter 9 Major Po siti oning Co ntrol 9.2.18 Position-speed switching contr ol In "po sitio n-speed sw itchi ng control " ("[Da .2] Co ntrol system" = Fo rward run : posit ion/sp eed, Revers e run : posi tion/s peed) , befor e the posit ion-s peed s witc hing signa l is input, posit ion c ontr ol is c arried out f or [...]

9 - 11 3 Chap ter 9 Major Po siti oning Co ntrol (2) "[Cd. 26] Pos ition-spee d switc hing en able flag" m us t be turned ON to sw itch over fr om pos ition contro l to s peed contro l. (If the "[Cd .26] Posit ion-speed switchin g enab le flag" turns ON after the posit ion-sp eed switc hing s ignal tur ns ON, the co ntrol will c[...]

9 - 11 4 Chap ter 9 Major Po siti oning Co ntrol Operation chart The f ollowing chart shows the oper atio n tim ing for pos ition- speed switch ing contr ol. The "in s peed c ontrol" f lag ([ Md.31] Stat us: b0) is turne d ON dur ing spee d contro l of positi on-spee d switch ing c ontrol. [QD77MS4 operat ion exam ple] • When usi ng the[...]

9 - 11 5 Chap ter 9 Major Po siti oning Co ntrol Oper ation timing and processing t ime during posit ion-speed switching control [QD77MS4 operat ion exam ple] Posi tioni ng st art si gnal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal [X4, X5, X6, X7](WITH mode) Standby P osition control Stopped M code OFF requ est Start comp le[...]

9 - 11 6 Chap ter 9 Major Po siti oning Co ntrol Normal tim ing tim e Unit: [m s] Operation cycle t1 t2 t3 t4 t5 t6 QD77MS2 0.88 0.2 to 0.3 0 to 0.9 0 to 0.9 1.8 to 2.7 – 0.2 1.77 0.2 to 0.3 0 to 1.8 0 to 1.8 2.5 to 3.5 – 0.2 QD77MS4 0.88 0.2 to 0.3 0 to 0.9 0 to 0.9 1.8 to 2.7 – 0.2 1.77 0.2 to 0.3 0 to 1.8 0 to 1.8 2.5 to 3.5 – 0.2 QD77MS[...]

9 - 11 7 Chap ter 9 Major Po siti oning Co ntrol Curr ent feed value during position-speed swit ching contr ol The f ollowing t able shows the " [Md.20] Cur rent f eed value " durin g positi on-speed switchin g contr ol corres pon ding to the "[Pr.21] Curren t f eed value dur ing s peed control" s ettings. "[Pr.21] Current [...]

9 - 11 8 Chap ter 9 Major Po siti oning Co ntrol Position-speed s witching signal setting (1) T he following t able sho ws the i tem s that m ust be set to use t he exter nal comm and signals [DI] as p osition-spee d switch ing sig nals. Setting ite m Setting value Sett ing details Buffe r memory address QD77MS2 QD77MS4 QD77MS16 [Pr.42] External co[...]

9 - 11 9 Chap ter 9 Major Po siti oning Co ntrol Changing the speed control comm and speed In "posit ion-sp eed switc hing c ontrol", the spee d contro l comm and speed c an be changed d uring th e positi on contro l. (1) T he speed con trol com m and speed c an be cha nged dur ing the posi tion contr ol of positi on-spee d switch ing c o[...]

9 - 12 0 Chap ter 9 Major Po siti oning Co ntrol Restrictions (1) T he error "Continuous path c ontrol not possible " (error code: 516) will occ ur and the operatio n cannot s tart if "contin uous pos itionin g contro l" or "continu ous path c ontrol " is set in "[Da.1] Operat ion patter n". (2) "P ositi[...]

9 - 12 1 Chap ter 9 Major Po siti oning Co ntrol Positioning data setting examples [When "pos ition- speed s witching c ontro l (for ward run: position/s peed) " is set in position ing dat a No. 1 of axis 1] Setting item Setting example Setting details QD77MS2 QD77MS4 QD77MS16 Axis 1 Positioning data No. 1 [Da.1] Operation pattern Positio[...]

9 - 12 2 Chap ter 9 Major Po siti oning Co ntrol 9.2.19 Current v alue changi ng W hen the current v alue is c hanged to a new value, cont rol is car ried out in whic h the "[Md. 20] Cur rent feed valu e" of the st oppe d axis is c han ged to a rand om address set by the user. (The "[Md .21] Mac hine f eed valu e" is not c hang [...]

9 - 12 3 Chap ter 9 Major Po siti oning Co ntrol (3) T he error "Outside n ew cur rent value r ange" ( error c ode: 514) will occ ur and the operat ion cann ot start if "de gree" is s et in "[ Pr.1] Unit set ting" and the value se t in "[Da. 6] Posit ioning addr ess /movem ent amount (0 to 359. 99999 [degree]) &qu[...]

9 - 12 4 Chap ter 9 Major Po siti oning Co ntrol [2] Changing to a new current value using the current value chang ing start No. (N o. 9003) In "curren t value c hanging " ("[Cd. 3] Posit ioning s tart No." = 9003), "[Md. 20] Current f eed va lue" is chan ged to the addres s set in "[ Cd.9] New c urrent value &quo[...]

9 - 12 5 Chap ter 9 Major Po siti oning Co ntrol Sett ing method for the current value changing function The f ollowing sh ows an ex ample of a seque nce progr am and data s etting t o change the current value to a new v alue with the posit ioning star t sign al. (The "[Md.20] Current f eed va lue" value is chan ged to "5000.0  m&[...]

9 - 12 6 Chap ter 9 Major Po siti oning Co ntrol (3) Add the follo wing seq uence pr ogram to the control program , and write it to th e PLC CPU. Current value changing Store new current feed value in D106 and D107 [QD77MS4 program example] X8 Y10 X10 DX0C 0 <Pulsat e current value ch anging command> <Write current v alue chang ing to th e[...]

9 - 12 7 Chap ter 9 Major Po siti oning Co ntrol 9.2.20 NOP instruction The NO P ins tructi on is used for th e no nexec utable contr ol s ystem . Operation The pos itioning dat a No. to which the NO P instr uction i s set trans fers, witho ut any process ing, to the o peratio n for the n ext positi oning d ata No. Positioning data setting examples[...]

9 - 12 8 Chap ter 9 Major Po siti oning Co ntrol 9.2.21 JUMP instruction The J UMP ins truc tion is us ed t o contr ol th e oper ation so it jum ps to a pos itio ning d ata No. set in the pos ition ing da ta dur ing "c ont inuous p os itioning cont rol" or "c ontinu ous path c ontrol ". JUMP ins truc tion inc ludes t he fol lowi[...]

9 - 12 9 Chap ter 9 Major Po siti oning Co ntrol (2) Set J UMP instructi on to p ositio ning data N o. that "continu ous pos itioning control" or "cont inuous p ath control " is set i n operat ion pattern . It cannot s et to pos itioning data No. that "posit ioning com plete" is set i n operatio n pattern. (3) Pos itio[...]

9 - 13 0 Chap ter 9 Major Po siti oning Co ntrol 9.2.22 LOOP The LOO P is used for loo p contr ol b y the re petiti on of L OOP t o LEND . Operation The LOO P to LEND lo op is repeated by set r epeat c ycles. Positioning data setting examples [When "LO OP" is set in positi oning data No. 1 of ax is 1] Setting item Setting example Setting [...]

9 - 13 1 Chap ter 9 Major Po siti oning Co ntrol POINT The s etting b y this co ntro l syst em is eas ier th an that b y the sp ecial start "FOR loo p" of "Hig h-le vel Positioning Control" (refer to Chapter 10). • For s pecia l star t: Positio ning s tart d ata, sp ecia l star t data , cond iti on data , and p ositi oning dat[...]

9 - 13 2 Chap ter 9 Major Po siti oning Co ntrol 9.2.23 LEND The L END is used to ret urn the oper ation t o th e top of the re peat ( LOOP t o LE ND) loop . Operation W hen the repeat c ycle desi gnated b y the LOO P beco mes 0, the loop is term inated, and the nex t positi oning dat a No. proc essing is started. (T he operation patt ern, if set t[...]

9 - 13 3 Chap ter 9 Major Po siti oning Co ntrol Restrictions (1) Ignore the "LEND " bef ore the "LO OP" is execut ed. (2) W hen the operat ion pat tern " Positio ning com plete" has been s et between LOOP and L END, the positioni ng contr ol is com pleted after the p ositioning data is execute d, and t he LOO P contro[...]

9 - 13 4 Chap ter 9 Major Po siti oning Co ntrol MEM O[...]

10 - 1 10 Chap ter 10 High-L evel Positionin g Cont rol Chapter 10 High-Level Positioning Control The de tails a nd usage of high- level positio ning con trol (control function s usi ng the "block start data" ) are ex plain ed in this chapte r. High-l evel po sition ing co ntrol i s used to carr y out app lied co ntrol u sing the "po[...]

10 - 2 Chap ter 10 High-L evel Positionin g Cont rol 10.1 Outline of hig h-level posi tioning contr ol In "hi gh-le vel p ositi oning c ontr ol" t he ex ecutio n ord er an d exec ution c ondi tio ns of t he "posi tioni ng data " are set to c arry ou t m ore app lied posit ionin g. (The ex ecutio n ord er and ex ecuti on con dit [...]

10 - 3 Chap ter 10 High-L evel Positionin g Cont rol 10.1.1 Data requi red for hig h-level positioning control "Hig h-le vel pos itio ning contro l" is exec ute d by sett ing th e requ ired it em s in the "bloc k start da ta" and "c ondit ion data ", then star ting th at "block start da ta". Jud gment ab out [...]

10 - 4 Chap ter 10 High-L evel Positionin g Cont rol 10.1.2 "Block start data" and "co ndition data " configurati on The " block start data" and "c onditi on data " corr espo nding t o "bloc k No . 7000 " can be sto red i n t he b uffe r me mory . • QD77 MS2/Q D77MS4 26049+ 1000n 26099+ 1000n 50th[...]

10 - 5 Chap ter 10 High-L evel Positionin g Cont rol • QD77 MS16 22049+ 400n 22099+ 400n 50th point Setting item B uffer memo ry address 22001+ 400n 22051+ 400n 2nd poin t Setting item Buff er m emor y addres s 22191+ 400n 22192+ 400n 22193+ 400n 22194+ 400n 22195+ 400n 22196+ 400n 22197+ 400n No.10 Setting item Buffer memo ry address 22190+ 400n[...]

10 - 6 Chap ter 10 High-L evel Positionin g Cont rol 10.2 High- level positioning control execution procedur e High- level posit ionin g contr ol is car rie d out us in g the f ollo wing pr oce dure. STEP 1 Preparation Refer to Cha pter 9 Carry out the "major positioning control" setting. "High-lev el positio ning cont rol" exe [...]

10 - 7 Chap ter 10 High-L evel Positionin g Cont rol 10.3 Setting the block star t data 10.3.1 Relation betw een vari ous controls and block star t data The " block start data" m ust be set to carr y out "high- level positi onin g contr ol". T he settin g requ irem ents a nd d etails of e ach "block star t data" item t[...]

10 - 8 Chap ter 10 High-L evel Positionin g Cont rol 10.3.2 Block start (nor mal start) In a "b lock start (nor mal s tart) ", the posit ion ing dat a gr oups of a b lock st ar ti ng f r om t he position ing data s et in "[D a.12]S tart data No." are continuou sly e xecute d with the s et order b y starting onc e.. Secti on [2] [...]

10 - 9 Chap ter 10 High-L evel Positionin g Cont rol [2] Control examples The f ollowi ng sho ws the contr ol ex ecute d when the "block star t data" of the 1st poin t of ax is 1 is se t as s hown in sect ion [1] a nd star ted . <1> The pos itio ning dat a is exec uted in the fol lowing or der b efore st oppin g. Axi s 1 p osi tioni[...]

10 - 1 0 Chap ter 10 High-L evel Positionin g Cont rol 10.3.3 Condition star t In a "cond ition st art", th e "cond ition dat a" cond ition al judgm ent desi gnat ed in "[Da. 14] Param eter" is car ried o ut for the posit ioning data set i n "[Da. 12] Start data No. ". If t he condit ions have b een estab lis[...]

10 - 1 1 Chap ter 10 High-L evel Positionin g Cont rol 10.3.4 W ait start In a "wait st art", th e "cond ition da ta" con ditiona l judgm ent desig nate d in "[Da.1 4] Param eter" is car ried o ut for the posit ioning data set i n "[Da. 12] Start data No. ". If t he condit ions have b een estab lish ed, the &[...]

10 - 1 2 Chap ter 10 High-L evel Positionin g Cont rol 10.3.5 Simultaneous st art In a "sim ultan eous star t", the pos ition ing data set in the "[D a.12 ] Start dat a No." and posit ioning data of ot her axes s et in the "c ondit ion d ata" are sim ulta neous ly exec uted (comm ands are ou tput with the sam e timing)[...]

10 - 1 3 Chap ter 10 High-L evel Positionin g Cont rol 10.3.6 Repeated star t (FOR loop) In a "repe ated star t (FOR loop)", th e data be tween the "bloc k start dat a" in wh ich "4: FOR loop " is set in "[Da .13] Sp ecial star t instr uct ion" an d the "block start da ta" in whic h "6: NEXT st[...]

10 - 1 4 Chap ter 10 High-L evel Positionin g Cont rol 10.3.7 Repeated star t (FOR conditi on) In a "r epeat ed s tart (F OR c ondit ion)" , the data b etwe en t he "bl ock s tart dat a" in whic h "5: FO R co ndit ion" is set in " [Da.13] Speci al st art ins truc tion" and the " block start data" in[...]

10 - 1 5 Chap ter 10 High-L evel Positionin g Cont rol 10.3.8 Restrictions w hen using the NEX T start The " NEXT s tart" is an instr uction ind icating the end of the r epet itions when executi ng Secti on 10.3 .6 "R epeate d star t (FOR loop) " and Sect ion 10 .3.7 "R epe ated st art (FO R condit ion) ". The f ollowi[...]

10 - 1 6 Chap ter 10 High-L evel Positionin g Cont rol 10.4 Setting the conditi on data 10.4.1 Relation betw een vari ous controls and the conditi on data "Con dition data" is s et in t he fol lowing c ases . (1) W hen setting condit ions durin g execu tion of Sec tio n 9.2.21 "J UM P instr uctio n" (m ajor pos ition ing co ntro[...]

10 - 1 7 Chap ter 10 High-L evel Positionin g Cont rol The s etting r equ irements and d etai ls of the fo llowin g "c ondit ion dat a" [Da .16] to [D a.19] and [ Da.23] s ett ing it em s diff er accor din g to th e "[D a.15] Cond ition target " s etting. The fo llowin g shows th e [Da.1 6] to [Da. 19] and [Da.23 ] setti ng item[...]

10 - 1 8 Chap ter 10 High-L evel Positionin g Cont rol • QD77 MS16 Other setting item [Da.15] Condition t arget [Da.16] Condition op erator [Da.23] Number of simult aneously start ing axes [Da.17] Address [Da.18] Param eter 1 [Da.19] Param eter 2 01H: Device X 07H : DEV=ON 08H : DEV=OFF — — 0 to 1FH (bit No.) — 02H: Device Y 0 to 1FH (bit N[...]

10 - 1 9 Chap ter 10 High-L evel Positionin g Cont rol 10.4.2 Condition dat a setti ng examples The f ollowi ng sho ws the set ting ex ampl es for "cond itio n data ". (1) QD77MS2/QD 77MS4 (a) S etting the d evic e ON/ OFF as a co ndit ion [Con diti on] Devi ce "XC" (Axi s 1 BUSY signal ) is OFF. [Da.15] Condition target [Da.16][...]

10 - 2 0 Chap ter 10 High-L evel Positionin g Cont rol (2) QD77MS16 (a) S etting the d evic e ON/ OFF as a co ndit ion [Con diti on] Devi ce "X10 " (A xis 1 BUSY signal ) is OFF. [Da.15] Condition target [Da.16] Condition operator [Da.17] Address [Da.18] Param eter 1 [Da.19] Param eter 2 [Da.23] Number of simult aneously start ing axes [D[...]

10 - 2 1 Chap ter 10 High-L evel Positionin g Cont rol 10.5 Multiple ax es simultaneous start contr ol The "mul tiple axes simul taneou s start" starts outputtin g the com m and to the specif ied sim ultaneous start ing axis at the s ame tim ing as the st arted axis. The m axim um of four ax es c an be s tarted sim ultaneo usl y. [1] Cont[...]

10 - 2 2 Chap ter 10 High-L evel Positionin g Cont rol [3] Multiple axes simultaneous start contr ol procedure The proc ed ure f or m ultiple axes sim ultaneo us st art co ntrol is as f oll ows. Cd.30 Simultaneous starting axis start data No. (axis 1 s tart data No.) Cd.31 Simultaneous starting axis start data No. (axis 2 s tart data No.) Set the f[...]

10 - 2 3 Chap ter 10 High-L evel Positionin g Cont rol [4] Multiple axes simultaneous start contr ol function setting method The f ollowi ng sho ws the setti ng of the da ta use d to execute the m ulti ple ax es sim ultaneous star t con trol wit h posi tioni ng star t si gnals (The ax is c ontro l data on the star t ax is is set). Setting item Sett[...]

10 - 2 4 Chap ter 10 High-L evel Positionin g Cont rol [5] Setting examples (1) T he follo win g sho ws the s ettin g ex amples in which the QD 77MS 4 [ax is 1] is used as the s tart axis and th e sim ultane ousl y starte d axes are us ed as the axes 2 and 4 . Setting item Setting value Setting details Buffer memory address (Axis 1) [Cd.3] Position[...]

10 - 2 5 Chap ter 10 High-L evel Positionin g Cont rol POINTS (1) T he "m ultip le ax es sim ultan eous s tart c ontro l" car rie s out a n oper ation equ ivale nt to th e "sim ultan eous st art" us ing the " block start data ". (2) T he sett ing of the "m ultiple axes s imult aneo us st art contr ol" is eas [...]

10 - 2 6 Chap ter 10 High-L evel Positionin g Cont rol 10.6 Start prog ram for hig h-level posi tioning control 10.6.1 Starting high-level positioning control To ex ecute high-l evel p osit ionin g contr ol, a s equenc e pr ogram mus t be cre ated t o star t the co ntrol in t he sam e m ethod as for maj or posit ioni ng c ontrol . The f ollowi ng s[...]

10 - 2 7 Chap ter 10 High-L evel Positionin g Cont rol 10.6.2 Example o f a start prog ram for hig h-level positi oning control The f ollowi ng sho ws a n exa mple of a st art pr ogram f or high- level posi tionin g contr ol in which the 1s t po int "b lock start dat a" of axis 1 is s tarte d. (T he block No. is re garde d as "70 00&[...]

10 - 2 8 Chap ter 10 High-L evel Positionin g Cont rol Star t time chart The f ollowing ch art sho ws a tim e chart in which th e positio ning d ata No. 1, 2, 10, 11, and 12 of QD77 MS4 [axis 1] are conti nuousl y executed as an exam ple. (1) Block star t data settin g exam ple Axis 1 block start data [Da.11] Shape [Da.12] Start data No. [Da.13] Sp[...]

10 - 2 9 Chap ter 10 High-L evel Positionin g Cont rol Creating the program <Pulse the po sitioning start comma nd.> M104 PLS Y10 M104 <Turn ON the position ing start si gnal.> Y10 SET K1 K1 K15 01 H0 TO <Write t he pos itio ning start po int No.> K1 K7000 K15 00 H0 TO <Wri te the position ing data N o. 7000 for block po sition[...]

10 - 3 0 Chap ter 10 High-L evel Positionin g Cont rol MEM O[...]

11 - 1 11 Chapter 11 Manual C ontro l Chapter 11 Manual Control The de tails and usage of ma nual cont rol are explained in thi s chapter. In ma nual control , commands are is sued during a JOG o peration and an inch ing ope ration execut ed by the turning ON of the JOG ST ART si gnal, or from a man ual puls e genera tor connec ted to the Simple Mo[...]

11 - 2 Chapter 11 Manual C ontro l 11.1 Outline o f manual control 11.1.1 Three manual control methods "Man ual con trol" refers to contr ol in whic h pos itio ning dat a is not use d, and a posit ioning oper atio n is c arri ed out in res pons e to s igna l inpu t from an ex terna l dev ice. The thr ee t ypes of th is "m anual c ont[...]

11 - 3 Chapter 11 Manual C ontro l [3] Manual pulse generator oper ation "Man ual puls e gen erator op erat ion" is a contro l meth od in wh ich pos ition ing is carrie d out in res pons e to t he num ber of pu lses in put f rom a manua l pu lse genera tor ( the num ber of in put com mand is out put) . This operat ion is use d for manual [...]

11 - 4 Chapter 11 Manual C ontro l 11.2 JOG operation 11.2.1 Outline of JOG oper ation JOG operation In JOG oper ation, th e forwar d run JOG start sig nal or r everse ru n JOG s tart signal turns ON, c ausing pulses t o be output t o the s ervo am plifier f rom the Sim ple Motion m odule wh ile the si gnal is O N. The work piece is then m oved in [...]

11 - 5 Chapter 11 Manual C ontro l Important Use the hard ware s troke lim it func tion when carr yin g out J OG oper ation near the upper or lo wer lim its. (Ref er to Sec tion "13 .4.4".) If the hardwar e str oke limit f unct ion is not used, the wor k piece m ay exce ed th e movin g ra nge, c ausin g an a ccide nt. Precaut ions during [...]

11 - 6 Chapter 11 Manual C ontro l JOG oper ation timing and processing time The f ollowing dr awing sh ows deta ils of the JOG operatio n tim ing and proc essing time. [QD77MS4 operat ion exam ple] Reverse run JO G start signal [Y9, YB, YD, YF] BUSY signal [XC, XD, XE, XF] For ward r un JOG st art si gnal [Y8, YA, YC, YE] Standby (0 ) Positioni ng[...]

11 - 7 Chapter 11 Manual C ontro l 11.2.2 JOG operati on executi on procedure The J OG oper atio n is carr ied out b y the fol lowin g proc edure . STEP 1 Prepara tion Refer to Chapte r 5 and Section 11.2. 3. End of control STEP 2 Refer to Sec tion 11.2.4. STEP 3 Turn ON the J OG start sign al. STEP 4 Monitor usi ng GX Work s2. STEP 5 Write t he se[...]

11 - 8 Chapter 11 Manual C ontro l 11.2.3 Setting the req uired parameter s for JOG operation The " Posit ionin g param eters " mus t be se t to car r y out JO G opera tion . The f ollowi ng tab le sho ws the s etti ng it ems of the r equi red par am eters for carr ying out JOG op erati on. Par ameter s not sh own b elow ar e not requ ire[...]

11 - 9 Chapter 11 Manual C ontro l REMARK  Par am eter se ttings work in c omm on for all c ontrols usin g the Sim ple M otion m odule. W hen car r ying out other c ontr ols ( "maj or pos ition ing co ntrol ", "h igh-l eve l posit ioning con trol ", "OPR posit ion ing co ntrol") , set the r espec tive s ettin g item[...]

11 - 1 0 Chapter 11 Manual C ontro l 11.2.4 Creating start progr ams for JOG operation A sequ ence progr am m ust be c reat ed to ex ecu te a JO G op erati on. Cons ider the "req uired cont rol data set ting ", "st art condi tion s" and "s tart ti me cha rt" when cr eating the pr ogram . The f ollowi ng sho ws an exa m[...]

11 - 1 1 Chapter 11 Manual C ontro l Star t time chart [QD77MS4 operat ion exam ple] t Forward run JO G start sig nal Forwar d JOG run BUSY sig nal Error detec tion signal OFF OFF OFF OFF OFF ON ON ON ON [X8] [XC] PLC R EAD Y si gna l READY sign al Reverse run JOG sta rt signal Reverse JOG run [Y8 ] [Y9] [X0] [Y0] OFF ON OFF All ax is ser vo ON [Y1[...]

11 - 1 2 Chapter 11 Manual C ontro l 11.2.5 JOG operati on exampl e W hen the "stop signal" is turned ON during JOG operation W hen the "stop si gnal" is turned ON during J OG oper ation , the JO G operatio n will stop b y the "dece leration s top" m ethod. If the JO G start s ignal is tur ned ON while the s top sign a[...]

11 - 1 3 Chapter 11 Manual C ontro l W hen both the "forward run JOG start sig nal" and "reverse run JOG st art signal" ar e turned ON simultaneously f or one axis W hen both the "f orward run JOG s tart signal" and "re vers e run JOG s tart sign al" are turn ed ON sim ultaneo usl y for one axis , the "f[...]

11 - 1 4 Chapter 11 Manual C ontro l W hen the "JOG start signal" is tur ned ON again during decelerat ion caused by the ON OFF of t he "JOG start sig nal" W hen the "JOG star t signa l" is tur ned ON ag ain dur ing deceler ation ca used b y the ON OFF of the "JOG start signa l", the J OG opera tion wil l be [...]

11 - 1 5 Chapter 11 Manual C ontro l 11.3 Inching operati on 11.3.1 Outline of inchi ng oper ation Inching operation In inchin g operat ion, puls es ar e output to t he ser vo amplif ier at o peration cycle to move the workpiec e by a d esignated movem ent am ount after the f orward r un JOG start signa l or re verse J OG star t signal is turned O [...]

11 - 1 6 Chapter 11 Manual C ontro l Important W hen the inc hin g operat ion is carr ied out n ear th e upper or lower lim it, use th e hardwar e str oke l imit f unctio n (Ref er to Sect ion 13 .4.4). If the hardwar e str oke limit f unct ion is not used, the wor k piece m ay exce ed th e movem ent ra nge, and an acc ident m ay res ult. Precaut i[...]

11 - 1 7 Chapter 11 Manual C ontro l Inching operation timing and processing times The f ollowing dr awing sh ows t he details of the i nching op eration t iming an d process ing tim e. [QD77MS4 operat ion exam ple] ON t4 OFF OFF OFF OFF Reverse run J OG start signal [Y9, YB, Y D, YF] BUSY signal [XC, XD, XE, XF] Forward run JOG start s ignal [Y8, [...]

11 - 1 8 Chapter 11 Manual C ontro l 11.3.2 Inching oper ation ex ecution procedure The i nchin g oper ation is c arried o ut b y the f ollo wing pr ocedur e. Set t he par ameters. ( to ) Pr.1 Pr.31 One of the followin g two methods c an be used. <Met hod 1 > Directly set (write) the par ameters in th e Simple Motion module u sing GX Works2. [...]

11 - 1 9 Chapter 11 Manual C ontro l 11.3.3 Setting the r equired par ameters for inchi ng operation The " Posit ionin g param eter s" m ust be s et to c arr y out i nchin g oper atio n. The f ollowi ng tab le sho ws the s etti ng it ems of the r equi red par am eters for carr ying out inchi ng oper atio n. Par amete rs not sho wn be low [...]

11 - 2 0 Chapter 11 Manual C ontro l 11.3.4 Creating a program to e nable/disable th e inching operation A sequ ence progr am m ust be c reat ed to ex ecu te an inchi ng op eration . Cons ider the "requ ired c ontrol dat a sett ing", "star t cond itio ns", and "s tart t im e chart" when c reat ing the pr ogram . The f [...]

11 - 2 1 Chapter 11 Manual C ontro l St art tim e char t [QD77MS4 operat ion exam ple] Forw ard ru n JOG star t sig nal [Y8] PLC READY sign al [Y0] READY signal [X0] t Revers e run JOG start signal [Y9] Reverse r un inching operation Forwar d run inchi ng operati on BUSY signal [X C] Error de tection signal [X8 ] OFF OFF OFF OFF OFF ON ON ON ON ON [...]

11 - 2 2 Chapter 11 Manual C ontro l 11.3.5 Inching oper ation ex ample W hen executing inching operation whi le stop signal is tur ned ON If the JO G start s ignal is tur ned ON while the s top sign al is O N, the err or "Stop signal ON at start" (error c ode: 106) will occur. The inc hing operat ion c an be re-s tarted when the sto p s [...]

11 - 2 3 Chapter 11 Manual C ontro l W hen the "JOG star t signal" is turned ON while th e test function of GX W or ks2 is used W hen the "JOG star signa l" is turne d ON whi le the t est f unction is used, it will be ignored and the inc hing op eration will not b e carried out. [QD77MS4 operat ion exam ple] In test mo de flag O[...]

11 - 2 4 Chapter 11 Manual C ontro l 11.4 Manual pulse g enerator operation 11.4.1 Outline o f manual pulse generator operation Manual pulse gener ator operation In manual p ulse generat or operatio ns, puls es are input to th e Sim ple Moti on module f rom the m anual p ulse ge nerator. T his caus es the s ame num ber of input comm and to be out p[...]

11 - 2 5 Chapter 11 Manual C ontro l Restricted it ems A manual pulse generat or is requir ed to car r y out manual pulse ge nerator operatio n. Precaut ions during operation The f ollowing deta ils m ust be u ndersto od befor e carr ying out m anual puls e generator o peration . (1) T he speed d uring m anual p ulse gener ator o peration is not li[...]

11 - 2 6 Chapter 11 Manual C ontro l Operations when stro ke limit err or occurs W hen the hardware s troke l imit err or or the sof tware str ok e limit er ror is detect ed (Note-1) dur ing operati on, th e operation will decel erate t o a stop. Ho wever, in case of "[Md. 26] Axis o perat ion status", "Man ual puls e gener ator oper[...]

11 - 2 7 Chapter 11 Manual C ontro l Normal tim ing tim es Unit : [ms] Operation cycle t1 t2 t3 t4 QD77MS2 0.88 0.6 to 0.9 10.0 to 15.0 18.0 to 25.0 9.6 1.77 0.6 to 1.8 10.0 to 15.0 18.0 to 25.0 9.6 QD77MS4 0.88 0.6 to 0.9 10.0 to 15.0 18.0 to 25.0 9.6 1.77 0.6 to 1.8 10.0 to 15.0 18.0 to 25.0 9.6 QD77MS 16 0.88 0.6 to 0.9 10.0 to 15.0 18.0 to 25.0[...]

11 - 2 8 Chapter 11 Manual C ontro l 11.4.2 Manual pulse g enerator operation ex ecution procedure The m anual pulse gen erator opera tion is c arried out b y the f ollow ing proc ed ure. Write "1" in " Manual pul se gener ator ena ble flag", and operate the manual pulse generato r. Cd.21 Creat e a sequen ce program in whi ch th[...]

11 - 2 9 Chapter 11 Manual C ontro l 11.4.3 Setting the r equired par ameters for ma nual pulse gener ator operation The " Posit ionin g param eter s" mus t be se t to car r y out m anual p ulse gener ator operat ion. The f ollowi ng tab le sho ws the s etti ng it ems of the r equi red par am eters for carr ying out manual puls e ge nerat[...]

11 - 3 0 Chapter 11 Manual C ontro l 11.4.4 Creating a program to e nable/disable th e manual pul se generator operation A sequ ence progr am m ust be c reat ed to ex ecu te a m anual puls e gener ator opera tion. Consid er th e "re quire d co ntrol d ata s etting ", "start c ond itions " and "star t tim e ch art" when[...]

11 - 3 1 Chapter 11 Manual C ontro l Star t time chart [QD77MS4 operat ion exam ple] Pulse input A phase OFF ON OFF OFF 1 t OFF 00 1 Forward ru n Reverse run ON Pulse input B phase BUSY signal READY signal PLC READY signal Start complete signal Error detection signal [Y0] [X0] [X10] [XC] [X8] Cd. 21 Manual pulse g enerator enable flag Cd. 20 Manual[...]

11 - 3 2 Chapter 11 Manual C ontro l MEM O[...]

12 - 1 12 Chapt er 12 Exp ansio n Contr ol Chapter 12 Expansion Control The det ails and us age of exp ansion c ontrol are exp lained i n this chapter . Expans ion control include s the spee d-tor que control to execu te the sp eed contro l and torque contro l not inclu ding po sition loop and the synchro nous control to s ynchronize with i nput ax[...]

12 - 2 Chapt er 12 Exp ansio n Contr ol 12.1 Speed-tor que control 12.1.1 Outline of sp eed-torq ue control This funct ion is used to ex ecute the s peed c ontro l or t orqu e contr ol th at does not inclu de th e pos ition loop for the com m and to s ervo amplif ier. "Cont inuous oper ation to t orqu e contro l m ode" t hat s witc hes th[...]

12 - 3 Chapt er 12 Exp ansio n Contr ol CAUTION If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servomotor stop status (servo lock status) or in a 30r/min or less low-speed operation s tatus, the servo amplifier may malfunction regardl ess of the electronic thermal relay prot ectio[...]

12 - 4 Chapt er 12 Exp ansio n Contr ol 12.1.2 Setting the r equired par ameters for spe ed-torque contr ol The " Posit ionin g param eter s" mus t be se t to car r y out s peed-t orque contro l. The f ollowi ng tab le sho ws the s etti ng it ems of the r equi red par am eters for carr ying out speed- torque c ont rol. P aram eters not sh[...]

12 - 5 Chapt er 12 Exp ansio n Contr ol 12.1.3 Setting the r equired data for speed-torque contr ol Requ ired control data sett ing for the control m ode switching The c ontrol data sh own be low m ust be set to execute t he control m ode s witchin g. Setting item Setting value Setting details Buffer memory address QD77MS2 QD77MS4 QD77MS16 [Cd.138][...]

12 - 6 Chapt er 12 Exp ansio n Contr ol Requir ed control data sett ing for the torque contr ol mode The c ontrol data sh own be low m ust be set to execute the tor que co ntrol. Setting item Setting value Setting details Buffer memory address QD77MS2 QD77MS4 QD77MS16 [Cd.143] Command torque at torque control mode Set the command torque at torque c[...]

12 - 7 Chapt er 12 Exp ansio n Contr ol 12.1.4 Operation of speed-torq ue control [1] S wi tching of control mode (Spee d control/Torque contr ol) Switching method of contr ol mode To s witch the con trol m ode to the s peed contr ol or the torque c ontrol , set "1 " in "[Cd.138 ] Control m ode swi tching r equest" after s ettin[...]

12 - 8 Chapt er 12 Exp ansio n Contr ol The his tory of c ontrol m ode switc hing is stored to th e st art histor y at reques t of control m ode s witching. ( Refer to Section 5.6.1 "System monitor dat a".) Confirm the contr ol mode with "contr ol m ode (high-or der buf fer m emory addres s: b2, b3)" of "[Md.10 8] Servo sta[...]

12 - 9 Chapt er 12 Exp ansio n Contr ol The f ollowing ch art sho ws the oper ation timing f or axis 1. [QD77MS4 operat ion exam ple] Zero s peed ( Servo statu s: b3) M d.108 0 10 1 0 0 10 0 0 20000 0 3 0000 0 31 30 30 0 [0, 0] OFF ON [1, 0] [0, 0] t V Cont rol mo de ( Servo statu s: b2, b3) M d.108 ON OFF 30000 20000 6 to 11ms 6 to 11ms BUSY signa[...]

12 - 1 0 Chapt er 12 Exp ansio n Contr ol Oper ation for "Position cont rol mode ↔ Torque control mode switch ing" W hen the position co ntrol mode is switched to the t orque contr ol mode, t he comm and torque im m ediatel y after the s witching is the tor que set in "T orque ini tial value se lection ( b4 to b7) " of "[[...]

12 - 1 1 Chapt er 12 Exp ansio n Contr ol W hen the torque co ntrol mode is switc hed to the positi on control m ode, th e comm and posit ion imm ediatel y after the s witchin g is t he curr ent feed va lue at switch ing. The f ollowing ch art sho ws the oper ation timing f or axis 1. [QD77MS4 operat ion exam ple] 0 10 1 0 0 20 0 0 200 0 300 0 32 3[...]

12 - 1 2 Chapt er 12 Exp ansio n Contr ol Oper ation for "Speed control mode ↔ Torque control mode switchi ng" W hen the speed con trol m ode is s witched to t he torqu e contr ol mode, t he comm and torque im m ediatel y after the s witching is the tor que set in "T orque ini tial value se lection ( b4 to b7) " of "[Pr.9[...]

12 - 1 3 Chapt er 12 Exp ansio n Contr ol W hen the torque co ntrol mode is switc hed to the speed c ontrol m ode, the comm and speed im m ediately after the switch ing is th e m otor speed at switch ing. The f ollowing ch art sho ws the oper ation timing f or axis 1. [QD77MS4 operat ion exam ple] 0 10 1 0 10 20 10 0 200 0 31 32 30 30 31 [1, 0] ON [...]

12 - 1 4 Chapt er 12 Exp ansio n Contr ol [2] S wi tching of control mode (Conti nuous operation to tor que control) Switching method of contr ol mode To s witch the con trol m ode to the c ontinuous operat ion to torq ue control mode, s et "1" in "[ Cd.138] Control m ode s witchin g request" after s etting th e control m ode to[...]

12 - 1 5 Chapt er 12 Exp ansio n Contr ol The his tory of c ontrol m ode switc hing is stored to th e st art histor y at reques t of control m ode s witching. ( Refer to Section 5.6.1 "System monitor dat a".) Confirm the status of the co ntinuous operatio n to torq ue contr ol m ode with "b14 : Continu ous operat ion to t orque contr[...]

12 - 1 6 Chapt er 12 Exp ansio n Contr ol Oper ation for "Position cont rol mode ↔ Continuous operat ion to torque control mode switch ing" To s witch to the c ontinuous operat ion to tor que contr ol m ode, set the c ontrol data used in th e contr ol mode b efore s etting "1" in "[C d.138] Contro l m ode switch ing reque[...]

12 - 1 7 Chapt er 12 Exp ansio n Contr ol The f ollowing ch art sho ws the oper ation timing f or axis 1. [QD77MS4 operat ion exam ple] t 0 10 1 0 0 30 0 33 30 0 6 to 11 ms Torqu e 30.0% t V 1000 Position control mode Continuous operation to torque co ntrol mode Position control mode 1000 0 0 ON 0 0 1 1 0 [0, 0] Contro l mode ( Servo sta tus: b2, b[...]

12 - 1 8 Chapt er 12 Exp ansio n Contr ol Oper ation for "Speed control mode ↔ Continuous operat ion to torque control mode switch ing" To s witch to the c ontinuous operat ion to tor que contr ol m ode, set the c ontrol data used in th e contr ol mode b efore s etting "1" in "[C d.138] Contro l m ode switch ing request &[...]

12 - 1 9 Chapt er 12 Exp ansio n Contr ol The f ollowing ch art sho ws the oper ation timing f or axis 1. [QD77MS4 operat ion exam ple] t 0 10 1 0 10 30 10 31 33 30 31 Torque 30.0% t V 1000 1000 0 0 ON 0 0 1 1 0 [1, 0] Control m ode ( S ervo status: b 2, b3) Continuou s operati on to tor que control ( S ervo status3: b14) OF F ON 300 0 0 10000 -100[...]

12 - 2 0 Chapt er 12 Exp ansio n Contr ol Oper ation for switching fr om "Position contr ol mode" to "Continuous operation to t orque control mode" aut omatically To s witch to the c ontinuous operat ion to tor que contr ol m ode autom aticall y when the condit ions s et in "[Cd. 153] C ontrol m ode auto- shift selec tion&q[...]

12 - 2 1 Chapt er 12 Exp ansio n Contr ol POINT (1) A utomat ic s witchin g is val id onl y when the c ontro l m ode is s witc hed fr om the posit ion co ntrol m ode to the cont inuo us op erati on to tor que c ontr ol m ode. W hen the m ode is switc hed from speed c ontr ol m ode to contin uous operat ion to torq ue co ntrol m ode or fr om c ontin[...]

12 - 2 2 Chapt er 12 Exp ansio n Contr ol The f ollowing ch art sho ws the o peration when "1: Current f eed va lue pass " is set in "[Cd.153 ] Control mode auto- shift s election" . t 0 10 30 33 Torqu e 30.0% t V 1000 Position control mode Continuous operation to torque control mode 1000 0 0 0 1 Continu ous operati on to torque[...]

12 - 2 3 Chapt er 12 Exp ansio n Contr ol [3] Speed control mode Oper ation for speed control m ode The s peed control is exec uted at the speed s et in "[Cd .140] Comm and speed at speed co ntrol m ode" in th e speed co ntrol m ode. Set a posit ive value f or for ward rotation a nd a negat ive va lue for reverse r otation. "[Cd.140][...]

12 - 2 4 Chapt er 12 Exp ansio n Contr ol Stop cause dur ing speed control mode The operat ion for stop caus e duri ng speed contro l mode is shown b elow. Item Operati on during speed c ontrol m ode Axis stop [ Y4 to Y7] turned ON. QD77MS2 Q D77MS4 The motor dec elerates t o speed "0" acc ording to the set ting value of " [Cd.142] D[...]

12 - 2 5 Chapt er 12 Exp ansio n Contr ol [4] Torque control mode Oper ation for torque contr ol mode The torque c ontrol is execu ted at th e comm and torque set in "[C d.143] Com m and torque at t orque c ontrol m ode" in the torqu e control m ode. "[Cd.143] Com m and torque at t orque c ontrol m ode" ca n be cha nged an y tim[...]

12 - 2 6 Chapt er 12 Exp ansio n Contr ol Set tim e for the c ommand tor que to inc rease fr om 0% to "[ Pr.17] T orque limit setting v alue" in "[ Cd.144] Torque tim e cons tant at tor que control m ode (F orward directi on)" and f or the com m and torque t o decreas e from "[Pr.17] T orque limit setting v alue" to 0%[...]

12 - 2 7 Chapt er 12 Exp ansio n Contr ol Speed during torque control mode The s peed during th e torqu e contro l mode is contro lled with "[Cd.1 46] Speed limit value at t orque contro l mode". At this t im e, "Speed lim it " ("[Md. 108] Ser vo status " (low-order buff er mem ory address): b4) turns ON. Buffer memory[...]

12 - 2 8 Chapt er 12 Exp ansio n Contr ol Stop cause dur ing torque control mode The operat ion for stop caus e duri ng torqu e contro l mode is shown b elow. Item Operati on during tor que control m ode Axis stop [ Y4 to Y7] turned ON. QD77MS2 Q D77MS4 The speed lim it value comm anded to servo am plifier i s "0" regardles s of the s ett[...]

12 - 2 9 Chapt er 12 Exp ansio n Contr ol [5] Continuous operati on to torque control mode Oper ation for continuous operat ion to torque contr ol mode In continu ous oper ation to t orque co ntrol, th e torque co ntrol ca n be execut ed without sto pping the operati on durin g the pos itioning in posit ion contro l m ode or speed com mand in s pee[...]

12 - 3 0 Chapt er 12 Exp ansio n Contr ol Torque command set ting method During th e continu ous oper ation to torque con trol m ode, set tim e for the comm and torque to increase f rom 0% to "[Pr.1 7] Tor que lim it setting valu e" in "[C d.151] Torque tim e cons tant at co ntinuous operatio n to torq ue contr ol m ode (Forwar d dir[...]

12 - 3 1 Chapt er 12 Exp ansio n Contr ol Speed limit value setting method Accelerat ion/dec elerat ion is perform ed based on a trap ezoidal accelerat ion/dece leratio n process ing. Set accelerat ion/ decelerat ion time toward "[Pr.8] S peed lim it va lue" in "[Cd.14 8] Acc eleratio n time at c ontinuo us oper ation to torque co nt[...]

12 - 3 2 Chapt er 12 Exp ansio n Contr ol Speed during continuous operation t o torque control m ode The s peed during th e conti nuous oper ation to torque c ontrol m ode is controll ed with an absolute va lue of the value set in "[C d.147] Sp eed limit valu e at continu ous operatio n to torqu e contro l m ode" as com mand s peed. W hen[...]

12 - 3 3 Chapt er 12 Exp ansio n Contr ol Stop cause dur ing continuous operation to t orque control m ode The operat ion for s top caus e duri ng continuo us oper ation to torqu e contr ol mode i s show n below . Item Operation during c ontinuous operation t o torque control mode Axis stop [ Y4 to Y7] turned ON. QD77MS2 Q D77MS4 The speed lim it v[...]

12 - 3 4 Chapt er 12 Exp ansio n Contr ol 12.2 Synchronous cont rol "Synchr onous con trol" can b e achie ved us ing s oftwar e ins tead of co ntrolli ng mec hanical ly wit h gear, s ha ft, spe ed cha nge ge ar or c am , etc. "Synchr onous con trol" sync hroni zes m ovem ent with the input axis (s ervo inpu t axis or synchr onou[...]

13 - 1 13 Chap ter 13 Cont rol Sub Function s Chapter 13 Control Sub Functions The d etails and usag e of the " sub func tions" added an d used i n combi nation wi th the mai n function s are explai ned in thi s chapter. A var iety o f sub func tions a re avai lable, includi ng funct ions s pecific ally f or mach ine OPR a nd gener ally r[...]

13 - 2 Chap ter 13 Cont rol Sub Function s 13.1 Outline of sub fun ctions "Sub f uncti ons" ar e fu nctions that com pens ate, l imit, add func tions , etc ., to th e contr ol when th e m ain func tions are execute d. T hese s ub fu nctions are exec uted b y param eter set tings , oper atio n from GX W orks 2, sub f unctio n seq uence pro[...]

13 - 3 Chap ter 13 Cont rol Sub Function s Sub function Details Absolute position system fu nction This function restores th e absol ute position of designated ax is. By this function, the OPR after pow er ON from OFF is not required once the OPR is ex ecuted when the system operation is started. Other functions Step function This function temporar[...]

13 - 4 Chap ter 13 Cont rol Sub Function s 13.2 Sub functions spe cifically for machine OPR The su b functi ons spec ifically for mach ine OPR in clude the "OPR ret ry functi on" an d "OP shi ft fun ction" . Each funct ion i s executed by para meter setting . 13.2.1 OPR retry function W hen the work piec e goes pas t the O P wit[...]

13 - 5 Chap ter 13 Cont rol Sub Function s (2) OPR retr y opera tion when the work piece is ou tside th e range be twee n the upper an d lower l imits. 1) W hen the d irectio n from the workpi ece to the O P is t he s am e as the "[Pr. 44] O PR direc tion", a norm al m achine OP R is c arr ied out . Pr. 44 O PR direction Hardware upper li[...]

13 - 6 Chap ter 13 Cont rol Sub Function s (3) Setting the dw ell time d uring a n OPR ret ry The OP R retr y funct ion c an perf orm such f unctio n as t he dwe ll tim e usi ng "[Pr. 57] D well t ime dur ing O PR r etr y" when the re verse run op erati on is carrie d out due to det ect ion by the lim it sign al for upper and lower lim it[...]

13 - 7 Chap ter 13 Cont rol Sub Function s POINT The s ettings of th e upper/ lower str oke lim it signa l are sho wn belo w. The O PR retry func tion can be used with either settin g. (Refer to Secti on 13.4.4 "Hardwar e strok e lim it function".)  External i nput signa l of Sim ple Moti on module  External i nput sig nal of s ervo[...]

13 - 8 Chap ter 13 Cont rol Sub Function s 13.2.2 OP shift function W hen a m achine O PR is c a rried o ut, t he OP is norm al ly est ablis hed using the ne ar- point d og or zero sign al. Ho wever, b y using t he OP shif t func tion, the m achine c an b e moved a des igna ted m ovem ent am ount f rom the positi on wher e the zero s igna l was det[...]

13 - 9 Chap ter 13 Cont rol Sub Function s [2] Setting range for the OP shift amount Set t he OP s hift am oun t withi n the range f rom the de tected zero sign al to t he upper/ lower lim it switch es. Setting ra nge of the negati ve OP shift amount S etting range of the positive OP shift amount Address decrease direction Upper limit swit ch Lower[...]

13 - 1 0 Chap ter 13 Cont rol Sub Function s (2) O P shif t oper ation at the "[P r.47] Cr eep sp eed " (W hen "[Pr.5 6] Speed d esig nation dur ing OP s hift" is 1) When the " Pr. 53 OP shift amount" is negative When the " Pr. 53 OP shift amount" is positive Pr. 4 4 OPR direction OP Machine OPR start Near-po[...]

13 - 1 1 Chap ter 13 Cont rol Sub Function s 13.3 Functions for compensating the control The s ub func tions for c omp ensati ng t he con trol inclu de the "back las h com pensat ion functi on", "elect ron ic gear func tion", and "near pass f unc tion". Each f unct ion is execu ted by param eter s etting or se quenc e [...]

13 - 1 2 Chap ter 13 Cont rol Sub Function s [2] Precautions during control (1) T he feed comm and of the b ack lash com pensat ion am ount are n ot add ed to the "[M d.20 ] Curr ent fe ed v alue" or "[ Md.21] Mac hine f ee d valu e". (2) Al ways c arry o ut a m achine OPR bef ore s tart ing the con trol whe n usi ng the back la[...]

13 - 1 3 Chap ter 13 Cont rol Sub Function s 13.3.2 Electronic g ear function The " electro nic g ear f unctio n" adj usts t he act ual m achin e m ovement am ount and number of pulse ou tput to servo am plifier accord ing to the par am eters set in th e Simpl e Motion modul e. The "el ectro nic gear func tion" h as the f ol low[...]

13 - 1 4 Chap ter 13 Cont rol Sub Function s [1] Basic concept of the electronic gear The e lectron ic ge ar is an it em which determ ines how m an y rotations (rot atio ns b y how m any p ulses) the m otor m ust mak e in ord er to m ove t he m achin e accor ding to th e progr amm ed m ovement am oun t. M ENC PLS Servo ampl ifier PLS Feed back pu l[...]

13 - 1 5 Chap ter 13 Cont rol Sub Function s (1) For "Ball screw" + "Reduction g ear" W hen the ball scr ew pitch is 10mm , the motor is the HG-KR ( 4194304 PLS/rev) and the reduct ion ratio of the red uctio n gear is 9/44. M Machine Red uct ion ra ti o 9/ 44 First, f ind how m any millim eters the load (m achine) will tr avel ([...]

13 - 1 6 Chap ter 13 Cont rol Sub Function s (2 ) W hen "P LS (pul se)" is set as the contr ol unit W hen using PLS ( pulse) as the co ntrol un it, set the elec tronic gear as fol low s. AP = "N umber of puls es per r otat ion" AL = "Mo vement am ount per ro tation " A M = 1 Exa mple ) W hen the m otor is the HG-KR ( 4[...]

13 - 1 7 Chap ter 13 Cont rol Sub Function s Thus , AP, AL and AM to be set are as f ollows. AP = 2883584 ……[Pr.2] AP = 2883584 …[Pr.2] AL = 67.50000 ….[Pr.3] or AL = 0.06750 …[Pr.3] AM = 1 ………..….[Pr.4] A M = 1000 …….[Pr.4] Note): T hes e two ex ampl es of settin gs ar e onl y exam ples . There are settin gs oth er t han th e[...]

13 - 1 8 Chap ter 13 Cont rol Sub Function s AL has a si gnific ant num ber to firs t dec imal place, r ound down num bers to two d ecim al plac es. AP = AP = 166723584 = 166723584 (AP) S AL  AM 742201.2 742201.2 (AL)  1(AM) Thus , AP, AL and AM to be set are as f ollows. AP = 166723584 ….[Pr.2] AL = 742201.2 ..…..[Pr.3] AM = 1 ………?[...]

13 - 1 9 Chap ter 13 Cont rol Sub Function s [2] The method for compensating the er ror W hen the posit ion contr ol is carrie d out usin g the "El ectr onic gear " set i n a param eter, t his m ay pr oduc e an er ror be twee n the c omm and m ovement am ount (L) and the actua l movem ent am ount ( L'). W ith Simple Mot ion m odule, [...]

13 - 2 0 Chap ter 13 Cont rol Sub Function s 13.3.3 Near pass functi on W hen contin uous pass c ont rol is c arr ied o ut usi ng int erpol ation c ontr ol, the near pass functi on is c arri ed out. The "ne ar pass func tion " is a funct ion to sup press th e m echanical vibrat ion occur ring at the t ime of switc hing t he p osit ioning [...]

13 - 2 1 Chap ter 13 Cont rol Sub Function s [2] Precautions during control (1) If the m ovem ent amount des ignated by the pos itio ning dat a is sm all when the co ntinuo us pat h co ntrol i s execu ted, the out put sp eed m ay not reach the desig nated spee d. (2) T he m ovem ent dir ectio n is not c heck ed duri ng in terp olatio n oper atio n.[...]

13 - 2 2 Chap ter 13 Cont rol Sub Function s 13.4 Functions to limit t he control Funct ions t o lim it the c ontro l inc lude t he "s peed l imit f unctio n", "t orque lim it funct ion" , "soft ware s trok e lim it func tio n", "h ardw are s troke lim it fu nction ", and "for ced st op functi on". [...]

13 - 2 3 Chap ter 13 Cont rol Sub Function s [2] Precautions during control If an y axis exce eds "[ Pr.8] Spe ed lim it valu e" d uring 2- to 4- axis spe ed co ntrol, the ax is in exces s of the sp eed l imit v alue is co ntrol led at the sp eed limit v alue. The spe eds of the ot her axes interpo lated ar e suppres sed de pendi ng on th[...]

13 - 2 4 Chap ter 13 Cont rol Sub Function s 13.4.2 Torque l imit function The "t orque lim it func tion" lim its the gener ated tor que to a value within t he " torqu e lim it value " sett ing r ange wh en t he tor que ge nerate d in the s ervom otor exc eeds the " torq ue lim it value ". The "t orque lim it func[...]

13 - 2 5 Chap ter 13 Cont rol Sub Function s [2] Control details The f ollowi ng dra wing s hows the oper atio n of the tor que l imit f unction. [QD77MS4 operat ion exam ple] 300 2 5 0 100 150 0 0 0 300 300 100 150 150 1: The to rque limit setti ng value or to rque output se tting va lue b ecomes effecti ve at the PL C READY si gnal [Y0] rising ed[...]

13 - 2 6 Chap ter 13 Cont rol Sub Function s [4] Setting the torque limit function (1) T o use the "torqu e lim it functi on", set th e "torq ue lim it value" in the param eters s hown in the foll owin g table , and writ e them to th e Sim ple Motion m od ule. a) The s et de tails are val idated at the r ising edg e (OFF ON) of [...]

13 - 2 7 Chap ter 13 Cont rol Sub Function s (3) T he fol lowing tab le sho ws the "[M d.35] T orqu e lim it stor ed v alue/f orwar d tor que li mit stored v alue" and "[Md .120 ] Reve rse t orque l imit sto red valu e" o f the buf fer m em ory addres s. Monitor item Monitor value Storage details Buffer memory address QD77MS2 QD[...]

13 - 2 8 Chap ter 13 Cont rol Sub Function s 13.4.3 Software str oke limit function In th e "sof tware s trok e lim it funct ion" t he addr ess estab lished b y a machi ne OP R is used t o set t he u pper a nd lo wer lim its of the m ovea ble r ange of the workpi ece. Movem ent com mands issued to ad dress es outsi de that settin g range [...]

13 - 2 9 Chap ter 13 Cont rol Sub Function s The f ollowi ng dra wing s hows the dif ferenc es i n the o perat ion when "[ Md.2 0] Curre nt feed valu e" and "[M d.21] M ach ine fee d val ue" a re us ed in t he m oveab le range l imit check . [Con diti ons] Assum e the c urren t stop posit ion is 2000, and the upp er s troke l im[...]

13 - 3 0 Chap ter 13 Cont rol Sub Function s [2] Sof tware str oke limit check details Check details Processing w hen an error occurs 1) An error shall occur if the current v alue 1 is outside the software stroke limit range 2. (Check "[M d.20] Current feed value" or "[Md.21] M achine feed value".) An "axis error" will[...]

13 - 3 1 Chap ter 13 Cont rol Sub Function s [3] Relation between the softw are stroke limi t f unction and v arious controls Control type Limit check Processing at check OPR control Machine OPR control Data set method The current value will not be changed if the home position add ress is o utside the software s troke limit range. Other than "[...]

13 - 3 2 Chap ter 13 Cont rol Sub Function s [4] Precautions during softwar e stroke limit check (1) A m achi ne OP R mus t be ex ecuted befor ehand f or th e "s oftware strok e lim it functi on" to func tion pr oper ly. (2) Dur ing i nterp olati on con trol, a strok e lim it c heck is carr ied o ut f or the ever y curren t valu e of both[...]

13 - 3 3 Chap ter 13 Cont rol Sub Function s (5) Dur ing sim ult aneous start, a str oke l imit ch eck is carr ied out for the c urrent values of e ver y axis to be s tarte d. Ever y ax is wi ll not st art if an error occurs , even if it on l y occurs in one axis. [5] Setting the software stroke limit function To us e the "soft ware str ok e l[...]

13 - 3 4 Chap ter 13 Cont rol Sub Function s [7] Setting when the control uni t is "degr ee" Curr ent value address The "[Md. 20] Current f eed value" a ddress is a ring address between 0 and 359.999 99 ° . 0° 0° 0° 359.99999 ° 359.999 99° Fig. 1 3.15 Cur ren t val ue ad dress when t he co ntrol unit i s "degr ee"[...]

13 - 3 5 Chap ter 13 Cont rol Sub Function s 13.4.4 Hardw are stroke limit function DANGER W hen the hardware stroke limit is required to be w ired, ensure to wire it in the negative logic using b-contact. I f it is set in positive logic using a-contact , a serious accident may occur. In the "h ardware strok e limit funct ion", lim it swi[...]

13 - 3 6 Chap ter 13 Cont rol Sub Function s [1] Control details The f ollowi ng dra wing s hows the oper atio n of the har dwar e strok e lim it func tion. SS CNE T (/ H) Mechan ical stopp er (2) Exter nal inpu t signal of servo amp lifier Move ment dire ctio n Movem ent direc tio n Start Start Lower limit Upper limit Mech anic al sto pper Lower l[...]

13 - 3 7 Chap ter 13 Cont rol Sub Function s [2] W iring the hardware stroke l imit W hen using t he h ardwar e st roke lim it f unct ion, wir e the ter minals of t he QD77M S/ser vo am plifier up per/lo wer l imit s trok e lim it as shown in t he fol lowing draw ing. As for th e 24VDC pow er supp ly, th e dire ction of cu rrent can be swi tched . [...]

13 - 3 8 Chap ter 13 Cont rol Sub Function s [4] W hen the har dware stroke li mit function is not used W hen not using the har dwar e strok e lim it funct ion, wir e the term inals of the QD77M S/ser vo am plifier up per/lo wer l imit s trok e lim it as shown in t he fol lowing draw ing. As for th e 24VDC pow er supp ly, th e dire ction of cu rren[...]

13 - 3 9 Chap ter 13 Cont rol Sub Function s 13.4.5 Forced stop fun ction DANGER W hen the forced stop is required to be wired, ensure to w ire it in the negative logic using b- contact. Provided safet y circuit outside the Simple Mot ion module so that the entire system w ill operate safety even when the "[Pr.82] Forced stop valid/ invalid se[...]

13 - 4 0 Chap ter 13 Cont rol Sub Function s The f ollowi ng dra wing s hows the oper atio n of the for ced stop f uncti on. [QD77MS4 operat ion exam ple] Each oper ation PLC READY s ignal[Y0] All axis servo ON[Y 1] Positioning sta rt signal[Y10] Forced stop input (Input voltage of EMI) Md.50 Forced stop input 10 Forced stop causes occurrence Pr.8 [...]

13 - 4 1 Chap ter 13 Cont rol Sub Function s [3] Setting the f orced stop To use the "Fo rced sto p functi on", set the fo llowing data us ing a sequ ence program . The s et deta ils ar e val idated at th e risi ng edg e (OFF ON) of the PLC READ Y sign al [Y 0]. Setting item Setting value Setting details Buffer memory address QD77MS2 QD77[...]

13 - 4 2 Chap ter 13 Cont rol Sub Function s 13. 5 Func tion s to ch ange the cont rol de tails Funct ions t o cha nge the contr ol de tai ls incl ude th e "sp eed c hang e func tion", "over ri de functi on", "acce lerat ion/dec eler ation tim e change func tion ", "tor que c han ge func tion " and "tar [...]

13 - 4 3 Chap ter 13 Cont rol Sub Function s [1] Control details The f ollowi ng dra wing s how s the o perat ion dur ing a spe ed cha nge. V V1 V2 V3 t Speed changes to V2 . Operation during positioning by V1. Speed changes to V3. Md. 40 In speed change processing flag Fig. 13.22 Sp eed cha nge ope ration [2] Precautions during control (1) Con tro[...]

13 - 4 4 Chap ter 13 Cont rol Sub Function s (3) When the s top c omm and w as gi ven to m ak e a stop afte r a spee d cha nge that had bee n made duri ng posit ion co ntrol, the r estart ing sp eed depends on t he " [Cd .14] New speed v alue" . V t Speed change comm and Stop command Restarting command Cd. 14 New speed v alue Command spee[...]

13 - 4 5 Chap ter 13 Cont rol Sub Function s (5) T he war ning "Decel eration /s top sp eed ch ange" ( war ning c ode: 50 0) oc curs and t he spe ed ca nnot be chan ged in the f oll owing c ase s.  During de cele ration by a stop co mmand  Duri ng a utom atic dec eler ation durin g pos itio ning c ontr ol (6) T he warning "Spee[...]

13 - 4 6 Chap ter 13 Cont rol Sub Function s (2) T he fol lowing shows t he s peed ch ange tim e chart. [QD77MS4 operat ion exam ple] Cd. 15 Spee d change request Cd. 14 Ne w spee d val ue In sp eed chan ge proces sing flag BUSY signa l READY sig nal Erro r dete ction s ignal V t 1 0 0 1 0 2000 0 Start compl ete sign al Dwell time PLC READY signal [...]

13 - 4 7 Chap ter 13 Cont rol Sub Function s [4] Setting the speed change function usi ng an ex ternal command signal The s peed c an also be c hang ed usi ng an "exter nal c omm and sig nal". The f ollowi ng sho ws the dat a sett ings a nd seq uence program exam pl e for chang ing t he con trol s peed of ax is 1 using an "ex tern al[...]

13 - 4 8 Chap ter 13 Cont rol Sub Function s (3) Ad d the follo wing s equenc e pr ogram to the contr ol pr ogr am, and write it t o the PL C CPU . External command valid signal (QD77 MS starts s peed ch ange proce ssing. ) [Speed change processing] <Write the new speed. > K1 D108 K1514 H0 DTOP K1 K1 K1505 H0 TOP <S et t he ext ernal co mm[...]

13 - 4 9 Chap ter 13 Cont rol Sub Function s 13.5.2 Overr ide function The o verrid e func tion ch ang es the c omm and sp eed b y a des ignat ed per centa ge (1 to 300%) f or al l con trol t o be execut ed. The s peed c an be c hang ed b y setting the percen tage ( %) b y which the sp eed is change d in "[Cd. 13] P ositio ning oper ation s pe[...]

13 - 5 0 Chap ter 13 Cont rol Sub Function s [2] Precaution during control (1) W hen c hanging the s peed by th e over ride f unct ion dur ing co ntin uous p ath cont rol, th e speed cha nge will be ignor ed if the re is not enough di stance remai ning to carry out the chan ge. (2) T he war ning "Decel eration /s top sp eed ch ange" ( war[...]

13 - 5 1 Chap ter 13 Cont rol Sub Function s (2) T he fol lowing shows a tim e chart f or c hangi ng th e spee d usin g the o verri de functi on. [QD77MS4 operat ion exam ple] Cd. 13 Positio ning operation speed ov erride V t Dwell time 200 BUSY signal Error det ection signal All axis servo ON Positionin g start sign al Positioning complete signal [...]

13 - 5 2 Chap ter 13 Cont rol Sub Function s 13.5.3 Acceleration/de celeration time chang e function The " acceler atio n/dece lerat ion tim e ch ange f unct ion" is used to ch ange the accel eration /dece lerat ion t im e during a s pe ed cha nge t o a ra ndom valu e when carr ying out the s peed chan ge b y the "s peed chan ge func[...]

13 - 5 3 Chap ter 13 Cont rol Sub Function s [1] Control details Afte r setti ng the fo llowi ng two it ems, carry out the speed chan ge to change th e acceler ation /dece lerat ion ti me dur ing th e spee d cha nge.  Set c hange valu e of the ac celerat ion/dec elera tion tim e ("[Cd. 10] Ne w acceler ation tim e value ", "[C d.1[...]

13 - 5 4 Chap ter 13 Cont rol Sub Function s [2] Precautions during control (1) W hen "0" is se t in "[Cd.1 0] New acce lerat ion tim e valu e" and "[C d.11 ] New decel erati on tim e valu e", the acc elerat ion/d eceler atio n tim e will n ot be change d e ven if the sp eed i s cha nged. I n this case , the oper ation[...]

13 - 5 5 Chap ter 13 Cont rol Sub Function s (4) If the "ne w ac celera tion/d ecel erati on tim e" is set to "0" and the sp eed is change d after th e "ne w acceler ation/ dece lerat ion tim e" is va lidate d, the operat ion wil l be contro lled with the pr evious "new acc eler ation/d ecel erati on tim e". [...]

13 - 5 6 Chap ter 13 Cont rol Sub Function s [3] Setting the acceleration/deceler ation time chang e function To us e the "acce lerat ion/de celer ation tim e chan ge fu nctio n", wr ite th e dat a shown in th e foll owing tabl e to th e Sim ple M otion m odul e usin g th e sequ ence program . The set de tails ar e valid ated when a speed[...]

13 - 5 7 Chap ter 13 Cont rol Sub Function s 13.5.4 Torque chang e function The "t orque chan ge f unctio n" is us ed to ch ange th e torq ue lim it va lue dur ing t orque lim itin g. The tor que limit value at t he con trol s tart is the valu e set in t he "[Pr .17] T orque lim it settin g value " or "[Cd. 101] Tor que out[...]

13 - 5 8 Chap ter 13 Cont rol Sub Function s [1] Control details The tor que value ( for ward n ew torq ue va lue/r evers e ne w torqu e val ue) of the axis c ontrol data c an be cha nged at all t imes . The t orqu e can be lim ited with a new tor que v alue f rom the t im e the ne w torq ue value has been written to the Simpl e Motion modul e. Not[...]

13 - 5 9 Chap ter 13 Cont rol Sub Function s [QD77MS4 operat ion exam ple] 1: The torq ue limi t setting valu e or torque output settin g value becom es effective at the PLC READY si gnal [Y0] rising edge (how ever, after the servo turn ed ON.) 2: The to rque limit s etting value or torque o utput setting val ue becomes effective at the p ositionin[...]

13 - 6 0 Chap ter 13 Cont rol Sub Function s (2) T he "[Cd .22] Ne w torq ue va lue/for ward new torque val ue" or "[Cd .113] Reve rse new t orque v alue" is va lidate d w hen w ritte n to the Si mple Moti on m odule. (Note tha t it is not valid ated f rom the tim e the power suppl y is turned ON to the t ime the PLC R EAD Y si [...]

13 - 6 1 Chap ter 13 Cont rol Sub Function s 13.5.5 Target posi tion change function The "t arget posit ion chang e f unction" is a funct ion to cha nge a targe t pos itio n to a newl y designa ted targ et pos ition at an y timin g durin g the pos ition c ontro l (1-axis line ar contr ol). A com mand s peed c an also be c hanged simu ltan[...]

13 - 6 2 Chap ter 13 Cont rol Sub Function s [2] Precautions during operation (1) If the pos itio ning m ovem ent d irecti on from the s top p ositi on to a new t arget posit ion is rev ersed , stop the oper atio n onc e and then p ositi on to th e ne w target posit ion. (Refer to Fi g. 1 3.33 (c) .) (2) If a com mand s peed excee ding th e spe ed [...]

13 - 6 3 Chap ter 13 Cont rol Sub Function s [3] Method of setting targ et position change function from PLC C PU The f ollowi ng tab le and c har t sho w the ex am ple of a dat a sett ing and sequ ence program used to ch ange the tar get p ositi on of t he ax is 1 b y the c omm and from the PLC CPU, resp ecti vel y. (exam ple i n whic h the t arge[...]

13 - 6 4 Chap ter 13 Cont rol Sub Function s (3) T he fo llowin g seq uence progr am is added to t he con trol pr ogram , and writt en to the PL C CPU. No.22 Target p osition change program DMOVP K0 D25 <Pul sate target positio n change command> <Hold ta rget pos ition chan ge comm and> <Set tar get positio n chang e request> <[...]

13 - 6 5 Chap ter 13 Cont rol Sub Function s 13.6 Absolute position system The Sim ple Mot ion modu le can c onstr uct an abso lute p ositi on system by insta lling the absol ute pos ition system an d conn ecting it thr ough SSCNET /H. The f ollowi ng d escrib es pr ecaut ions when c onstr uctin g the abso lute pos it ion s yste m. The c onfigurati[...]

13 - 6 6 Chap ter 13 Cont rol Sub Function s [2] OPR The abs olut e pos itio n s ystem can establ ish t he OP posi tion, us in g "Dat a set me thod", "N ear- point dog m ethod ", "Count m eth od" an d " Scale orig in si gnal detect ion m ethod " OPR metho d. In the "Data set m ethod" OPR m ethod, th[...]

13 - 6 7 Chap ter 13 Cont rol Sub Functi ons 13.7 Other functions Other funct ions include the "step f unct ion", "s kip f uncti on", " M code output func tion ", "teach ing fu nctio n", "com m and in-pos ition f unct ion", "ac cel erati on/dec eler atio n pro cessing fun ction" , "pr[...]

13 - 6 8 Chap ter 13 Cont rol Sub Functi ons [2] Step mode In step oper atio ns, th e tim ing f or stop ping th e c ontro l can b e set. T his is ca lled the "s tep m ode". (T he "step m ode" is s et in the c ontro l data " [Cd.3 4] Ste p mode".) The f ollowi ng sho ws the two types of "step m ode" f uncti on[...]

13 - 6 9 Chap ter 13 Cont rol Sub Functi ons [4] Using the step operation The f ollowi ng sho ws the pro cedur e for c heck ing pos ition ing dat a usi ng the s tep operat ion. Star t Turn ON th e step vali d flag. Set the s tep mode . Start positioning. Positioning stopped by an error. One step of positioning is comple ted. NO NO YES YES YES NO Re[...]

13 - 7 0 Chap ter 13 Cont rol Sub Functi ons [5] Control details (1) T he fol lowing drawi ng sh ows a s tep o perati on dur ing a "dece lerati on un it step". [QD77MS4 operat ion exam ple] Positioning Cd. 35 Step valid flag Positioning data No. Da. 1 Operation p attern No.10 11 No.11 01 No position ing data No. unit , so operat ion patte[...]

13 - 7 1 Chap ter 13 Cont rol Sub Functi ons [6] Precautions during control (1) W hen step oper ation is carri ed out usi ng inter polat ion contr ol pos ition ing data, the st ep func tion s ettin gs ar e carr ied ou t for t he ref erenc e axis. (2) W hen the s tep val id flag is ON, the step operat ion wi ll star t from the beginn ing if the pos [...]

13 - 7 2 Chap ter 13 Cont rol Sub Functi ons 13.7.2 Skip function The "s kip f unct ion" is use d t o stop ( dec elera tion s top) t he co ntro l of th e pos itio ning data be ing execu ted at the ti m e of the sk ip sig nal i nput, and ex ecut e the n ext posit ioning data . A sk ip is execu ted by a sk ip comm and ([C d.37] Skip com m a[...]

13 - 7 3 Chap ter 13 Cont rol Sub Functi ons (6) The sk ip cann ot be c arried out by th e spee d contr ol an d pos ition-s peed swit ching cont rol. (7) If the ski p signal is tur ned ON with th e M code signal turned ON, the trans ition t o th e next data is not carr ied out unt il the M cod e signa l is t urned OFF. [3] Setting the skip function[...]

13 - 7 4 Chap ter 13 Cont rol Sub Functi ons [4] Setting the skip function using an external command sig nal The s kip f unctio n can also b e exec uted usin g an " extern al com mand s igna l". The f ollowi ng sho ws the set tings and se quenc e pro gram exam ple for sk ip ping the co ntrol bei ng exec uted in ax is 1 us ing an "e x[...]

13 - 7 5 Chap ter 13 Cont rol Sub Functi ons 13.7.3 M code output function The " M code output funct ion " is us ed to comm and s ub wor k (c lam ping, dr ill ro tation, tool r eplacem ent, etc.) r elat ed to the pos itio ning d ata b eing execu ted. W hen the M c ode ON sign al is t urned ON during posit ioni ng exec utio n, a No. call e[...]

13 - 7 6 Chap ter 13 Cont rol Sub Functi ons (2) A FTER mo de The M c ode O N si gnal is turne d ON at the posit ionin g com plet ion, a nd the M code is s tored in "[ Md.25 ] Val id M c ode ". [QD77MS4 operat ion exam ple] 01 00 V t OFF ON OFF OFF ON ON 0 0 1 Positioning start signal BUSY signal M code ON signal Positi oning 1: m1 and m [...]

13 - 7 7 Chap ter 13 Cont rol Sub Functi ons [QD77MS4 operat ion exam ple] Da. 1 Operation pat tern Md. 25 Vali d M code Cd. 7 M code OFF request 11 00 11 Warni ng occur s at this timi ng. t m1 m3 m2 V 1 OFF ON OFF OFF ON ON 0 1 0 0 Positioning start signal BUSY signal M code ON signal Positioning 1: m1 and m3 indicate set M codes. [XC, X D, XE , X[...]

13 - 7 8 Chap ter 13 Cont rol Sub Functi ons [4] Setting the M code output functi on The f ollowing show s the setti ngs to use th e "M co de o utput f unct ion". (1) Set th e M code No . in the posi tioning data "[Da.10 ] M code /Conditio n d ata No./Number of LOO P to LEND repet itions ". (2) Se t the tim ing to ou tput th e M[...]

13 - 7 9 Chap ter 13 Cont rol Sub Functi ons 13.7.4 Teaching function The "t each ing f uncti on" is u sed to s et ad dress es a ligne d usin g th e manu al con tro l (JOG operat ion, inch ing op erati on m anual puls e gen erat or oper atio n) in the posit ioning data addr esses ("[Da.6 ] Posit ioning address /m ovement am ount &quo[...]

13 - 8 0 Chap ter 13 Cont rol Sub Functi ons [2] Precautions during control (1) Bef ore t eachi ng, a "m ach ine O PR" m ust be c arri ed out to es tabl ish th e OP. (W hen a curr ent v alue c hangi ng, etc ., is c arri ed out, "[Md.2 0] Curr ent f eed value " ma y not sh ow a bsolu te addr esses havi ng the O P as a ref erence [...]

13 - 8 1 Chap ter 13 Cont rol Sub Functi ons [4] Teaching procedure The f ollowi ng sho ws the pro cedur e for a teac hing o perat ion. (1) When teac hing to the "[Da.6 ] Posi tioni ng addres s/m ovem ent am ount" (Teac hing ex ampl e on Q D77MS4 [axis 1]) Start Perfor m machine OP R on axis 1. Using a JOG op eration, inching operation, o[...]

13 - 8 2 Chap ter 13 Cont rol Sub Functi ons (2) When teac hing to the "[Da.7 ] Arc addres s", th en t eachin g to t he "[D a.6] Posit ionin g addr ess/m ovem ent am ount" (Teac hing ex ampl e for 2- axis circu lar inter pol ation c ontr ol with sub p oint desig nation on QD77M S4 [axis 1] and [ax is 2]) Star t Perfor m a machin[...]

13 - 8 3 Chap ter 13 Cont rol Sub Functi ons [Motion pat h] OP Reverse di rection Forward direction (Axis 1) Arc center point Movement b y circular i nterpolati on (Axis 2) Forward directi on (arc add ress) (posit ioning a ddress) Start poi nt address (current stop po sition) Revers e direction *1 Sub poi nt address *2 End point addre ss 2 1 NO YES[...]

13 - 8 4 Chap ter 13 Cont rol Sub Functi ons [QD77MS4 operat ion exam ple] A ll ax is se rvo ON READY signal V t Target position BUSY signal [X8] n2 n1 nx Md.2 0 C urr ent feed val ue Error detection signal [XC] [X0] [Y1] [Y8] PLC READY signal [Y 0] Teaching is possible Teaching i s possible Teaching is impossi ble Forward run JOG start signal (Not[...]

13 - 8 5 Chap ter 13 Cont rol Sub Functi ons 13.7.5 Command in- position function The "c omm and in- positi on f unctio n" chec ks the rem aini ng dista nce to the s top p osit ion duri ng the au tomati c decel eratio n of posit ioning co ntrol , and set s "1". This flag is called the "c omm and in-p ositi on f lag". T[...]

13 - 8 6 Chap ter 13 Cont rol Sub Functi ons [2] Precautions during control (1) A c omm and in- posit ion wi dth ch eck will not be car ried out in the fo llow ing cases.  Duri ng sp eed co ntrol  Duri ng sp eed co ntrol in spe ed-pos itio n switch ing c ontro l  Duri ng sp eed co ntrol in pos ition- spee d switc hing contro l  Duri ng [...]

13 - 8 7 Chap ter 13 Cont rol Sub Functi ons [3] Setting the command in-posi tion function To us e the "comm and in-po sitio n funct ion", s et th e req uired value in th e param eter sho wn in the fol lowin g table, an d write it to the Sim ple Mot ion modu le. The set deta ils ar e val idated at th e risi ng edg e (OFF ON) of the PLC RE[...]

13 - 8 8 Chap ter 13 Cont rol Sub Functi ons 13.7.6 Acceleration/de celeration processi ng function The " acceler atio n/dece lerat ion proc ess ing fu nctio n" adj usts th e acceler ation /dece lerat ion of each contro l to the acce lerat ion/dec eler ation c urve suitab le f or de vice. Settin g the acce leratio n/dec elerat ion t ime c[...]

13 - 8 9 Chap ter 13 Cont rol Sub Functi ons [2] "Acceleration/deceleration method setti ng" control detai ls and setting In the "acce lerat ion/dec eler atio n m ethod s etting ", the a cceler atio n/dec elerati on process ing m ethod is se lect ed and s et. T he se t acc elerat ion/d eceler ation process ing is a pplie d to al[...]

13 - 9 0 Chap ter 13 Cont rol Sub Functi ons W hen a speed chan ge req uest or ov erride r eques t is giv en dur ing S- curv e acceler ation / decel erati on proces sing , S-cur ve acceler ati on/dec elerat ion process ing begins at a s peed c hange requ est or overr ide re quest s tart . When speed cha nge reques t is no t given Speed c ha nge (a [...]

13 - 9 1 Chap ter 13 Cont rol Sub Functi ons 13.7.7 Pre-readi ng start function The " pre-re ading start f unct ion" does n ot start ser vo whi le the exec ution prohi bition flag is ON if a positi oning s tart r equ est is give n with the ex ecut ion pr ohibi tion f lag ON , an d starts s erv o with in op eration cyc le after OFF of the [...]

13 - 9 2 Chap ter 13 Cont rol Sub Functi ons [2] Precautions during control (1) Th e ti me requi red to analyz e the posit ionin g data i s up to 0. 88ms (QD77M S2/QD7 7MS 4)/3.5 5ms (QD77MS1 6). (2) Aft er pos ition ing da ta an alys is, the s ystem is p ut in a n exec ution proh ibition flag OFF wai ting s tatus. An y chang e m ade to t he pos it[...]

13 - 9 3 Chap ter 13 Cont rol Sub Functi ons [3] Program examples [QD77MS4 progr am exampl e] Pre-reading start program (when posit ioning start signal Y10 is used) <Pre- read ing st art co mman d pulse> <Sets 1 to positioni ng start No.> <Turns ON executio n prohibiti on flag> <Turns ON p ositioning start signal > <Turns[...]

13 - 9 4 Chap ter 13 Cont rol Sub Functi ons 13.7.8 Deceleration sta rt flag function The "dec eler ation start flag f unctio n" turns ON t he fla g when t he c onsta nt spe ed stat us or acce lerat ion s tatus s witc hes t o the dece lerat ion st atus dur ing posit ion c ontro l who se operat ion patter n is "Posit ioni ng com plete[...]

13 - 9 5 Chap ter 13 Cont rol Sub Functi ons Positioning Data No. [Da.1] Operation pattern 1 01: Continuous po sitioning control 2 00: Positioning complete 3 00: Positioning complete 4 11: Continuous path control 5 00: Positioning complete   t 1st po int: Co ntinu e (1) 3rd point: En d (0) 2nd point : Cont inue (1) Operat ion pattern Continuo[...]

13 - 9 6 Chap ter 13 Cont rol Sub Functi ons (6) W hen th e movem ent d irec tion is rever sed by a t arge t posi tion c hange, the decel erati on start flag t urns ON. Time Operatio n pattern: Po sitioni ng complete (00) Md.48 Dece lerat ion st art fl ag 01 Executi on of tar get positi on change request (7) D uring posit ion con tro l of pos itio [...]

13 - 9 7 Chap ter 13 Cont rol Sub Functi ons 13.7.9 Stop command pr ocessing for deceler ation stop function The "s top c omm and proc ess ing for dece leratio n stop fu nction " is provid ed to set t he decel erati on curv e if a sto p cause occur s dur ing deceler at ion st op proc essi ng (inclu ding auto matic dece lerat ion). This fu[...]

13 - 9 8 Chap ter 13 Cont rol Sub Functi ons (2) Deceleration curve continuation The c urrent dece lerati on cur ve is cont inue d after a st op c ause h as occ urred . If a sto p caus e occ urs d urin g autom atic d ecel eratio n of pos itio n contr ol, t he decel erati on sto p proces sin g ma y be com plete befor e the target has reach ed the po[...]

13 - 9 9 Chap ter 13 Cont rol Sub Functi ons [3] Setting method To use t he "stop c omm and proc essin g for decel eration stop funct ion", se t the fol lowing cont rol data i n a sequen ce prog ram. The set data are m ade v alid as soon as th e y are writ ten to t he b uffer mem ory. The PL C ready si gnal [Y 0] is ir relevant . Setting [...]

13 - 10 0 Chap ter 13 Cont rol Sub Functi ons 13.7.10 Speed contr ol 10 x mul tiplier setting for deg ree axis function The " Speed c ontr ol 10 x mu ltip lier s etting f or degre e axis functi on" is pro vided to execu te the posit ioni ng co ntrol by 10 x spee d of t he set ting value i n the c omm and speed and t he sp eed lim it value[...]

13 - 10 1 Chap ter 13 Cont rol Sub Functi ons (2) Monitor data  "[Md.2 2] Fee drate "  "[Md.2 7] Curre nt spe ed"  "[Md.2 8] Axis feedr at e"  "[Md. 33] T arget s peed "  "[Md. 122] Speed duri ng co mm and" : For th e ab ove m onitor ing d ata, "[ Pr.83] Sp eed co ntrol 10 x m ul[...]

13 - 10 2 Chap ter 13 Cont rol Sub Functi ons [2] Setting method of "Speed co ntrol 10 x multipli er setting for degr ee axis function" Set "Val id/Inval id" b y "[Pr.8 3] Spee d control 1 0 x m ultipli er setting f or degr ee axis". Norm ally, t he spe ed spec ific at ion ra nge is 0.001 to 2 00000 0.000[d egree /m in[...]

13 - 10 3 Chap ter 13 Cont rol Sub Functi ons 13.7.11 Operation setti ng for incompletion o f OPR function The "O per ation s ett ing for inc om pletion of OPR func tion " is prov ided to selec t whether posit ioning contro l is op erated or not , when O PR requ est fla g is ON. This sectio n exp lains the "O pera tion s ettin g for [...]

13 - 10 4 Chap ter 13 Cont rol Sub Functi ons (2) W hen OPR requ est fl ag ( [Md.31] Stat us: b3) is O N, star ting F ast O PR will resu lt i n the error "OPR req uest ON" (erro r co de: 207) de spite the setti ng value of "[ Pr.55] O per atio n sett ing for inc omplet ion of O PR", a nd Fas t OP R will n ot be p erfor med. [3] [...]

13 - 10 5 Chap ter 13 Cont rol Sub Functi ons 13.8 Servo ON /OFF 13.8.1 Servo ON /OFF This funct ion ex ecutes s erv o ON/OF F of t he ser vo am plifi ers co nnect ed to th e S imple Motio n module . By esta blish ing th e ser vo ON s tatus with th e ser vo ON com mand, s ervo m otor operat ion is en able d. The f ollowing two s igna ls can b e use[...]

13 - 10 6 Chap ter 13 Cont rol Sub Functi ons [2] Servo OFF (Serv o operation disabled) The f ollowi ng sho ws the pro cedur e for s ervo OF F. (1) S et "1 " for "[Cd. 100] Ser vo OFF com m and". (T he ser vo LED ind icates "c  ".) (If the "[Cd.1 00] Servo O FF c omm and" set "0" a gain , after t[...]

13 - 10 7 Chap ter 13 Cont rol Sub Functi ons 13.8.2 Follow up function (1) Follow up function The f ollow u p fu nction m onit ors the num ber of motor rotat ions (ac tual pres ent value) with the s ervo OFF and r eflects the value in th e pres ent fee d va lue. If the s ervom otor r otates durin g the s ervo O FF, th e ser vom otor will not just [...]

13 - 10 8 Chap ter 13 Cont rol Sub Functi ons MEM O[...]

14 - 1 14 Chapter 14 Com m on Functi ons Chapter 14 Common Functions The det ails and us age of the "common f unctions" execut ed accor ding to the us er's requir ements are ex plained in this c hapter. Common func tions i nclude fun ctions requi red when using the Simple Mot ion mod ule, such as paramet er initi alizatio n and exe c[...]

14 - 2 Chapter 14 Com m on Functi ons 14.1 Outline of commo n functions "Com mon f unctions " are exec uted accor ding t o the us er's requir ements , reg ardles s of the co ntrol s ystem , etc. Thes e comm on func tions are exec uted b y GX W orks2 or sequenc e pro grams . The f ollowi ng tab le sho ws the f unc tions i nclud ed in [...]

14 - 3 Chapter 14 Com m on Functi ons Common function Details Means Sequence program GX W orks2 Module error collection function This function coll ects errors occurred in the Simple Motion module in the PLC CPU . Holding the error contents in th e PLC CPU, this function enables to check t he error history even after the PLC CPU in powered off or r[...]

14 - 4 Chapter 14 Com m on Functi ons 14.2 Parameter i nitialization function The " param eter in itia lizat ion f unctio n" is used t o ret urn t he sett ing data s et in t he b uffer me mo ry /in te rn a l memo ry and fl a sh ROM / i nt er na l memo r y (n on vo l at il e ) o f S i mpl e Motio n modu le to thei r fact ory- set ini tial [...]

14 - 5 Chapter 14 Com m on Functi ons Important Param eter init ializat ion tak es about 1 0 sec onds. ( Up to 30 s eco nds are som etim es requir ed.) Do not turn the po wer ON/O FF or reset the PLC CPU dur ing param eter init ializat ion. If the power is t urned O FF or the PLC C PU m odul e is res et to f orc ibl y end the proc ess, t he dat a b[...]

14 - 6 Chapter 14 Com m on Functi ons 14.3 Execution data ba ckup function W hen the buf fer m emor y data of Sim ple Mot ion m odule is rewritt en from the PLC CPU, "the da ta b ack ed up in the fl ash RO M/inter nal m em ory (no nvolat ile) " of S imple Moti on module ma y diff er from "the e xe cu tio n da ta be in g u se d f or c[...]

14 - 7 Chapter 14 Com m on Functi ons [3] Precautions during control (1) Data ca n onl y be wr itten to the f lash ROM when the pos itioni ng co ntrol is no t carri ed out (when the PLC REA DY sign al [Y0 ] is OFF). The war ning "In PLC READ Y" (war ning co de: 111) will occ ur if execu ted when the PL C R EADY s ign al [ Y0] is ON. (2) W[...]

14 - 8 Chapter 14 Com m on Functi ons 14.4 External signal selection functi on The " exter nal s ignal s elec tion f unct ion" is us ed to selec t f rom the f ol lowing s igna ls when using t he uppe r/lowe r limi t sign al, nea r-poi nt dog si gnal , and stop signal . • Exter nal input s igna l of QD 77MS • Exter nal input s igna l o[...]

14 - 9 Chapter 14 Com m on Functi ons (1) W hen "0: Exter nal inp ut sig nal of QD7 7MS", " 3: Exte rnal in put sign al 1 of QD77M S", "4 : Exter nal inpu t sign al 2 of QD77 MS", "5: E xternal input s ign al 3 of QD77M S", or "6 : Exter nal input s ignal 4 of QD77MS " is set, set th e Pin No. of ex[...]

14 - 1 0 Chapter 14 Com m on Functi ons (3) W hen " 2: Buf fer m em ory of QD7 7MS " is se t, use the follo wing c ontro l data to operat e the ex tern al in put si gnal ( upper /lower lim it signa l, ne ar-poi nt dog signa l and s top s ign al). Setting item Setting value Setting details Buffer memory address QD77MS2 QD77MS4 QD77MS 16 [C[...]

14 - 1 1 Chapter 14 Com m on Functi ons [4 ] Prog ram example The f ollowing sh ows the pr ogram exam ple that is us ed to operat e "[Cd. 44] Externa l input sig nal op eration device " of axis 1, axis 4, axis 8, and ax is 16 using the lim it switch co nnected to t he in put modul e when "2: Buff er mem ory of QD77MS" is set in [...]

14 - 1 2 Chapter 14 Com m on Functi ons Program example X20 Axis 1 F LS ON co mmand 0 A xis 1 FL S operat ion A xis 1 RLS operation A xis 1 DOG opera tion A xis 1 ST OP o per ati on A xis 4 FLS ope r atio n A xis 4 RLS operation A xis 4 DO G ope r atio n A xis 4 ST OP o per ati on U0G5928. 1 External input s ignal op erat ion devic e: axis 1 R LS [...]

14 - 1 3 Chapter 14 Com m on Functi ons X28 Axis 8 F LS ON co mmand 103 Axis 8 FLS operation Axis 8 RL S operat ion Axis 8 DOG operation Axis 8 STOP oper ation Axis 16 FLS operation Axis 16 RLS operation Axis 16 DOG operat ion Axis 16 STOP operatio n U0G5929. D External input s ignal op erat ion devic e: axis 8 R LS U0 G5929 .C External input s i[...]

14 - 1 4 Chapter 14 Com m on Functi ons 14.5 External I/O signal log ic switching function This funct ion s witches the s ignal logic accord ing to the f ollowi ng si gnals . • Exter nal equipm ent co nnec ted to S imple Mot ion m odule • [Cd .44] Ext ernal input signal op eration devi ce • Exter nal input s igna l of ser vo am plif ier (up p[...]

14 - 1 5 Chapter 14 Com m on Functi ons [2] Precautions on parameter setti ng (1) The ex ternal I/O signa l logic s witchi ng param eters are va lida ted when th e PLC R EADY s igna l [Y0] is t urne d OFF to ON . (T he log ic is negat ive r ight after power-on.) (2) If th e l ogic of each signal is s et erro neous ly, the oper ation m a y not be c [...]

14 - 1 6 Chapter 14 Com m on Functi ons 14.6 History monitor functi on This funct ion m onitors s tart histor y, err or h istor y, warn ing his tor y, and cur ren t hist ory stor ed in the buffe r me mory o f the Si mple Mo tion module on the op eration m onitor of G X W or k s 2 . [1] Start history The s tart h istor y logs of ope rations such as [...]

14 - 1 7 Chapter 14 Com m on Functi ons [3 ] Curr ent value hi sto ry The c urrent valu e histor y data of each ax is can be m onitore d. The f ollowing shows abo ut the cur rent val ue histor y data of each axis . Monitor detai ls Monitor item Latest back up data The number of backu p: Once Feed current value Servo comma nd valu e Encoder sing le [...]

14 - 1 8 Chapter 14 Com m on Functi ons Lat est backup data The latest back up data out puts the f ollowing d ata saved i n the f ixed cycle t o the buf fer me mo ry . • Feed curr ent va lue • Servo co mm and value • Encoder single r evoluti on posit ion • Encoder multip le revo lutio n positio n • Time 1 ( Year: m onth) data • Time 2 ([...]

14 - 1 9 Chapter 14 Com m on Functi ons Hom e position return data The f ollowing data saved a t hom e position r eturn com plet ion to the b uff er memor y . • Feed curr ent va lue at ho m e position retur n com pletion • Servo com m and value at hom e position ret urn com pletion • Encoder single r evoluti on posit ion of abs olute pos itio[...]

14 - 2 0 Chapter 14 Com m on Functi ons 14.7 Amplifier- less operation function The pos itio nin g contr ol of Sim ple M otion m odu le wit hout serv o am plifier s co nnect ion can be exec uted i n the am pl ifier- less f uncti on. T his f unctio n is us ed to debug of us er program or s imula te of posit ioning oper atio n at th e star t. The de [...]

14 - 2 1 Chapter 14 Com m on Functi ons POINT (1) Sw itch of the norm al op erati on m ode and am plifier -le ss oper atio n mode is execu ted by the ba tch of all ax es. Switc h of the oper atio n mode for eac h axis cannot be ex ecuted . (2) Onl y axis that op erate d either the follo wings bef ore sw itching to the am plifier - less operat ion m[...]

14 - 2 2 Chapter 14 Com m on Functi ons [2] Restrictions (1) T he follow ing m onitor d ata cann ot be use d durin g am plifier- less operat ion mode. Storage item Storage details Buffer memory address QD77MS2 QD77MS4 QD77MS 16 [Md.102] Deviation counter value Always "0" during amplifier-less operation mode. 852+100n 853+100n 2452+100n 24[...]

14 - 2 3 Chapter 14 Com m on Functi ons (2) T he oper atio n of f ollo wing fu nctio n diff ers f rom the norm al operat ion m ode durin g am plifier- les s oper ation m ode . Function Operation External signal sele ction function When "1: External input signal of servo amplifier" is set in "[Pr.80] External input signal selection&qu[...]

14 - 2 4 Chapter 14 Com m on Functi ons (8) Even i f the PLC READY signal [Y0| i s turn ed ON by changi ng "[P r.100 ] Serv o series " fr om "0: Ser vo ser ies is not s et" to other than "0", t he set ting does n ot bec ome v alid. ( The ax is c onnec ting s tatus rem ains d isconnec tion .) (9) T he operat ion can not[...]

14 - 2 5 Chapter 14 Com m on Functi ons [4] Operation mode swi tching procedure (1) Switch from the norm al operation m ode to the amplifier -less operatio n mode 1) Sto p all operat ing ax es, an d then c onfir m tha t the BUSY s igna l for a ll axes t urned OFF. 2) Turn OFF the PLC READY sign al [Y 0]. 3) Conf irm that the READ Y s ignal [X 0] tu[...]

14 - 2 6 Chapter 14 Com m on Functi ons (3) Oper atio n c hart The f ollowi ng dra wing s hows the oper atio n for the s witc hing of the n or m al operatio n m ode and am plifier- less opera tion m ode [QD77MS4 operat ion exam ple] 0000h 0000h 1 ABCDh 0 0 V t READY signal [X0] PLC READY signal [Y0] BUSY signal [XC to XF] Cd.137 Amplif ier-less o p[...]

14 - 2 7 Chapter 14 Com m on Functi ons 14.8 Virtual ser vo ampli fier function This funct ion is used to oper ate as vir tual s ervo am plifier axis th at g enerat es on l y comm and vir tual ly b y settin g "4 097, 41 28" i n ser vo par am eter "[ Pr.100 ] Ser vo ser ies". The s ynchro nous c ontr ol wit h vir tuall y inpu t c[...]

14 - 2 8 Chapter 14 Com m on Functi ons POINT Do not m ak e to oper ate b y sw itchi ng bet ween t he act ual s ervo am plif ier an d virt ual serv o ampl ifier . W hen a v alue exce pt "0" is s et in "[Pr.1 00] S ervo series " se t in th e flash ROM, t he ser vo ser ies is no t chan ged ev en if t he "[Pr.10 0] Ser vo s er[...]

14 - 2 9 Chapter 14 Com m on Functi ons [2] Restrictions (1) T he fol lowin g monit or d ata of vir tual s ervo am plif ier differ from the ac tual serv o ampl ifier . Storage item Storage details Buffer memory address QD77MS2 QD77MS4 QD77MS16 [Md.102] Deviation counter value Alw ays "0". 852+100n 853+100n 2452+100n 2453+100n [Md.106] Ser[...]

14 - 3 0 Chapter 14 Com m on Functi ons (2) T he oper atio n for externa l sig nal se lectio n func tion of virt ual ser vo am plif ier diff ers f rom the actua l ser vo am plifi er. Function Operation External signal sele ction function When "1: External input signal of servo amplifier" is set in "[Pr.80] External input signal selec[...]

14 - 3 1 Chapter 14 Com m on Functi ons 14.9 Driv er communication fu nction This funct ion us es t he "M aster -sla ve op erati on func tio n" of servo am plifier . The Sim ple Motion m od ule co ntrols m aster axis and t he sl ave ax is is con troll ed b y data communi cati on betw een serv o amplifi ers (driver co mmuni cation) withou [...]

14 - 3 2 Chapter 14 Com m on Functi ons [1] Control details Set t he m aster ax is a nd sla ve ax is in the ser vo param eter. Execu te eac h con trol of Sim ple Mot ion m odul e for the mas ter ax is. (H owev er, b e sure t o execu te th e serv o ON/O FF of slave axis and er ror res et at s ervo error occurr ence in t he sla ve axis .) T he ser vo[...]

14 - 3 3 Chapter 14 Com m on Functi ons [2] Precautions during control CAUTION In the operation by driver communication, the posit ioning control or JOG operation of the master axis is not interrupted even if the servo error occurs in the slave axis. Be sure to stop by user program. (1) Servo am pli fier (a) Use th e serv o amplif iers compatibl e [...]

14 - 3 4 Chapter 14 Com m on Functi ons (f) If all axes set to driver comm unication ar e not det ected at th e start of comm unication with the ser vo am plif ier, all axes incl uding inde pendent axes cannot be oper ated. (T he ser vo amplif ier's LED displa y rem ains "Ab".) C heck the operation enable d status with "[Md. 52][...]

14 - 3 5 Chapter 14 Com m on Functi ons (4) I /O s ignal s of slave axis (a) Input signal [QD77M S2] Onl y the err or det ectio n sign al [X8, X9] is va lid. And on ly th e serv o error detect ion is valid. (The contr ol of sla ve axis is not infl uen ced eve n if the error oth er than ser vo error has been occurred.) [QD77M S4] Onl y the err or de[...]

14 - 3 6 Chapter 14 Com m on Functi ons (b) On ly the f ol lowing axis contr ol d ata ar e val id in s lave ax is. Item Remark [Cd.5] Axis error reset Only servo error detection [Cd.22] New torque value/forw ard new torque value — [Cd.100] Servo OFF command — [Cd.101] Torque output setting value — [Cd.112] Torque change function switching req[...]

14 - 3 7 Chapter 14 Com m on Functi ons [3] Servo parameter Set the fol lowing param eter s for th e axis to ex ecute the dr iver c omm unicati on. (Re fer to each serv o amplif ier ins truction m anua l fo r detai ls. ) [MR-J3- _B/MR- J3-_B S/MR- J3-_B-R J006 use] Setting item Setting details Buffer memory address QD77MS2 QD77MS4 QD77MS16 Input/ou[...]

14 - 3 8 Chapter 14 Com m on Functi ons [MR-J 4-_B use] Setting item Setting details Buffer memory address QD77MS2 QD77MS4 QD77MS16 Input/output setting PA04 Forced stop deceleration function selection Disable deceleration sto p function at the master axis and slave ax is. 30104+200n 28404+100n PD15 Driver communication setting Set the master axis [...]

14 - 3 9 Chapter 14 Com m on Functi ons 14.10 Mark detection function Any da ta can be la tch ed at t he inp ut tim ing of the m ark detect ion sig nal (D I1 to DI 4). Also, onl y data wi thin a spe cific rang e can be latc hed b y spec if ying the data d etecti on range. The f ollowi ng thr ee m odes ar e ava ilable f or ex ecuti on of mark detect[...]

14 - 4 0 Chapter 14 Com m on Functi ons Item Performanc e specifi cations QD77MS2 QD77MS4 QD77MS16 Number of mark detec tion settings U p to 4 Up to 16 Input si gnal Axis 1 to Ax is 2 External input signal (DI 1 to DI2) Axis 1 to Ax is 4 External input signal (DI 1 to DI4) Axis 1 to Ax is 16 External input signal (DI 1 to DI4) Input si gnal detect [...]

14 - 4 1 Chapter 14 Com m on Functi ons [1] Operation for mark detection function Operat ions d one at mar k detect ion ar e sho wn bel ow. • Calc ulat ions f or the mark detecti on data are estim ated at lead ing ed ge/tr ailin g edge of the m ark detect ion sig nal. However , whe n the spec ified n umber of det ect ions m ode is set, t he cur r[...]

14 - 4 2 Chapter 14 Com m on Functi ons [2] How to use mark detection function The f ollowi ng sho ws an exam ple f or mar k detec tion b y the exter nal com m and sign al (DI2 ) of axis 2. The m ark detec tion targe t is axis 1 rea l curr ent v alue, a nd the all r ange is detect ed i n cont inuous dete ctio n mode . (1) All ocate th e input s ign[...]

14 - 4 3 Chapter 14 Com m on Functi ons POINT W hen "1: Valid " is s et in "[P r.114] Ex ternal com m and signal co mpens ation valid /invalid s ettin g", the r espons e tim e of the hig h-speed input si gnal is compens ated and th e latch accurac y will be en hanced . (For deta ils of "[ Pr.1 14] Ext ernal com mand s ignal[...]

14 - 4 4 Chapter 14 Com m on Functi ons [3] List of buffer memory The f ollowi ng sho ws the conf igurat ion of buf fer m em ory for m ark detec tion functi on. Buffer memory address Number of wor d Item Mark detection setting No. 54000 to 54019 20 Mark detection setting paramet er [Pr.800] to [Pr.807] Mark detection setting 1 54020 to 54039 20 Mar[...]

14 - 4 5 Chapter 14 Com m on Functi ons The f ollowi ng sho ws the buf fer m emor y used in the m ark detectio n func tion. (1) Mark detec tion s etting param eters Setting item Setting details/setting value Default value Buffer memory address QD77MS2 QD77MS4 QD77MS 16 [Pr.800] Mark detection signal setting Set the external input signal (hi gh spee[...]

14 - 4 6 Chapter 14 Com m on Functi ons POINT The abov e param eters ar e valid with the val ue set i n the flas h ROM of the Sim ple Motion m odule when t he p ower ON or t he CPU m odule res et. Except f or a part, the value is not f etched by turnin g the PLC R EAD Y signal ON from OFF. Theref ore, write to the flash ROM after setting the valu e[...]

14 - 4 7 Chapter 14 Com m on Functi ons [Pr.803] Mark detection data axis No. Set the ax is No. of data tha t latched at mark detection. [Pr.802] Mark detect ion data type [ Pr.803] Mark detecti on data axis No. Setting value Data name Unit QD77MS2 QD77MS4 QD77MS16 0 Current feed v alue 10 -1 [µm], 10 -5 [inch], 10 -5 [degree], [PLS] 1 to 2 1 to 4[...]

14 - 4 8 Chapter 14 Com m on Functi ons [Pr.804] Mark detection data buffer memory No. Set the N o. of optio nal 2 w ords buf fer m emor y that lat ched at m ark detection. Set this N o. as an e ven No. If a value other tha n the a bove is set, the warning "Outside m ark detection da ta buff er memor y No. set ting r ange" ( warning c ode[...]

14 - 4 9 Chapter 14 Com m on Functi ons [Pr.807] Mark detection mode setting Set the data storag e method of m ark detection. Mode Setting value O peration for mark detection Mark detection data storage method Continuous detection mode 0 Alw ays The data is updated in the mark detection data storage area 1. Specified number of detection mode 1 to 3[...]

14 - 5 0 Chapter 14 Com m on Functi ons [Cd.802] Lat ch data range change request Request the process ing of l atch data ran ge chang e. S et the foll owing va lue depending on the t iming of updating th e change value. 1 : Change in the nex t Opera tion c ycle of the re quest ed 2 : Change in the nex t DI inp ut of the re quested • "0"[...]

14 - 5 1 Chapter 14 Com m on Functi ons [4] Precautions W hen the da ta of " [Pr.8 02] Mar k de tectio n data t ype" or "[ Pr.80 3] Mar k det ection data axis No ." is s elec ted i ncor rectl y, the incorr ect latch data is stor ed. For the data of "[Pr .802] Ma rk detect ion data t ype", se t the item No. instead of s[...]

14 - 5 2 Chapter 14 Com m on Functi ons 14.11 Optional data m onitor function This funct ion is used to stor e the data ( refer t o fo llowi ng tabl e) up to four poin ts per axis to the buff er m emory and m onitor them . The de tails s how n belo w expl ain ab out the "Opt iona l data m onitor func tion ". [1] Data that c an be s et [2][...]

14 - 5 3 Chapter 14 Com m on Functi ons [1] Data that can be set Data type Unit Used point Monitoring possibility MR-J3(W)-B MR-J4(W )-B/ MR-JE-B 1 Effective load ratio [%] 1 word 2 Regenerative load ratio [%] 3 Peak load factor [%] 4 Load inertia moment ratio [ 0.1] 5 Model loop gain [rad/s] 6 Bus voltage [V] 7 Servo motor rotation speed [r/min] 8[...]

14 - 5 4 Chapter 14 Com m on Functi ons [2] List of buffer memory The buf fer m em ory use d in t he op tiona l data m onitor fun ction is sh own be low. (1) Exp ansi on par ameter Setting item Setting details/setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 [Pr.91] Optional data monitor: Data type setting 1 • Set the data type monito[...]

14 - 5 5 Chapter 14 Com m on Functi ons (2) Axis m onitor data Storage item Storage details/storage value Buffer memory address QD77MS2 QD77MS4 QD77MS16 [Md.109] Regenerative load ratio/Optional data monitor output 1 • The content set in "[Pr.91] O ptional data monitor: Data type setting 1" is stored at optional d ata monitor data type [...]

14 - 5 6 Chapter 14 Com m on Functi ons 14.12 Module err or collection function This functio n collects errors oc curre d in the Sim ple Moti on modul e in the PLC CP U. Those er rors are st ored in a m emory (latc h area) of the PLC CPU as m odule err or logs. The stor ed error l ogs are ret ained even when the PLC CPU is po wered of f or reset. T[...]

14 - 5 7 Chapter 14 Com m on Functi ons 14.13 Connect/di sconnect function of SSCNET communi cation Tem poraril y connec t/d isconnec t of S SCN ET com m unication is ex ecuted duri ng system 's power s uppl y ON. This funct ion is used to ex cha nge t he ser vo am plifi ers or SS CNET cabl es. The de tails s hown b elow explai n abou t the &q[...]

14 - 5 8 Chapter 14 Com m on Functi ons (5) Ex e cu te t he c onn ect/dis conn ect c omm and to t he A- axis f or m ultipl e-axis serv o ampl ifier . (6) W hen usi ng the driv er co mm unication funct ion, it can be d isconn ected by execu ting th e con nect/d isco nnect com m and, ho wever it c annot b e conn ecte d again. (7) T he conn ect/d isco[...]

14 - 5 9 Chapter 14 Com m on Functi ons (2) System m onitor data Monitor item Monitor value Storage details Buffer memory address QD77MS2 QD77MS4 QD77MS 16 [Md.53] SSCNE T control status The connect/disco nnect status of SSC NET communication is stored. 1: Disconnected ax is existing 0: Command accept w aiting -1: Execute w aiting -2: Executing 143[...]

14 - 6 0 Chapter 14 Com m on Functi ons (2) Pr ocedur e to c onnec t 1) T urn ON the ser vo am plifier's power s uppl y. 2) Set "-10: Con nect c omm and of SSCN ET c omm unication " in "[Cd. 102] SSCNET con trol com m and". 3) Chec k that "- 1: Exec ute waitin g" is set in "[Md.5 3] SSCNET contr ol status &qu[...]

14 - 6 1 Chapter 14 Com m on Functi ons (1) Disconn ect operatio n X50 Di scon ne ct c om ma nd 0 MOV K5 <Set t he disconne ct axis (Axis 5) > D250 SET M100 M100 M102 Di scon ne ct c om pl etion ch eck M101 Disconne ct execu tion req uest Disconne ct reque st (Axis 5) Disconne ct reque st (Axis 5) M100 14 <Set the disconnect command > M[...]

14 - 6 2 Chapter 14 Com m on Functi ons M111 Connec t executio n reques t 73 <Set the exec ute command > MOV K- 2 SSCNET c ontrol c omma nd U0 G5932 RST Connec t executi o n reque s t M111 SET Connec t completi on che ck M112 U0 G4233 SSCNET c ontrol s tatus = K-1 (2) Con nect operati on X51 Connec t comma nd 47 MOV K- 10 <Set the connec[...]

14 - 6 3 Chapter 14 Com m on Functi ons 14.14 QD75MH i nitial value setting function The "Q D75MH in itial value sett ing fu nction " is use d to s et th e fact or y-set i nitia l va lue of QD7 5MH in the sett ing da ta set in the QD77 MS buffe r memory /inte rnal memory and flash ROM/ inter nal mem or y (nonvolat ile). Becaus e som e ini[...]

14 - 6 4 Chapter 14 Com m on Functi ons [3] Precautions during control (1) Par am eter initia lizat ion is onl y exec uted when t he p osition ing c ontr ol is not carri ed out (when the PLC REA DY sign al [Y0 ] is OFF). The war ning "In PLC READ Y" (war ning co de: 111) will occ ur if execu ted when the PL C R EADY s ign al [ Y0] is ON. [...]

14 - 6 5 Chapter 14 Com m on Functi ons 14. 15 Hot line forced s top functio n This function is us ed to ex ecute dec eleratio n stop safety for other axes when th e servo a larm oc curs in the ser vo am plifier MR-J E-B. The detai ls show n below e xplain a bout the "H ot lin e forc ed stop func tion". [1] Con trol details [2] Preca utio[...]

14 - 6 6 Chapter 14 Com m on Functi ons [2] Precautio ns during control (1) T he servo warn ing "Contr oller f orced s top warning " (war ning No.: E 7) occurs in the axis where t he hot l ine forced s top func tion execut es decelerati on stop. (2) T o clear the ser vo warni ng "Control ler for ced stop war ning" ( warni ng No.[...]

15 - 1 15 Chap ter 15 Dedi cated Instruct ions Chapter 15 Dedicated Instructions The dedicat ed instructi ons of Simple Mot ion module are explained in thi s chapter. These inst ructio ns are used to fa cilitate the pr ogramming for the use of the functions of the intellig ent function modul e. Using the dedic ated inst ructions, the progr amming c[...]

15- 2 Chap ter 15 Dedi cated Instruct ions 15.1 List of dedicated i nstructions The ded icated instruc tions e xplai ned in this Chapter are lis ted in Tab le 15. 1. Tabl e 15.1 Li st of dedi cated in structi ons Application Dedicated instruction Outline of functions Reference Positioning start ZP.PSTRT1 This function starts the positioning control[...]

15- 3 Chap ter 15 Dedi cated Instruct ions 15.3 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTR T3, ZP.PSTRT4 Thes e dedica ted instruc tio ns are used t o st art th e pos ition ing of the d esignat ed ax is . Setting data Usable device Internal device File register Link direct device J Intelligent function module U G Index register Zn Constant Others Bit W ord B[...]

15- 4 Chap ter 15 Dedi cated Instruct ions [Control data] Device Item Setting data Setting range Setting side (Not e-1) (S)+0 System area – – – (S)+1 Complete status The state at the time of co mpletion is stored. • 0 : Normal completion • Other than 0: Abnormal completion (error code) ( Note-2 ) – System (S)+2 Start No. The following d[...]

15- 5 Chap ter 15 Dedi cated Instruct ions When com pleted norm ally END pr oces si ng END processing END processing Comple te device Complete state display device BUSY signal Positioning complete V Sequence program ZP.PSTRT instruction OFF ON OFF OFF OFF OFF ON ON ON ON END processing ZP.PST RT instructio n execution completion 1 scan When complet[...]

15- 6 Chap ter 15 Dedi cated Instruct ions (5) If the ZP.PSTRT instructi on is ex ecuted in the f ollowin g cases, an error "Dedicat ed inst ructio n error " (error c ode: 80 4) will occur and posit ioning c annot be starte d. • Any value ot her than 1 to 600, 7000 to 70 04, and 90 01 to 90 04 is set to "Startin g num ber" ( d[...]

15- 7 Chap ter 15 Dedi cated Instruct ions 15.4 ZP.TEACH1, ZP.TEACH2 , ZP.TEACH3, ZP.TEACH4 Thes e dedicate d instr uctio ns are us ed to teac h the des ignate d axis. Setting data Usable device Internal device File register Link direct device J Intelligent function module U G Index register Zn Constant Others Bit W ord Bit Word K, H (S) – –[...]

15- 8 Chap ter 15 Dedi cated Instruct ions [Control data] Device Item Setting data Setting range Setting side (Not e-1) (S)+0 System area – – – (S)+1 Complete status The state at the time of co mpletion is stored. 0 : Normal completion Other than 0 : Abnormal completion (error co de) (Not e-2) – System (S)+2 Teaching data selection The addr[...]

15- 9 Chap ter 15 Dedi cated Instruct ions END processing END processing END processing END processing OFF OFF OFF ON ON ON When completed abnormal ly When complete d normally 1 scan Sequence program ZP.TEACH instru ction Compl ete de vice Complete state display devi ce ZP.TE ACH instruct ion execution completion [Errors] (1) W hen a ZP .TEACH ins [...]

15- 10 Chap ter 15 Dedi cated Instruct ions [Progr am example] Program to execu te the tea ching of the posit ionin g dat a No. 3 of t he ax is 1 when X39 is turn ed ON in Q D77M S4. (1) Te achi ng prog ram Posit ioned m anua lly to targ et posit ion. 637 622 <Teaching co mmand p ulse> <Teachin g comman d hold> <Teachin g data sett i[...]

15- 11 Chap ter 15 Dedi cated Instruct ions 15.5 ZP.PF W RT Thes e dedicate d instr uctio ns are use d to write th e para m eters, posit ionin g data, an d block start d ata of Sim ple M otion m odu le to t he flas h R OM. Setting data Usable device Internal device File register Link direct device J Intelligent function module U G Index register[...]

15- 12 Chap ter 15 Dedi cated Instruct ions [Functions] (1) T he ZP.PFW RT ins truct ion c omplet ion ca n be confirm ed us ing the com plete devices ((D )+0) and ((D)+1) . (a) Complete device ((D)+0) This device is tur ned ON b y the END proces sing of the s can f or wh ich ZP.PFW RT instruct ion is co mplete d, and t urned OFF b y the next END pr[...]

15- 13 Chap ter 15 Dedi cated Instruct ions [Precautions] (1) Do no t turn O N t he po wer and r eset the P LC CPU while param eters , pos itioni ng data and bl ock s tart dat a ar e writt en t o the f lash RO M u sing t he ZP .PFW RT inst ruction. A par ameter error will occur or nor mal p ositi oning s tart will bec om e im possibl e becaus e the[...]

15- 14 Chap ter 15 Dedi cated Instruct ions [Progr am example] Prog ram use d to wri te the pa ramet ers and positio ning data sto red in th e buffer mem ory to th e flas h ROM when X 3D is turne d ON in QD77 MS4. (1) Fl ash RO M writ e progr am 840 M27 X3D 829 <Fla sh ROM wr ite com mand pu lse> <Fla sh ROM wr ite com mand ho ld> <P[...]

15- 15 Chap ter 15 Dedi cated Instruct ions 15.6 ZP.PINIT This dedic ated i nstruc tion is us ed t o init iali ze the s ettin g dat a of the Sim ple Moti on m odule. Setting data Usable device Internal device File register Link direct device J Intelligent function module U G Index register Zn Constant Others Bit W ord Bit Word K, H (S) – – ?[...]

15- 16 Chap ter 15 Dedi cated Instruct ions [Functions] (1) This de dicat ed i nstruc tion is use d to r eturn the se tting d ata set in the buf fer mem ory of S imple Motio n mod ule an d flas h ROM to the ir fac tor y -s et data (initi al values ). Refe r to Se ction 14 .2 for ini tializ ed se tting da ta. (2) T he ZP.PINIT ins tructi on co mplet[...]

15- 17 Chap ter 15 Dedi cated Instruct ions (3) After the p ower O N a nd PL C CPU r eset o perat ion, writing to the f lash ROM us ing a sequ ence pr ogram is limit ed to up to 25 tim es. (N ot li m ited to up to 25 t im es when writing t o the fla sh ROM is ca rried ou t by GX Works2 .) If the 2 6th or m ore writing is r equest ed after the power[...]

15- 18 Chap ter 15 Dedi cated Instruct ions MEM O[...]

16 - 1 16 Chapter 16 T roubles hooti ng Chapter 16 Troubleshooting The "errors" and "warnings" detected by the Simple Motion module are explained in this chapt er. Errors can be confirmed with the LED display of Simpl e Motion module and GX Works2. When an error or warning is detected, confirm the detection details and carry out[...]

16 - 2 Chapter 16 T roubles hooti ng 16.1 Checking er rors using GX W orks2 Error c odes corr espond ing t o the errors occur red i n the Sim ple Mot ion m odul e can be check ed eit her o n the f ollow ing sc reen of GX W orks2. Selec t the scree n acc ordin g to th e pur pose a nd us age. • "Mod ule's D etail ed Infor mat ion" sc[...]

16 - 3 Chapter 16 T roubles hooti ng (b) Error and Solution, Intelligen t Module Information • Error an d Solu tion Details of th e sel ected in th e "Err or His tor y List" and its corr ecti ve act ion are dis pla yed. • Int elligen t Modu le Info rmati on The s tatus of Sim ple Mo tion m odule when the err or sel ected in the "[...]

16 - 4 Chapter 16 T roubles hooti ng Item D escription QD77MS16 displ ay • Axis in which the error oc curred (Upper lim it signal ) • Axis in which the error oc curred (Lower lim it signal ) • Axis in which the error oc curred (Stop si gnal) • Axis in which the error oc curred (External c ommand s ignal/ switching s ignal) • Axis in which[...]

16 - 5 Chapter 16 T roubles hooti ng 16.2 Troubleshooti ng (1) Troubleshooting using the LEDs Check item s and c orrect ive actions for troubl eshoot ing usin g the i ndica tor L EDs of th e Sim ple Mot ion m odule ar e des cribe d be low. (a) W hen the RU N LED t urns off. Check item Action Is the power supplied? Check that the v oltage supplied t[...]

16 - 6 Chapter 16 T roubles hooti ng (2) Troubleshooting when a m otor does not rotate Check item s and c orrect ive actions for tr oubl eshoot ing when a m otor does n ot rot ate are de scribed below. POINT The f ollowi ng si gnals m ust be ON for t he Sim ple Motio n modu le to oper ate (exclu ding when t he "p ositi oning test f unct ion&qu[...]

16 - 7 Chapter 16 T roubles hooti ng (3) Troubleshooting when a m otor does not rotate as i ntended. Check item s and c orrect ive actions for tr oubl eshoot ing when a m otor does n ot rotate as in tended are d escr ibed b elow. (a) W hen a motor ro tates on ly in the op posite directi on Check item Action Is the value in "Rotation dire ction[...]

16 - 8 Chapter 16 T roubles hooti ng (c) W hen th e set posit ion i s not r each ed Check item Action Does the value in "[M d.20] Current feed value" indicate the intended position w hen the motor stops? [ W hen the position set in "[Md.20] Current feed value" is reac hed] • Check that the values in "[Pr. 2] Number of pul[...]

16 - 9 Chapter 16 T roubles hooti ng 16.3 Error and w arni ng details [1] Errors Types of error s Errors detected b y the Sim ple Mot ion m odule inc lude param eter s etting rang e errors , errors at the operati on start or during oper ation and err ors detect ed by servo am plifier . (1) Er rors detec ted b y the Sim ple Mot ion m odule incl ude [...]

16 - 1 0 Chapter 16 T roubles hooti ng (3) Servo amplifier dete ction errors The err ors that occ ur when the hard ware error of the s ervo am plifier or servo motor or the servo parameter error occ urs. The s ervo is turned off at the error oc currenc e and the axis st ops. Remove the error f actor an d reset the er ror, reset the controller, or t[...]

16 - 1 1 Chapter 16 T roubles hooti ng A new error code is stored i n the buf fer m emor y addre ss ([Md.23] Axis err or No.) for ax is error s torage ever y tim e an error oc curs. POINT W hen an y of the f ollowi ng er rors th at are indep ende nt of an ax is is detec ted, i t is store d in the axis er ror No. of axis 1. (T hese err ors are stor [...]

16 - 1 2 Chapter 16 T roubles hooti ng [2] Warnings Types of warning s W arnings detect ed by the Simple M otion m odule inc lude s ystem war nings, axis warnings an d war nings det ected b y servo am plifier. (1) Sim ple M otion m odule dete ction s ystem warnings The t ypes of s ystem warnin gs are sho wn belo w.  S y stem contr ol d ata se tt[...]

16 - 1 3 Chapter 16 T roubles hooti ng W arning storage (1) W hen an axis warni ng occu rs, the warn ing code corres ponding to the warn ing details is stor ed in the f ollowing buff er mem ory ([Md.2 4] Axis war ning No.) for axis warn ing No. storage. Buffer memory address Axis No. QD77MS2 QD77M S4 QD77MS16 1 807 807 2407 2 907 907 2507 3 1007 26[...]

16 - 1 4 Chapter 16 T roubles hooti ng [3] Resetting errors and warnings Remove the caus e of error or warnin g follo wing th e actions descri bed in Sec tion 16.4 and 16. 5, bef ore cance l an error or war ning state by res etting the error. How to clear e rrors or w arnings An error or warn ing state is cancele d after th e foll owing pr ocessin [...]

16 - 1 5 Chapter 16 T roubles hooti ng MEM O[...]

16 - 1 6 Chapter 16 T roubles hooti ng 16.4 List of error s The fo llowin g table show s the erro r detail s and remed ies to be taken wh en an err or occurs. 16.4.1 QD77MS detecti on error Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e — 000 (Norm al stat us) — — Fatal errors 001 Faults Hard ware[...]

16 - 1 7 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 — — — — — — — Chec k that t here is no influenc e from noise. — — — Revie w the program which turns ON/O FF PLC READY signal [Y0]. — — — Check the servo am plifi er power, wiri[...]

16 - 1 8 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Common errors 107 READY OFF ON during BUSY The PLC READY s ignal is turned from OFF to ON when BUSY signal is turned ON. The READY signal [X0] is not turned ON. 108 Start not possi ble Start is requested when start is [...]

16 - 1 9 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 — — — Turn ON the P LC READY si gnal [Y0] with the BUS Y signals of all axes OFF. — — — Do not reques t the st art when the axis operat ion stat e is other than "st andby", "s[...]

16 - 2 0 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Home positi on return (OPR ) 212 ABS refere nce poin t read error The data is not loaded from the servo ampli fier properly upon t he OPR. The OP R does not com plete. 230 Encoder ABS data not establi shed OPR is st ar[...]

16 - 2 1 Chapter 16 T roubles hooti ng Related buf fer m emory address S et range (Setti ng with sequence progr am) Rem edy QD77MS2 QD77MS4 QD77MS16 — — — Execute OPR again. — — — Turn the power s upplies of t he system or servo amplif ier from OFF to ON after pas sing the zero poi nt of the mot or by the JOG operation, etc. 30180+200n [...]

16 - 2 2 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Posit ioning operation errors 501 Error befor e simult aneous st art QD77MS2 Q D77MS4 <When bloc ks are start ed simult aneously> • The partner a xis for sim ultaneous s tart is BUSY. At start : The sys tem doe[...]

16 - 2 3 Chapter 16 T roubles hooti ng Rel ated buffer m emory addr ess S et range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77MS16 Refer to Sec tion 5.5 "List of condition data" <Condition op erators > Axis designat ion: 10H, 20 H, 30H, 40H, 50H, 60H, 70H, 80H, 90H, A0H, B0H, C0H, D0H, E0H Normali ze the conditi on[...]

16 - 2 4 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Posit ioning operation errors 504 Outside l inear movem ent amount range • When the param eter "int erpolatio n speed designati on method" performs a linear interpolati on in sett ing a "com posite spe[...]

16 - 2 5 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 Refer to Sec tion 5.3 "List of positioning dat a" <Posit ioning address /movement amount> • ABS unit [ mm] [inch] [PLS] –2147483648 t o 2147483647 Unit [degree] 0 to 35999999 • INC[...]

16 - 2 6 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Posit ioning operation errors 507 Soft ware stroke lim it+ • The positi oning is execut ed at a posit ion exceeding the u pper lim it of the sof tware stroke limit. • The positi oning address and the new current va[...]

16 - 2 7 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 New current value <New current value> <Software s troke upper and lo wer lim its> • [m m] [inc h] [PLS ] –2147483648 t o 2147483647 • [degree] 0 to 35999999 At operati on start : • S[...]

16 - 2 8 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Posit ioning operation errors 514 Outs ide new current value range The new current address is outside the ranges of 0 to 359. 99999, where t he control uni t is set t o "degree". Current value i s not changed[...]

16 - 2 9 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 1506+100n 1507+100n 4306+100n 4307+100n <New current value> [degree] 0 to 35999 999 Bring the ne w current value i nto the s etting range. (Refer to Sec tion 9.2. 19) Refer to Sec tion 5.3 "L[...]

16 - 3 0 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Posit ioning operation errors 523 Int erpolation m ode error • For starti ng, a compos ite speed is designated i n the referenc e axis paramet er "Interpolat ion speed designati on method" using the speed i[...]

16 - 3 1 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 29+150n <Interpolat ion speed des ignation met hod> 0: Com posite speed 1: Referenc e axis speed Set the " Interpolati on speed designat ion met hod" correctly. (Refer to Sec tion 9.1. 6[...]

16 - 3 2 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Posit ioning operation errors 530 Outside addres s range • In the s peed-position s witching cont rol and the posit ion-speed s witching cont rol, the set ting value of a pos itioning addres s is negati ve. • In AB[...]

16 - 3 3 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 Same as i n error codes 504, 506. Correct the posit ioning address. (Refer to Sec tion 9.2. 16, 9.2.17, or 9.2.18) Refer to Sec tion 5.3 "List of positioning dat a" and S ection 5. 4 "Lis[...]

16 - 3 4 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Posit ioning operation errors 544 Outside radi us range The arc radi us exceeds 5368 70912. At start : The sys tem does not operate. During operati on : The s ystem stops imm ediately. 545 Control s ystem LOOP sett ing[...]

16 - 3 5 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 Refer to Sec tion 5.3 "List of positioning dat a" <Maximum radius> 536870912 Correct the posit ioning data. (Refer to Sec tion 9.2. 10, or 9.2.11) <LOO P to LEND > 1 to 65535 Set 1[...]

16 - 3 6 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e I/F errors 803 PLC CPU error The CPU m odule resulted i n an error. At start : The sys tem does not operate. During operati on : The s ystem stops with the setti ng (deceleration stop/s udden stop) of the detailed par [...]

16 - 3 7 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 — — — Check t he error code in CPU m odule. (Refer to t he "QCPU User' s Manual (Hard ware Design, Maintenanc e and Inspect ion)".) — — < ZP.PSTRT start No.> 1 to 600, 700[...]

16 - 3 8 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Param eter setti ng range errors 903 Outs ide unit magnif ication range • The set value of the basic parameter 1 "Unit magni ficat ion" is outsi de the setti ng range. • "Movem ent amount per rotat i[...]

16 - 3 9 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 1+150n 1,10, 100,1000 • Set AL and A M values which m ake "Movement am ount per rotation (A L)" × "Unit m agnific ation (AM)" within 214 7483647, and then turn the P LC READY si g[...]

16 - 4 0 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Param eter setti ng range errors 923 Softwar e stroke limit selecti on • The s et va l ue of the det ailed pa ram eter 1 "Software stro ke limit selection" is outside the set ting ra nge. • In the unit of[...]

16 - 4 1 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 22+150n 0, 1 • Bring the s etting int o the setti ng range. • In the unit of "degree", set "0: Appl y software st roke lim it on current f eed value". 23+150n 0, 1 Wit h the sett[...]

16 - 4 2 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Param eter setti ng range errors 950 Acceleratio n time 1 sett ing error The set value of the detailed param eter 2 "Accel eration tim e 1" is outsi de the setting range. W hen the PLC REA DY signal [Y0] is t[...]

16 - 4 3 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 36+150n 37+150n 1 t o 8388608 Wit h the setting brought into the s etting range, turn t he PLC READY s ignal [Y0] from OFF to ON. 38+150n 39+150n 1 t o 8388608 40+150n 41+150n 1 t o 8388608 42+150n 43+1[...]

16 - 4 4 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Param eter setti ng range errors 957 JOG acc eleration ti me select ion setting error The set v al ue of the detail ed param eter 2 "JOG ope ration ac celerat ion ti me selec tion" is outs ide the s etting ra[...]

16 - 4 5 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 50+150n 0, 1, 2, 3 Wit h the setting brought into the s etting range, turn t he PLC READY s ignal [Y0] from OFF to ON. 51+150n 0, 1, 2, 3 52+150n 0, 1 53+150n 1 to 100 54+150n 55+150n 1 t o 8388608 56+1[...]

16 - 4 6 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e 976 Manual pulse generator/ Increm ental synchronous enc oder input type s election error The set value of the detailed param eter 2 "Manual puls e generator/I ncrem ental synchronous enc oder input type sel ectio[...]

16 - 4 7 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 67 0, 1 Wit h the setting brought into the s etting range, turn t he PLC READY s ignal [Y0] from OFF to ON. 68+150n <Torque initial v alue selec tion (b4 to b7)> 0, 1 <Speed initi al value sele[...]

16 - 4 8 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Param eter setti ng range errors 984 Creep speed err or • The set value of the OPR basi c paramet er "Creep speed" is outside the setti ng range. • The set value of the OPR basi c paramet er "Creep s[...]

16 - 4 9 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 76+150n 77+150n <Creep speed> 1 to 1000000000 [ PLS/s ] 1 to 2000000000 [ 10 -2 mm /min or others] • Bring the s etting int o the setti ng range. • Set the s peed to that bel ow the OPR speed.[...]

16 - 5 0 Chapter 16 T roubles hooti ng Classi fication of errors Error code Error name Error Operation s tatus at error occurrenc e Encoder errors 1201 OP R data incorrect • The backup dat a for absolute pos ition restorati on is ill egal. • The home pos ition return has never been executed aft er the syst em start. • The home pos ition retur[...]

16 - 5 1 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Remedy QD77MS2 QD77MS4 QD77 MS16 — — — Execute OPR. — — — • Check t he SSCNET c able. • Check t he servomot or and encoder cable. • Take measures against noi se. • Check wheth er the rotation di rect ion select ion/[...]

16 - 5 2 Chapter 16 T roubles hooti ng 16.4.2 Servo ampl ifier detecti on error The de tecti on error list for s ervo amplif ier is sh own b elow. Refer t o eac h ser vo am plif ier instr uctio n m anual f or de tails . (1) MR-J4 (W )-B/MR-JE-B /MR-J3(W )-_ B(-RJ_)/ MR -J3 -_ B S Classi ficat ion of errors E rror code S ervo ampli fier LED dis play[...]

16 - 5 3 Chapter 16 T roubles hooti ng Classi ficat ion of errors E rror code S ervo ampli fier LED dis play Servo am plifier errors 2070 70_ 2071 71_ 2072 72_ (Note-1) 2079 79_ (Note-2) 2082 82_ 2088 88_ 2907 1B_ 2913 2B_ 2918 3A_ (Note-1) 2921 3D_ 2922 3E_ (Note-1) 2942 7A_ (Note-2) 2944 7C_ (Note-2) 2945 7D_ (Note-2) 2948 8A_ 2952 8E_ (Note-1): [...]

16 - 5 4 Chapter 16 T roubles hooti ng 16.5 List of war nings The fo llowin g tabl e show s the warn ing deta ils and r emedie s to be ta ken when a warning occurs. 16.5.1 QD77MS detecti on war ning Classi fication of warnings War n i ng code W arning name Warning Operation st atus at warning occurr ence — 000 (Normal status ) — — Common warn[...]

16 - 5 5 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Rem edy QD77MS2 QD77MS4 QD77MS16 — — — — — — — • Normali ze the start request ON tim ing. • When i n speed control mode/ torque control mode, start pos itioning af ter switc hing to the positi on control mode. 1503+10[...]

16 - 5 6 Chapter 16 T roubles hooti ng Classi fication of warnings War n i ng code W arning name Warning Operation st atus at warning occurr ence Common warnings 116 Optional dat a monit or data type set ting error In the opti onal data m onitor, 2-word data is not se t corr ectly . Monitoring i s not carri ed out. "0" i s stored in [Md.1[...]

16 - 5 7 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Rem edy QD77MS2 QD77MS4 QD77MS16 Optional data m onitor: Data type setti ng 1 — Set the 2-word dat a to "[Pr. 91] Optional data m onitor: Data type set ting 1" or "[ Pr.93] Opt ional data monit or: Data type set ting 3[...]

16 - 5 8 Chapter 16 T roubles hooti ng Classi fication of warnings War n i ng code W arning name Warning Operation st atus at warning occurr ence Common warnings 132 Outside m ark detecti on data axis No. setti ng range When the m ark detection dat a type sett ing is not " Optional 2 word buff er memory", the m ark detection dat a type se[...]

16 - 5 9 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Rem edy QD77MS2 QD77MS4 QD77MS16 54003+20k < Mark detect ion data axis No. > 1 to 16, 801 to 804 S et a value within t he setti ng range. 54004+20k 54005+20k <Mark detect ion data buffer m emory No.> 0 to 65534 Set a value [...]

16 - 6 0 Chapter 16 T roubles hooti ng Classi fication of warnings War n i ng code W arning name Warning Operation st atus at warning occurr ence Posit ioning operation warnings 500 Decelerat ion/st op speed change The speed change re quest is issued during dec eleration st op. The s peed change is not c arried out . 501 S peed lim it value over ?[...]

16 - 6 1 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Rem edy QD77MS2 QD77MS4 QD77MS16 1516+100n 4316+1 00n <S peed change reques t> 1: Speed change i s requested Do not carry out the speed change during dec eleration with a stop c ommand, during s toppage, or duri ng autom atic dec[...]

16 - 6 2 Chapter 16 T roubles hooti ng Classi fication of warnings War n i ng code W arning name Warning Operation st atus at warning occurr ence Posit ioning operation warnings 509 Insufficient remainin g distanc e • At a cont inuous operati on interrup t request, t he distanc e required decelerati on stop is not long enough. • At a speed c ha[...]

16 - 6 3 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Rem edy QD77MS2 QD77MS4 QD77MS16 — — — Give a reques t at the pos ition where there is an enough remaini ng distance. 1546+100n 4346+1 00n <Step st art informat ion> 1: Step i s continued 2: Re-st art is carried out Do not [...]

16 - 6 4 Chapter 16 T roubles hooti ng Classi fication of warnings War n i ng code W arning name Warning Operation st atus at warning occurr ence Posit ioning operation warnings 518 Target posi tion change not poss ible • A target pos ition c hange request was given for the c ontrol sys tem other t han ABS1 and INC1. • A target pos ition c hang[...]

16 - 6 5 Chapter 16 T roubles hooti ng Related buff er memory addr ess Set range (Setti ng with sequence progr am) Rem edy QD77MS2 QD77MS4 QD77MS16 1538+100n 4338+1 00n <Target posit ion change reques t flag> 1: Target posi tion change requ est • Do not turn ON the t arget posit ion c hange request in the followi ng cases. 1) An operating p[...]

16 - 6 6 Chapter 16 T roubles hooti ng 16.5.2 Servo ampl ifier detecti on warni ng The de tecti on war ning l ist f or Serv o am plifi er is s hown belo w. Refer t o eac h ser vo am plif ier instr uctio n m anual f or de tails . (1) MR-J4 (W )-B/MR-JE-B //MR-J3 (W )-_B(-RJ_)/MR -J3-_BS Classi ficat ion of warnings Warni ng code Servo am plifi er LE[...]

Appe ndix - 1 APP. Appe ndices Appendices Appe ndix 1 List of b uffe r m emo ry addresses ............................................................ Appe ndix - 2 Append ix 2 Con necti on with se r vo am plifier s ............................................................ Append ix- 28 Ap pendix 2.1 SSCN ET cabl es .............................[...]

Appe ndix - 2 Appe ndices Appendix 1 Li st of buffer memor y addresses The f ollowi ng sho ws the rel ation b etween the buffer mem or y ad dresses and the vari ous items. (Note- 1): Do not use the buff er m emor y addr ess th at no t been desc ribed h ere f or a "Mak er sett ing". (No te-2 ): Fo r the li st o f buffer memory ad dress es [...]

Appe ndix - 3 Appe ndices Buffer memory address C ompatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Mem ory area QD77MS2 QD77MS4 QD77MS16 17+150n [Pr.11] Backlash compensation amount Detailed parameters 1 Positioning parameters 18+150n 19+150n [Pr.12] Software stroke limit upper limit value 20+150n 21+150n [Pr.13] Software strok[...]

Appe ndix - 4 Appe ndices Buffer memory address C ompatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Mem ory area QD77MS2 QD77MS4 QD77MS16 36+150n 37+150n [Pr.25] Acceleration time 1 Detailed parameters 2 Positioning parameters 38+150n 39+150n [Pr.26] Acceleration time 2 40+150n 41+150n [Pr.27] Acceleration time 3 42+150n 43+150n[...]

Appe ndix - 5 Appe ndices Buffer memory address Compatibility of setting value of QD77MS 2/ QD77MS 4 and QD77MS 16 Item Me mor y area QD77MS2 QD77MS4 QD77MS16 80+150n 81+150n [Pr.50] Setting for the movement amount after near-poi nt dog ON OPR detailed parameters OPR parameters 82+150n [Pr.51] OPR acceleration time selection 83+150n [Pr.52] OPR dec[...]

Appe ndix - 6 Appe ndices Buffer memory address Compatibility of setting value of QD77MS 2/ QD77MS 4 and QD77MS 16 Item Memo ry area QD77MS2 QD77MS4 QD77M S16 1200 4000 [ Md.1] In test mode flag System monitor data Monitor data 1206 1207 4006 4007 [Md.130] OS version 1208 4008 [ Md.134] O peration time 1209 4009 [ Md.135] M aximum operation time 12[...]

Appe ndix - 7 Appe ndices Buffer memory address C ompatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Mem ory area QD77MS2 QD77MS4 QD77MS16 800+100n 801+100n 2400+100n 2401+100n [M d.20] Current feed value Axis monitor data Monitor data 802+100n 803+100n 2402+100n 2403+100n [M d.21] Machine feed value 804+100n 805+100n 2404+100n 2[...]

Appe ndix - 8 Appe ndices Buffer memory address C ompatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Mem ory area QD77MS2 QD77MS4 QD77MS16 838+100n 2438+100n [Md.47] Positioning data being executed Positioning identifier Axis monitor data Monitor data 839+100n 2439+100n M code 840+100n 2440+100n Dwell time 2441+100n Axis to be in[...]

Appe ndix - 9 Appe ndices Buffer memory address C ompatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Mem ory area QD77MS2 QD77MS4 QD77MS16 1500+100n 4300+100n [Cd.3] Positioning start No. Axis control data Control data 1501+100n 4301+100n [Cd.4] Positioning starting point N o. 1502+100n 4302+100n [Cd.5] Axis error reset 1503+100n[...]

Appe ndix - 10 Appe ndices Buffer memory address C ompatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Mem ory area QD77MS2 QD77MS4 QD77MS16 1540+100n [Cd.30] Simultaneous starting a xis start data No. (ax is 1 start data No.) Axis control data Control data 4340+100n [Cd.30] Simultaneous starting own axis start data No. 1541+100n [...]

Appe ndix - 11 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Me mor y area QD77MS2 QD77MS4 QD77MS16 1578+100n 4378+100n [Cd.141] Acceleration time at s peed control mode Axis control data Control data 1579+100n 4379+100n [Cd.142] Deceleration time at s peed control mode 1580+100n 4380+100n [...]

Appe ndix - 12 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Me mor y area QD77MS2 QD77MS4 QD77MS16 30100+10n [Cd.180] Axis stop Expansion axis control data Control data 30101+10n [Cd.181] Forward run JOG start 30102+10n [Cd.182] Reverse run JOG start 30103+10n [Cd.183] Execution prohibitio[...]

Appe ndix - 13 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Memory area QD77MS2 QD77MS4 QD77MS16 26000+ 1000n 22000+ 400n [Da.11] Shape [Da.12] Start data No. 1st point Block start data Starting block 0 Positioning data (Starting block data) 26050+ 1000n 22050+ 400n [Da.13] Special start i[...]

Appe ndix - 14 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Memory area QD77MS2 QD77MS4 QD77MS16 26400+1000n to 26499+1000n Set with GX Works2 Block start data Starting block 2 Positioning data (Starting block data) 26500+1000n to 26599+1000n Condition data 26600+1000n to 26699+1000n Block[...]

Appe ndix - 15 Appe ndices The f ollowi ng sho ws the rel ation b etween the buffer mem or y ad dresses of s ervo param eter a nd the vari ous it ems . (Note) : The set ting ra nge is dif feren t depe nding on th e servo am plif ier mode l. Refer to each s ervo ampl ifier instr uctio n m anual f or det ails. Buffer memory address Compatibility of s[...]

Appe ndix - 16 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Servo amplifier parameter No. Memo ry area QD77MS2 QD77MS4 QD77MS16 30119+200n 28419+100n – PB01 Servo parameters 30120+200n 28420+100n – PB02 30121+200n 28421+100n – PB03 30122+200n 28422+100n – PB04 30123+200n 28423+100n[...]

Appe ndix - 17 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Servo amplifier parameter No. Memo ry area QD77MS2 QD77MS4 QD77MS16 30159+200n 28459+100n – PB41 Servo parameters 30160+200n 28460+100n – PB42 30161+200n 28461+100n – PB43 30162+200n 28462+100n – PB44 30163+200n 28463+100n[...]

Appe ndix - 18 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Servo amplifier parameter No. Memo ry area QD77MS2 QD77MS4 QD77MS16 30179+200n 28479+100n – PC16 Servo parameters 30180+200n 28480+100n – PC17 30181+200n 28481+100n – PC18 30182+200n 28482+100n – PC19 30183+200n 28483+100n[...]

Appe ndix - 19 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Servo amplifier parameter No. Memo ry area QD77MS2 QD77MS4 QD77MS16 64454+250n 64454+70n – PC55 Servo parameters 64455+250n 64455+70n – PC56 64456+250n 64456+70n – PC57 64457+250n 64457+70n – PC58 64458+250n 64458+70n – [...]

Appe ndix - 20 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Servo amplifier parameter No. Memo ry area QD77MS2 QD77MS4 QD77MS16 30226+200n Set with GX Works2 – PD31 Servo parameters 30227+200n – PD 32 64464+250n – PD 33 64465+250n – PD 34 64466+250n – PD 35 64467+250n – PD 36 6[...]

Appe ndix - 21 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Servo amplifier parameter No. Memo ry area QD77MS2 QD77MS4 QD77MS16 30250+200n Set with GX Works2 – PE23 Servo parameters 30251+200n – PE24 30252+200n – PE25 30253+200n – PE26 30254+200n – PE27 30255+200n – PE28 30256+[...]

Appe ndix - 22 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Servo amplifier parameter No. Memo ry area QD77MS2 QD77MS4 QD77MS16 30268+200n Set with GX Works2 – PS01 Servo parameters 30269+200n – PS02 30270+200n – PS03 30271+200n – PS04 30272+200n – PS05 30273+200n – PS06 30274+[...]

Appe ndix - 23 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Servo amplifier parameter No. Memo ry area QD77MS2 QD77MS4 QD77MS16 30900+50n Set with GX Works2 – PF01 Servo parameters 30901+50n – PF02 30902+50n – PF03 30903+50n – PF04 30904+50n – PF05 30905+50n – PF06 30906+50n ?[...]

Appe ndix - 24 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Servo amplifier parameter No. Memo ry area QD77MS2 QD77MS4 QD77MS16 64528+250n Set with GX Works2 – PF41 Servo parameters 64529+250n – PF42 64530+250n – PF43 64531+250n – PF44 64532+250n – PF45 64533+250n – PF46 64534+[...]

Appe ndix - 25 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Servo amplifier parameter No. Memo ry area QD77MS2 QD77MS4 QD77MS16 64552+250n Set with GX Works2 – PL01 Servo parameters 64553+250n – PL02 64554+250n – PL03 64555+250n – PL04 64556+250n – PL05 64557+250n – PL06 64558+[...]

Appe ndix - 26 Appe ndices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS 4 and QD77MS 16 Item Servo amplifier parameter No. Memo ry area QD77MS2 QD77MS4 QD77MS16 64592+250n Set with GX Works2 – PL41 Servo parameters 64593+250n – PL42 64594+250n – PL43 64595+250n – PL44 64596+250n – PL45 64597+250n – PL46 64598+[...]

Appe ndix - 27 Appe ndices The f ollowi ng sho ws the rel ation b etween the buffer mem or y ad dresses for m ark detect ion func tion and th e vari ous item s. (Note) : Do not use th e buffer m emor y addr ess that n ot been desc ribe d here for a "Mak er sett ing". Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS [...]

Appe ndix - 28 Appe ndices Appendix 2 C onnection with serv o amplifier s SSCNE T cab les are use d to conn ect bet ween Sim ple Mot ion mod ule and ser vo am plifier or b etwee n ser vo am plif iers. Install th e batter y to servo amplif ier to exec ute abs olute pos ition d etection c ontrol . Refer to eac h servo am plifier instr uction m anual [...]

Appe ndix - 29 Appe ndices Appendix 2.1 SSC NET cables Gener all y use the S SCNET cables av aila ble as our produc ts. Refer t o Ap pendix 2.3 f or lo ng d istanc e cab le up t o 100[ m ] and ultr a-lo ng ben ding life cable . (1) Model explanation Numer al in the co lumn of cable leng th on the ta ble is a s y m bol put in the "_" par t[...]

Appe ndix - 30 Appe ndices CAUTION Pleas e use the pr ocess ing m ethod and th e process ing trea tm ent device tha t exists in the con nector when you fix the c ord par t of the SS CNET cable to the c onnec tor. It m ust n ot cut s quare ly when you c ut the c ord part of the S SCNET cable , the c utting edge side m ust not be m ade sm oot h, and [...]

Appe ndix - 31 Appe ndices (a) MR -J3BUS_ M 1) Model explanation Type: M R-J3BUS _ M - 015 Ca ble le ngt h [ m(f t.) ] 05 1 0.15(0.49) 0.3(0.98) 0.5(1.64) 03 1(3.28) None A Symbol B Cable type Standard cord for inside panel Standard cable for o utside panel Long distance cable 33 ( 9 . 8 4 ) 5 10 5(16.40) 10(32.81) 20 20(65.62) 30 40 30(98.43) 40(1[...]

Appe ndix - 32 Appe ndices • MR- J3BUS 5M-A to MR-J 3BUS 20M-A • MR-J3 BUS30M- B to MR-J 3BUS50M- B Refe r to th e tabl e of th is se ction (1) fo r cable length (L). SSCNE T Cable V ariation [ mm(inc h)] A B MR-J3BUS5 M-A to MR-J3BUS20 M-A 100(3.94) 30(1. 18) MR-J3BUS30 M-B to MR-J3B US50M-B 150(5.91) 50(1. 97) [Unit: mm(inc h)] (A) (A) L (B) [...]

Appe ndix - 33 Appe ndices Appendix 2.2 Ser ial absolute sy nchronous encoder cable Gener all y use t he seri al abs olut e s ynchronous enc oder cables avail able as our produc ts. If the r equir ed len gth is not fo und in our prod ucts, f abric ate the ca ble on the custo mer side. (1) Sele ction The f ollowi ng tab le ind icates the ser ial abs[...]

Appe ndix - 34 Appe ndices (a) Q170ENCC BL_M-A 1) Model explanation 2 Ca ble le ngt h [ m(f t.) ] 5 Symbol 10 20 30 2(6.56) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 50 50(164.04) Type: Q170ENCCBL _ M - A 2) Connection diagram W hen fabric ating a cab le, u se the r ecom mende d wir e and c onnec tor set MR-J3C N2 for encod er cable given on this se c[...]

Appe ndix - 35 Appe ndices (2) External dimension drawing (a) Serial absolute synchronous encoder ( Q171ENC - W 8) [Unit: m m ( inch)] 7(0.28) 4- 5.5(0.22) 42(1.65) 85(3.35) 37.5(1.48) 58.5(2.30) 30( 1.1 8 ) 45 123.25(4.85) 58.5(2.30) 40(1.57) 22.25 (0.88) 29(1.14) 2(0.08) 8.72 ( 0.34 ) Cross-section diagram AA' (0.34) 8.72 75(2.95) 0 -0.020 9[...]

Appe ndix - 36 Appe ndices Appendix 2.3 SSC NET cable (SC-J3BUS_M-C) manufactured by Mi tsubishi Electric System & Serv ice POINT  For the d etails of the SSCN ET c ables, c ontact your loc al sales off ice.  Do not lo ok dir ectl y at th e light gener ated f rom CN1A/C N1B co nnect or of s erv o amplif ier or the end of SSCNET cable. The[...]

Appe ndix - 37 Appe ndices Appendix 3 C onnection with ex ternal device Appendix 3.1 C onnector Mounted ont o an ex terna l in put co nnection conn ector of the Q D77M S an d used for wirin g an ex terna l dev ice. T he "ext ernal dev ice con nect or" inc ludes the f ollow ing 4 ty pes. (1) Appearance A6CON1 A6CON2 A6CON3 A6CON4 (2) Conne[...]

Appe ndix - 38 Appe ndices (4) External dimension drawing A6CON1/A6 CON2 A6CON3 A6CON4 72.72(2.8 7) 14(0.55) or less 46(1 .81 ) 69.48(2.74) 8.25 ( 0.3 3 ) 22.5 ( 0.8 9 ) 10 ( 0.39 ) 14(0.55) or less 71.8(2.8 2) 47(1.85) 50.8(2.00) Uni t: mm (i nc h)[...]

Appe ndix - 39 Appe ndices Appendix 3.2 Ex ternal input si gnal cable The ex tern al input s igna l ca ble is not pr epar ed as an op tion. Fabric ate t he cab le on the custo mer side. Make t he cab le as shown in the fo llow ing co nnect ion di agram . Solderless terminal QD77MS side (AX1, A X2) FG wi re (2) For ced s top i nput / exter nal input[...]

Appe ndix - 40 Appe ndices (1) Manual pulse generator/ Incr emental synchronous encoder (a) Differential-output type Make t he cab le wit hin 30m (98. 43ft.) . HBL HBL 1B18 HBH 1A18 HAL 1B17 HAH 1A17 HB 1B20 HA 1B19 HAL HAH Differ ential-ou tput type Manual pulse generator / increm ental syn chronous e ncoder side HBH 5V 1B15 5V SG SG 1B14 5V 1A15 [...]

Appe ndix - 41 Appe ndices (2) Forced stop input/ Exter nal input sig nal (AX1, AX 2) Forced st op input side Externa l input side FG (Note-1) : Twisted pa ir cable (Note-1) : Ground F G terminal on the used equipmen t side. Al so, connect it to the shel l of conne ctor side. EMI EMI 1A8 EMI.COM EMI.COM 1B8 DI1 STOP DI1 1A5 COM 1A7 STOP 1A4 DOG 1A3[...]

Appe ndix - 42 Appe ndices (3) External input sig nal (AX3, AX4) External input side FG (Note-1) : Twisted pa ir cable (Note-1) : Ground FG termina l on the used equipment si de. A lso, connect it to the shell of c onnector side . DI3 STOP DI3 2A5 COM 2A7 STOP 2A4 DOG 2A3 COM 2A6 RLS 2A2 DOG RLS FLS FLS 2A1 COM DI4 STOP DI4 2B5 COM 2B7 STOP 2B4 DOG[...]

Appe ndix - 43 Appe ndices 1) T he follo wing tabl e indic ates the ex ternal i nput wir ing cables . Make selec tion ac cor ding t o your op eratin g con ditions . Table 3.1 Table o f wire specifications Wire model Core size [mm 2 ] Number of cores Characteristics of one core Finish OD [mm] (Note- 2) Structure [Number of wir es/mm] Conductor resis[...]

Appe ndix - 44 Appe ndices Appendix 3.3 M anual pulse g enerator (MR -HDP01) (1) External dimension drawing 7 2 ( 2 . 8 3 ) 0 . 2 + 2 - 0 6 2 1 0 60 2 0 7 0 3 0 8 0 90 12V 0 V A B +5to 0 50 40 Space The figure of processing a disc equi-spaced 3- 4.8(0 .19) ( 2 . 4 4 ) Packing t=2.0 16 20 (0.63) (0.79 ) 3.6(0.14) 0.5 27.0 (1.06) 1 80(3.15) 0.5 60(2.[...]

Appe ndix - 45 Appe ndices Appendix 4 C omparisons w ith positioni ng modules /LD77M H models Appendix 4.1 D ifferences w ith QD75MH models (1) Diffe rences of per formance specifications Model Item QD77MS2 QD77MS4 QD77 MS16 QD75 MH2 QD75MH4 Number of control axes 2 4 16 2 4 Operation cyc le [ms] 0.88/1.77 1.77 Control sys tem Speed-torque control [...]

Appe ndix - 46 Appe ndices Differences of per formance specifications (Conti nued) Model Item QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Connect/di sconnec t funct ion of SSCNET c ommunication Hot line f orced stop f unction History dat a (Start, Error, W arning, Current value) Inform ation dis play of "Year, Month, Day, Hour, Minute, Sec ond&qu[...]

Appe ndix - 47 Appe ndices (b) Chan ged f unctions Function Des cription Specification QD77MS2 QD77MS4 QD77MS16 QD75 MH2 QD75 MH4 Input si gnal [X0] Signal name READY QD75 READY [Pr.7] Bias speed at start Range of setting value <Setti ng unit is PLS> 0 to 1000000000 [ PLS/s ] M aker setting [Pr.8] Speed limi t value Range of s etting value &l[...]

Appe ndix - 48 Appe ndices Changed funct ions ( Conti nued) Function Des cription Specification QD77MS2 QD77MS4 QD77MS16 QD75 MH2 QD75 MH4 [Pr.9 1] Option al dat a monito r: Data ty pe set ting 1 New param eter 0: No se tting 1: Effec tive load rati o 2: Regenerati ve load rat io 3: Peak load factor 4: Load inerti a moment ratio 5: Model loop gai n[...]

Appe ndix - 49 Appe ndices Changed funct ions ( Conti nued) Function Des cription Specification QD77MS2 QD77MS4 QD77MS16 QD75 MH2 QD75 MH4 Axis warning occurrenc e time Inform ation dis play of axis warning occurrenc e tim e Occurrenc e time of axis warning i s displ ayed by "Year, Month, Day, Hour, Minute, Sec ond". [Md.56] Axis warning [...]

Appe ndix - 50 Appe ndices Changed funct ions ( Conti nued) Function Des cription Specification QD77MS2 QD77MS4 QD77MS16 QD75 MH2 QD75 MH4 [Md.47] Pos itioning dat a being execut ed St orage item Posit ioning identif ier ([Da .1] to [Da .4], [Da .5] QD77MS2 QD77MS4 ) Posit ioning address ([Da.6]) Arc addres s ([Da.7] ) Command s peed ([Da.8] ) Dw e[...]

Appe ndix - 51 Appe ndices Changed funct ions ( Conti nued) Function Des cription Specification QD77MS2 QD77MS4 QD77MS16 QD75 MH2 QD75 MH4 [Md.108] Servo s tatus Range of moni tor value Low-order buf fer m emory b0: Zero point pas s b3: Zero speed b4: Speed lim it b8: PID c ontrol Low-order buf fer m emory b0: Zero point pas s b3: Zero speed High-o[...]

Appe ndix - 52 Appe ndices Changed funct ions ( Conti nued) Function Des cription Specification QD77MS2 QD77MS4 QD77MS16 QD75 MH2 QD75 MH4 [Cd.24] S peed-position switching enabl e flag Details of setting value 0: Speed cont rol will not be taken over by posit ion control even when the signal set in "[Cd. 45] Speed-posit ion switc hing device [...]

Appe ndix - 53 Appe ndices Changed funct ions ( Conti nued) Function Des cription Specification QD77MS2 QD77MS4 QD77MS16 QD75 MH2 QD75 MH4 [Cd.43] S imultaneous starti ng axis New control data No cont rol data Number of simult aneous start ing axes 2 to 4: 2 axes to 4 ax es Simult aneous start ing axis No. 0 to F: Axis 1 to Ax is 16 No control dat [...]

Appe ndix - 54 Appe ndices Changed funct ions ( Conti nued) Function Des cription Specification QD77MS2 QD77MS4 QD77MS16 QD75 MH2 QD75 MH4 [Cd.45] S peed-position switching devi ce selecti on New control dat a <Speed-pos ition switc hing control> 0: Use t he external comm and signal for s witching from speed c ontrol to pos ition cont rol 1: [...]

Appe ndix - 55 Appe ndices Changed funct ions ( Conti nued) Function Des cription Specification QD77MS2 QD77MS4 QD77MS16 QD75 MH2 QD75 MH4 [Cd.132] Chang e data New control dat a S et the change val ue of servo para met er set in "[Cd.131] Paramet er No.". No control dat a [Cd.140] Com mand speed at speed c ontrol mode Range of set ting v[...]

Appe ndix - 56 Appe ndices Changed funct ions ( Conti nued) Function Des cription Specification QD77MS2 QD77MS4 QD77MS16 QD75 MH2 QD75 MH4 [Da.16] Condi tion operat or Range of sett ing value 01: **=P1 02: **  P1 03: **  P1 04: **  P1 05: P1  **  P2 06: **  P1,P2  ** 07: DEV=ON 08: DEV=OFF 10: Axis 1 selecte d 20: Axis 2 select[...]

Appe ndix - 57 Appe ndices Changed funct ions ( Conti nued) Function Des cription Specification QD77MS2 QD77MS4 QD77MS16 QD75 MH2 QD75 MH4 [Da.23] Num ber of simult aneously start ing axes New positi oning data No positi oning data 2: 2 axes 3: 3 axes 4: 4 axes No positi oning data [Da.24] S imultaneous ly start ing axis No.1 [Da.25] S imultaneous [...]

Appe ndix - 58 Appe ndices Appendix 4.2 D ifferences w ith LD77MH model s (1) Diffe rences of per formance specifications Model Item QD77MS2 QD77MS4 QD77 MS16 LD77 MH4 LD77 MH16 Number of control axes 2 4 16 4 16 Operation cyc le [ms] 0.88/1.77 0.88 0.88/ 1.77 Starti ng time (1-axis linear) Trapezoidal accelerat ion/ decelerati on 0.88m s 1.77ms 0.[...]

Appe ndix - 59 Appe ndices (2) Differences of function (a) Add ed fu nctio ns Functions Remark s Driver com munic ation funct ion (SSCNET / H) Refer to Sec tion 14.9. QD75MH initi al value s etting func tion Ref er to Sect ion 14.14. Hot line forc ed stop function Refer to Secti on 14.15. Compat ible with servo d river VCI I series m anufact ured b[...]

Appe ndix - 60 Appe ndices Changed funct ions ( Conti nued) Function Des cription Specification QD77MS2 QD77MS4 QD77MS16 LD77 MH4 LD77MH16 [Pr.91] Optional data monit or: Data ty pe se tting 1 Range of set ting value 0 : No setti ng 1 : Effect ive load ratio 2: Regenerati ve load rat io 3: Peak load factor 4: Load inerti a moment ratio 5: Model loo[...]

Appe ndix - 61 Appe ndices Changed funct ions ( Conti nued) Function Des cription Specification QD77MS2 QD77MS4 QD77MS16 LD77 MH4 LD77MH16 [Md.107] P arameter error No. Range of m onitor value <SSCNET /H> 1 to 64 : PA01 to PA 64 65 to 128 : PB01 to PB64 129 to 192: PC01 t o PC64 193 to 256: PD01 t o PD64 257 to 320: PE 01 to PE64 321 to 384: [...]

Appe ndix - 62 Appe ndices Changed funct ions ( Conti nued) Function Des cription Specification QD77MS2 QD77MS4 QD77MS16 LD77 MH4 LD77MH16 [Cd.131] P arameter No. Range of sett ing value <M R-J4( W)-B/MR-JE-B> 0: PA group 1: PB group 2: PC group 3: PD group 4: PE group 5: PF group 9: Po group A: PS group B: PL group <VCII se ries> 0: Gr[...]

Appe ndix - 63 Appe ndices Appendix 5 W hen usin g GX W orks2 Use the " Sim ple Mot ion Modu le Set ting Too l" for Sim ple Moti on modu le var ious s etting . The f ollowi ng sho ws the pro cedur e for posit ionin g oper ati on when GX W ork s2 is us ed. START Starting G X Works2 Start GX Wo rks2. Creating a new proj ect Create a ne w pr[...]

Appe ndix - 64 Appe ndices Appendix 6 C ompatible dev ices with SSCN ET Appendix 6.1 Ser vo driv er VCII seri es manufactured by Ni kki Denso Co., Ltd. The d irect drive  DI SC/  iD roll/  Se rvo compass/  Linear series , etc . manuf act ured b y Nikk i Denso C o., Lt d. can be co ntrolle d b y connect ing wit h th e servo driver VCII s[...]

Appe ndix - 65 Appe ndices [1] Connecting method (1) S ystem configur at ion The s ystem conf igurat ion us ing VCII ser ies is s hown b elo w. SSCNET /(H) Simp le Mo tion mo dule QD77MS2 : Up to 2 axes QD77MS4 : Up to 4 axes QD77MS16: U p to 16 ax es SSCNET cable MR-J 3BUS_M (-A/-B) Servo am plifi er * MR-J3 (W)-_B/M R-J4(W)-_ B Servo d river VCII[...]

Appe ndix - 66 Appe ndices [2] Comparisons of speci fications w ith MR-J 4(W )-B/MR-J 3(W )-B Item VCII ser ies (Note-1) MR-J 4(W )-B MR-J3 (W )-B [Pr.100] Servo series 96: VCII seri es (manuf actured by Nik ki Denso Co., Ltd. ) 32: MR-J4-_B , MR-J4W-_B (2-, 3- axis type) 1: MR-J3-_B, MR-J3W -_B (2- axis ty pe) 3: MR-J3-_B- RJ006 (For fully cl osed[...]

Appe ndix - 67 Appe ndices Item VCII ser ies (Note-1) MR-J 4(W )-B MR-J3 (W )-B Expansion paramet er [Pr.91] to [Pr.9 4] Optional data monitor : Data ty pe setting The follo wing items c an be monit ored. 1: Effec tive load rati o 2: Regenerati ve load rat io 3: Peak load factor 5: Pos ition loop gain 8: Enc oder multiple revol ution counter 20: Po[...]

Appe ndix - 68 Appe ndices Item VCII ser ies (Note-1) MR-J 4(W )-B MR-J3 (W )-B Amplif ier-less operation funct ion Possible (Operates arti ficial ly as one of the foll owings duri ng amplif ier-less operation. • Servo amplifier type: MR-J4-10B, Motor t ype: HG-KR053 (resolution per servomotor rotati on: 4194304 pulses) • Servo am plifier t ype[...]

Appe ndix - 69 Appe ndices [3] Precautions during control (1) A bsolut e pos itio n s ystem (ABS) /Inc rem ental s yste m (INC) Ma tch th e ABS/INC s ettin g in e ach s etting of V CII ser ies an d Sim ple Mo tion module . Other wise, th e warni ng "VCII ser ies param eter settin g error " (warn ing c ode: 12 6) oc curs, and it is c ontr [...]

Appe ndix - 70 Appe ndices (b) Servo parameter change request Change r eques t of servo par ameter ("[Cd.1 30] Param eter wr ite re quest " to "[ Cd.132] Chan ge dat a") can be exec uted. H owev er, the servo param eter of VCI I series is control led in a uni t of 2 words , so that it is necess ary to set "2: 2 words write [...]

Appe ndix - 71 Appe ndices [4] VCII series detection error /warning (1) Error W hen an err or occ urs on VCII s eries, the err or detect ion sign al tur ns ON, and t he error co de (61 440 to 6 1695) is s tored in "[ Md.2 3] Axis error No. ". The s ervo a larm (0 x0 0 t o 0 xF F) of VCII s eries is st ored in "[M d.114] Ser vo ala rm[...]

Appe ndix - 72 Appe ndices Classi fication of errors E rror code Servo ala rm No. VCII ser ies LED displ ay Name Remark s Servo dri ver VCII ser ies 61494 (F036H) 36H 9-5 Receive error 2 61495 (F037H) 37H 6-9 Division i nvalid 61496 (F038H) 38H 6-A Posit ioning volum e error 61498 (F03AH) 3AH 6-b Invali d comm and 61499 (F03BH) 3BH 6-C I ndirect da[...]

Appe ndix - 73 Appe ndices Classi fication of errors E rror code Servo ala rm No. VCII ser ies LED displ ay Name Remark s Servo dri ver VCII ser ies 61551 (F06FH) 6FH 9-3 Remote sequenc e control rec eive timeout 61553 (F071H) 71H 9-1 Remote s equence cont rol IC defect 61554 (F072H) 72H 9-2 Remote s equence cont rol communic ation-OFF 61555 (F073H[...]

Appe ndix - 74 Appe ndices (2) W arning W hen a warn ing occ urs on VCI I ser ies, t he war ning c ode ( 61440 to 616 95) is stored in "[Md .24] Ax is warni ng No.". The ser vo warning No. of VCII s eries is stored in "[Md.5 8] Servo war ning " in warnin g histor y. The d etectio n warnin g list fo r VCII series is shown bel ow.[...]

Appe ndix - 75 Appe ndices Appendix 6.2 Inv erter FR- A700 series FR-A70 0 ser ies c an be c onnec ted v ia SS CNET by using buil t-in op tion FR -A7AP and FR- A7N S. The de tails s how n belo w expl ain ab out the "Co nnect ion wit h FR- A700 s eries ". [1] Connec ting m ethod [2] Compar isons of specif ica tions with MR- J3(W )- B [3] P[...]

Appe ndix - 76 Appe ndices [1] Connecting method (1) S ystem configur at ion The s ystem conf igurat ion us ing F R-A 700 ser ies is sho wn b elow. Set "0: SSCN ET " in "[P r.97] SS CNET sett ing" to use FR-A 700 ser ies. Simpl e Motion module SSCNET QD77MS2 : Up to 2 axes QD77MS4 : Up to 4 axes QD7 7MS1 6: Up to 16 ax es SSCNET[...]

Appe ndix - 77 Appe ndices Setting item Default value Setting valu e Details [Pr.75] Reset select ion/ disconnect ed PU de tect ion / PU stop sel ection 14 0 • Reset input is alw ays enabled. • If the PU is disconnected, ope ration will be continued. • PU stop is disabled at SSCNET connection. 1 • A reset can be input only when the protecti[...]

Appe ndix - 78 Appe ndices (6) Op tion al dat a monito r s etti ng The fo llowin g table show s data type s that can be set. Data type Name at FR-A700 series use Effective load factor Motor load factor Load inertia moment ratio Load inertia ratio Model loop gain Position loop gain Bus voltage Conv erter output voltage Encoder multiple rev olution c[...]

Appe ndix - 79 Appe ndices (7) External input signal Set as the f ollo wings to fetc h the ex tern al input sign al (FLS /RLS/DO G) via FR-A70 0 ser ies. • Set " 1: Ext ern al in put si gnal of ser vo am plifier " in "[Pr .80] Exter nal input signal selectio n". • Set th e par ameter s of t he inv erter as bel ow. (Other wis[...]

Appe ndix - 80 Appe ndices [2] Comparisons of specificati ons with MR -J3( W )-B Item FR-A700 series (Note-1) MR-J3(W )-B [Pr.100] Servo series 64: FR-A700 series (I nverter) 1: MR-J3-_B, MR-J3W -_B (2-a xis type) Control of s ervo ampli fier param eters Set di rectly by invert er. (Not controlled by Simple Moti on module. ) Controlle d by Sim ple [...]

Appe ndix - 81 Appe ndices [3] Precautions during control (1) A bsolut e pos itio n s ystem (ABS) /Inc rem ental s yste m (INC) W hen using F R-A 700 ser ies , abso lute pos it ion s ystem (ABS) c an not be used. E ven thou gh "1: En able (absolut e posit ion det ecti on syst em) " is set in the se rvo para meter "Absolut e positio n[...]

Appe ndix - 82 Appe ndices [4] FR-A700 series detection error/w arning (1) Error W hen an err or occ urs on F R-A 700 ser ies, t he error cod e (616 96 to 6 1951) is store d in "[Md.2 3] Axis error No.". The a larm No. of FR -A700 seri es is s tored in "[ Md.1 14] Ser vo a larm " and "[Md. 57] Ser vo alarm " in err or [...]

Appe ndix - 83 Appe ndices Classi fication of errors E rror code Alarm No . of FR-A700 series FR-A700 series LED displ ay Name Remark s Inve rter FR-A700 serie s 61752 (F138H) 38H E.MB1 Brake sequenc e fault Not be output when using FR-A7NS. 61753 (F139H) 39H E.MB2 61760 (F140H) 40H E.MB3 61761 (F141H) 41H E.MB4 61762 (F142H) 42H E.MB5 61763 (F143H[...]

Appe ndix - 84 Appe ndices (2) W arning W hen a warn ing oc curs on F R-A70 0 series , the warn ing co de (61 696 to 61951) is s tored in "[ Md.2 4] Axis warni ng N o.". The war ning No. of FR-A7 00 series is store d in "[M d.58] Ser vo warni ng" in warnin g histor y. The de tecti on war ning l ist f or FR-A 700 s eries is sh ow[...]

Appe ndix - 85 Appe ndices Appendix 6.3 Con nection with MR-JE -B The s ervo amplif ier MR-J E-B can be con nected usi ng SSC NET /H. The detai ls show n below e xplain a bout the "Connec tion wit h MR-JE- B". [1] Compar isons of specif ications with MR -J4(W )-B [1] Comparisons o f speci fications w ith M R-J4( W )-B Item MR-JE-B MR- J4([...]

Appe ndix - 86 Appe ndices Appendix 7 Ex ternal dimensi on draw ing [1] QD77MS2 [Unit: mm(inc h)] QD77M S2 RUN ERR. AX1 AX2 QD77MS2 AX2 AX1 90(3.54) 98(3.86) 4(0.16) 23(0.91) 27.4(1.08) [2] QD77MS4 [Unit: mm(inc h)] QD77M S4 RUN ERR. AX1 AX4 AX2 AX3 QD77M S4 AX2 AX1 AX4 AX3 90(3.54) 98(3.86) 4(0.16) 23(0.91) 27.4(1.08)[...]

Appe ndix - 87 Appe ndices [3] QD77MS16 [Unit: mm(inc h)] QD77MS16 RUN ERR. AX QD77M S16 AX2 AX1 AX4 AX3 90(3.54) 98(3.86) 4(0.16) 23(0.91) 27.4(1.08)[...]

Appe ndix - 88 Appe ndices MEM O[...]

WARRANTY Please confirm the follow ing product warranty details before using this product. 1. Gratis W arranty Term and Gratis W arranty Rang e If any faults or defects (hereinaf ter "Failure") found to be t he responsibi lity of M itsubishi occurs during use of the product within the gratis w arranty term, the product shall be repaired a[...]

Micr osoft, W indows, W indows NT, a nd W indows Vista are reg istere d trad em arks of M icrosof t Corp oration in the Unite d States and other countri es. Pent ium is a tr adem ark of Intel C orpor ation in t he Unit ed States and o ther c ountr ies. Ether net is a tra dem ark of Xerox C orpor ation . All ot her c ompan y nam es and produc t nam [...]

MELSEC-Q QD77MS Simple Motion Module User's Manual MODEL MODEL CODE QD77MS-U-S-E 1XB947 IB(NA)-0300185-C(1411)MEE Specifications subject to change without notice. When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. HEAD OFFICE : TOKYO BUILDING, 2-[...]