Mitsubishi Electronics A172SH manuale d’uso

Positionin g Control T raining Manu al[...]

Cautions on Safety Make sure to read the manuals and pay care ful attention to safety when designing a system. In practice, pay attention to the following conte nts and handle any products o r demonstration units c orrect ly . Cautions on practice DANGER • Never touch any terminal while the power is supplied. If you touch a terminal, you may get [...]

i Positioning Control Manual numbe r : JY9 92D899 01 Manual revisio n : A D a te : July 2 000 Positioni ng Control[...]

Positioni ng Control ii[...]

F AX BAC K Mitsubis hi has a wor ld wide rep utation fo r its eff orts in co ntinuall y developing an d pushing back the fron tiers of indus trial a utomatio n. What is somet imes overlooked by t he user is t he care and attention to detail that i s taken with the documentation. However ,to continue this process of imp rovem ent, the commen ts of t[...]

Positioni ng Control iv[...]

Positioni ng Control v Introduction This manual de scribes basi c operation for those who l earn positioni ng control for the fi rst time, the ai m being so tha t they c an get tr aining usi ng demonst ration uni ts of Mit subishi F A equipment. The foll owing rel evant manuals are avail able and s hould be ref erred to Manual Name Number FX-10GM/ [...]

Positioni ng Control vi[...]

Positioni ng Control Contents vii 1. The World of Positioning Control ............ .................................... ........... 1-1 1.1 W elco me to th e new world ! ...... ...... ....... ...... ....... ....... ...... ....... ......... ...... ....... ....... 1-1 1.2 D i versifi ed actu a to r s ... ....... ....... .. ...... ....... .. ....... .[...]

Positioni ng Control Contents viii[...]

1 The World of Positio ning Control 2 Posi tion ing by AC Se rv o Syst em 3 Compo nents of Position ing Control and Their Ro les 4 Advanced Positioning 5 Actual Positioning 6 Prod uct Line up A Appendix A: T entative Selection of Motor Capacity Positioni ng Control The World of Posit ioning Control 1[...]

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The World of Posit ioning Control 1 1-1 1. The World of Po sitioning Con trol 1.1 W elcome to the new world! The positioning controller , together with the p rogrammable co ntroller , persona l computer and operator i nterface, i s one of the four main unit s of F A (factory automation). Among them, the posi tioning c ontroll er is impor tant as th[...]

Positioni ng Control The World of Posit ioning Control 1 1-2 1.2 Diversif ied actuators • A power source which moves an element in a system is called actuator . A unit which detects a posit ion of a work piece or moving part is called se nsor . • Diversi fied actuator s and sensors, from simple ones to enhanced ones, are used in positi oning. ?[...]

Positioni ng Control The World of Posit ioning Control 1 1-3 Stepping motor • Positio ning mec hanism is simple. • If load is heav y , motor may step out and displac em ent ca n occur . • Motor ca pacity is smal l. • Preci sion is poo r at high sp eed. DC servo syst em • Positio ning pre cision is good. • Maintenan ce is r equired for m[...]

Positioni ng Control The World of Posit ioning Control 1 1-4 1.3 Positioning method type 1) There are three ty pes of positioning method *1 The stop preci sion shows a value in a cas e where low speed is 10 to 100 mm/s. Control method Description Schematic drawing Speed control Limit swit ch method T wo lim it swit ches ar e provid ed in places wh [...]

Positioni ng Control The World of Posit ioning Control 1 1-5 2) Position ing metho d and stop precisi o n < Limit switch method > - When automat ically stopping a moving part driven by a moto r , stop the moto r by a position signal, de tected by a limit switch (in general conditions, t urn on the brake at the same time). - The moving part co[...]

Positioni ng Control The World of Posit ioning Control 1 1-6 < Pulse count method > - When a pulse encoder i s attac hed t o a moving par t, and the mot or speed i s c ontrol led by a number steps while the pulse number is counted, the move ment quantity per pulse is determined in accordance wi th the rel ationship between the pulse number ge[...]

1 The W orld of Posi tion ing Contr ol 2 Positioning by AC Servo Syst em 3 Compo nents of Position ing Control and Their Ro les 4 Advanced Positioning 5 Actual Positioning 6 Prod uct Line up A Appendix A: T entative Selection of Motor Capacity Positioni ng Control Positioning by AC Servo System 2[...]

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Positioning by AC Servo System 2 2-1 2. Positioning by AC Servo System 2.1 When an AC servo system is introduced • Position ing can be performed by many d i versi fied methods. Recent ly , AC servo methods which of f er m any advant ages are often introduced. • In the posit ioning syst em of an AC servo method, a positi on controller , servo am[...]

Positioni ng Control Positioning by AC Servo System 2 2-2 In the latest A C servo systems, conv entional weak points have been improved as foll o ws. - Though the latest sy stems are complete ly digital, they are equi pped with paramet ers in conformance t o diversified mechani cal specifications a nd electrical specifica tions so that simple sett [...]

Positioni ng Control Positioning by AC Servo System 2 2-3 2.2 Examples of AC servo syste ms • Position i ng indi cat es the operation to move an element, such as a workpiece or tool (drill or cutter) from a certain position (point) to another target position (point) and stop it with high eff iciency and high precision. • In other words, the pri[...]

Positioni ng Control Positioning by AC Servo System 2 2-4 Index table The positi on of the circ ular table i s indexed. The index position is set on th e outside (dig ital swit ch) or the insid e (prog ram). Shortcu t drive is pe rformed dep ending on the inde x positio n. Lifter moving-up/down As negati ve load is applied on t he servo motor in po[...]

1 The W orld of Posi tion ing Contr ol 2 Posi tioning by AC S e rvo Sys t em 3 Components of Positioning Control and Their Roles 4 Advanced Positioning 5 Actual Positioning 6 Prod uct Line up A Appendix A: T entative Selection of Motor Capacity Positioni ng Control Components of Positioning Cont rol and Their Roles 3[...]

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Components of Positioning Cont rol and Their Roles 3 3-1 3. Componen ts of Positioning Contro l and Their Roles Positi onin g control requir es a numb er of compo nents such as a positioning controller , s ervo ampli fier , serv o motor and d rive mech anism. This sectio n describes the ro le of each component. Positioni ng Control[...]

Positioni ng Control Components of Positioning Cont rol and Their Roles 3 3-2 Posit ioning command control Deviati on counter Smoothi ng circuit Inve rter PWM (puls e width modulation) c ontrol Current control Speed command Feedbac k current Feedback puls e Servo ampl i f i er R Regenerative brake Pulse magnific ation (Elect roni c gear) Dynamic br[...]

Positioni ng Control Components of Positioning Cont rol and Their Roles 3 3-3 PLG SM Servo motor When required Elec tromag netic brak e Cooling fan In the cas e of large motor Moving elem ent Ball screw Auxiliary dev ic e s uch as chuc k, drill and cylinder Near point dog switc h Limit switch (LS) Limit switch (LS) Drive mec hani s m When a moving [...]

Positioni ng Control Components of Positioning Cont rol and Their Roles 3 3-4 3.1 Positioning controller As the pos itioning con troller gives position command s to the serv o amplifier , positioning programs sh ould be created, and param eters defined. T he contents related to prog rams and paramete rs are descri bed bel ow . 3.1.1 Command pulse a[...]

Positioni ng Control Components of Positioning Cont rol and Their Roles 3 3-5 3.1.3 Setti ng the acceleration/decel eration time • When the start command is given, accelerati on, operation at constant speed and deceleratio n are performed for po sitioning. Set the acceleration time and the decelera tion time i n the par ameters. • This operatio[...]

Positioni ng Control Components of Positioning Cont rol and Their Roles 3 3-6 3.1.5 Zero p oint return funct ion • There are two types of servo motor encoders, incr emental type (puls e count method) and absolute type (absolute pos ition det ection met hod). • Incremental type is const ructed so that the cu rrent value stored in the posit ion c[...]

Positioni ng Control Components of Positioning Cont rol and Their Roles 3 3-7 3.2 Servo ampli fier and servo motor The servo a mplif ier co ntrols th e movement quan tity and t he speed i n accor dance with commands given by the positioning controller . The servo motor transmits rotation to the drive mechanis m after r eceiving a si gnal from the s[...]

Positioni ng Control Components of Positioning Cont rol and Their Roles 3 3-8 3.2.4 Regen erative brake function • During decel eration, because the servo motor rotates by the load iner tia of the d rive mechanism, it funct i ons as a generator and elect ric power returns to the servo amplif ier . The regenerative resistor abs or bs this electric[...]

Positioni ng Control Components of Positioning Cont rol and Their Roles 3 3-9 3.3 Drive mech anism The drive mechanis m converts the rotation moti on of the servo motor int o the reciprocat ing or vertic al motion through a speed reducer , timing bel t, ball screw , etc. t o move the mac hine. 3.3.1 Conce pt of drive system movement quanti t y 1) R[...]

Positioni ng Control Components of Positioning Cont rol and Their Roles 3 3-1 0 2) Examples of calculation equat ions a) Movement quanti ty per r otation of motor ( mm/rev) b) Number of r otations of motor ( rev/min.) (The maximum number of rot ations is r ealized during quick feed.) Note:The number of rotati ons of a motor during quick feed should[...]

Positioni ng Control Components of Positioning Cont rol and Their Roles 3 3-11 3.3.2 Set ti ng the target position In posi tioning contr ol, the target positi on can be se t by the foll owing tw o methods. (Av ailable command unit s are "mm", "inch", " degree" or "puls e".) 1) Absolute method In this m ethod,[...]

Positioni ng Control Components of Positioning Cont rol and Their Roles 3 3-1 2[...]

1 The W orld of Posi tion ing Contr ol 2 Posi tioning by AC S e rvo Sys t em 3 Compo nents of Position ing Control and Their Ro les 4 Advanced Positioning 5 Actual Positioning 6 Prod uct Line up A Appendix A: T entative Selection of Motor Capacity Positioni ng Control Advanced Positionin g 4[...]

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Advanced Positionin g 4 4-1 4. Advanced Positioning 4.1 Interpolation control The interpolation functi on contro ls two or more axes al ternately or simultaneously . Linear interpol at ion and circular interp olation are usually of fered. X axis < 2-axis linear interpolation > End point Start point Y axis Start point X axis Y axis End point Z[...]

Positioni ng Control Advanced Positionin g 4 4-2 X axis < Circular interpolat ion when an auxiliary point is specif ied > End point Start point Y axis Auxiliary line X axis < Circular interpo lat ion when the radius is specified > End point Start point Y axis Radius X axis < Circular interpo lat ion when the center is specified > [...]

Positioni ng Control Advanced Positionin g 4 4-3 4.2 Other controls In some models, contr ols in accordance with diversi f ied special needs such as speed control, position f ollow-up co ntrol and th ree-dime nsional interp olation con trol shown below are availabl e. X axis Start point Speed change in X axis Speed Time X axis Start point Constant [...]

Positioni ng Control Advanced Positionin g 4 4-4 X axis Start point 1000 mm/min 5000 mm/min 300 mm/min Y axis End point Speed changeover point Speed change in X axis Speed Time X axis Start point Y axis Passing point Radius Passing point End point Speed change in X axis Speed Time < Speed changeover contr o l > - From the start point w hich i[...]

Positioni ng Control Advanced Positionin g 4 4-5 X axis Start point Y axis Original end point Change point Changed end point Speed change in X axis Speed Time X axis Start point Y axis End point Z axis Speed change in the Y axis Speed Time < Position fo llow-up con tr ol > - If the end point address is c hanged while a posi tioni ng cont rol [...]

Positioni ng Control Advanced Positionin g 4 4-6[...]

1 The W orld of Posi tion ing Contr ol 2 Posi tioning by AC S e rvo Sys t em 3 Compo nents of Position ing Control and Their Ro les 4 Advanced Positioning 5 Actual Positioning 6 Prod uct Line up A Appendix A: T entative Selection of Motor Capacity Positioni ng Control Actual Positioning 5[...]

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Actual Positioning 5 5-1 5. Actual Positioning T erms requi red for positioning contro l have been explained in the first three secti ons. In thi s sectio n, le t’s exper ience ac tual po sition ing cont rol bas ed on the knowledg e you have learned so far . The positi on con troller FX 2N -20GM is us ed for the demonstration as show be low . An [...]

Positioni ng Control Actual Positioning 5 5-2 5.2 Operation of the demonstrat ion equipment Source the requir ed demonstr ation equipment, and setup as in section 5.1. If a plott e r is being used refer to th e operations manual for the partic ular unit and setup accordingl y . Throughout t his example it is assumed t hat you will have read and und[...]

Positioni ng Control Actual Positioning 5 5-3 5.2.1 Pr ogram example The program below demonstrates basic positioning using the FX 2N -20GM. As this program is designed to be used wi thout a mechanical plot ter , the electrical zero point is used fo r refe rence. Many programs can be stored in a GM unit at one time. This example uses pr ogram numbe[...]

Positioni ng Control Actual Positioning 5 5-4 5.2.2 W riting the program Using FX-PCS-VPSWin-E, re-create the flow cha rt program shown in sec tion 5.2.1. If assistance is required in the operation of the software, please refer to the Software manual JY992D86801. When opening a new file in VPS, choose ‘FX(2N)/E-20GM with simult aneous 2 axis’ [...]

Positioni ng Control Actual Positioning 5 5-5 5.2.3 Parameter s In additi on to the preparation of a positioning program, div ersified parameters should be set in the FX 2N -20GM. In this ex ample, only a few parameters ne ed be set. If a plotting table is used, the parameter s should be set in acc ordance with its mechanism. These will dep end upo[...]

Positioni ng Control Actual Positioning 5 5-6 As we will not be con necting any mechanic al hardware to the FX2N- 20GM, the limit switch and DOG switch sett ings do not r equire sett ing. W e do how ever need to reduc e the Creep speed and the Ze ro return spe ed. All of the par ameter settings on this sc reen window can be left as thei r default v[...]

Positioni ng Control Actual Positioning 5 5-7 5.2.4 Operati on Now that your program has been wri tten, check the communica tion cables between the FX 2N - 20GM and PC, then download your program to the FX 2N -20GM. Make sure that the GM unit is in ‘MANU’ mode before download, or it will be impossible t o communicat e. In VPS, start th e Monito[...]

Positioni ng Control Actual Positioning 5 5-8 The next s tep, it to switch t he FX 2N -20GM to ‘AUT O’ mode, so that the program can be executed. Fina lly , on the Monitor sc r e en clic k on eith er the X or Y axis start butt ons. It does no t matte r which one, as both will start the progr am. Sit back and see what you have produced. Y our sc[...]

1 The W orld of Posi tion ing Contr ol 2 Posi tioning by AC S e rvo Sys t em 3 Compo nents of Position ing Control and Their Ro les 4 Advanced Positioning 5 Actual Positioning 6 Product Line up A Appendix A: T entative Selection of Motor Capacity Positioni ng Control Product Line u p 6[...]

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Product Line u p 6 6-1 6. Product Lin e up We are of fering diversified position controllers, servo amplifiers and se rvo motors. Y ou can select desi red units in accor dance with your system and appli cat ion. For the derail s, refer to the catal og of each product. 6.1 Position controller 1) Outline of posit ion controller model s In the positio[...]

Positioni ng Control Product Line u p 6 6-2 Model name/ unit name Positioning language Outline Motion controller A171SH A172SH A173SH Languag e dedicat ed to servo system [4-, 32 -axis independe nt control, 2 - to 4- axis li near inte rpolation con trol, 2-ax is cir- cular i nterpolation control, s peed contro l, equa l speed con trol, pos ition fo[...]

Positioni ng Control Product Line u p 6 6-3 1) When and which position contro ller? In ad dition to th e PLC serie s, take into accoun t the fo llowing con tents to det ermine t he positi on controller t o be used. a) Determine t he position controller to be used i n accordance with t he number of control led axes (motor s). A171SH, A172SH, A173UH,[...]

Positioni ng Control Product Line u p 6 6-4 b) Determine the positi on controller to be used in accord ance with the output pulse frequency . However , the pulse frequency actual ly used inside the servo amplifier can be incr eased by electronic gear ing. c) Determine t he pos ition controller to be used in accor dance with hand ling of the feedba [...]

Positioni ng Control Product Line u p 6 6-5 6.2 Servo ampli fier 1) Outline of serve amplifier models Model name Outline MR-J2-Jr Series • DC 24V • Size is extremel y small, an d capaci ty is smal l. • Applicabl e to 10 to 3 0 w . • Used f or semico nductor m anufacturi ng unit and small ro bots. • Setup so ftware by per s ona l com pute [...]

Positioni ng Control Product Line u p 6 6-6 2) When and which servo amplifier? In addition to the series, take into account the following contents to determine the servo amplifie r to be used. a) Determine the servo amplifi er to be used in a ccordance with t he rated out put of the ser vo motor . b) Determine the serv o ampli fi er t o be used in [...]

Positioni ng Control Product Line u p 6 6-7 6.3 Servo mot o r Serv o motors are classi fied i nto ser ies in accor dance wi th th e applicat ion, the ou tside dimensions and the motor inertia moment. In each series, models of different output capacity are lined up. Motor model name (encoder resolu tion) Rated ro tatio n speed (r/ min.) Rate d outpu[...]

Positioni ng Control Product Line u p 6 6-8 *3 The model name "HC- S" is compatible with the servo ampli fier MR-J2S. HC-RF (16384P /rev) HC-RFS (131072P /rev) 3000 1kW to 5k W Low iner tia and me dium capaci ty (compatible with speed reduce r). Optimal to frequent operation directly connected t o ball sc rew becaus e motor iner tia momen[...]

1 The W orld of Posi tion ing Contr ol 2 Posi tioning by AC S e rvo Sys t em 3 Compo nents of Position ing Control and Their Ro les 4 Advanced Positioning 5 Actual Positioning 6 Prod uct Line up A Appendix A: T entative Selection of Motor Capacity Positioni ng Control Tentative Selection of Motor Cap acity A[...]

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A-1 Appendix A: A-1: T entative Selection of Motor Capacity T emporarily select the moto r capacity at first whil e taki ng into account the followi ng two poi nts, and determine the model. • The rated torque of the motor should be larger t han the ef fective torque. • The lo ad inert ia moment should not ex ceed ap proximate ly 10 times of the[...]

Positioni ng Control A-2 A-1-1: Motor effective torque When the motor ef fective torque obt ained by the calculation below does not exceed the rated torq ue (100%) of th e servo motor speci fications, it is suit able. If t he obtai ned ef fective torque exce eds 100%, in crease th e motor capacit y and perfor m the calculat ion again. In the ef fec[...]

Positioni ng Control A-3 2) The torque dur ing constant speed is the torque requir ed to move the load at t he constant speed. 3) The torque during decelerat ion is the tor que requi red for deceleration and stop. 4) How to obtain the cycle time The rep resentati ve machine operat ion pa ttern co nsists of ac celer ation , constant speed, decelerat[...]

Positioni ng Control A-4 5) Machine load torq ue (TL) The rotat i on force requi red to move or cut an obj ect is cal led load torque. Duri ng oper ati on at co nsta nt spee d, the moto r is outp utti ng the torque bala ncing thi s load torq ue. • The calculation equation to obtain t he load torque varies d epending on the motion t ype (horizo nt[...]

Under no circu m stances will Mitsu bishi Electric be liabl e or responsibl e for any consequenti al damage that may arise as a result of th e installati on, use and/or programming of the pr oducts associated wit h this manual. All examples and diagrams shown in this m anual ar e intended as an aid to unders tanding the text, n ot to guarantee ope [...]

HEAD OFFICE: MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 10 0-8310 TELEX: J24532 CA BLE MELCO TOK YO HIMEJI WORKS: 840, CHIYODA CHO, HIM E JI, JAPAN JY992D89901A (MEE0007) Effecti ve July . 2000 Specific ations are subject to change wi thout notice.[...]