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Mitsubishi A1SD75M3 User Manual
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Mitsubishi A1SD75M3 User Manual

Positioning module
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A1SD75M1/M2/M3, AD75M1/M2/M3 Positioning Module
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Summary of Contents for Mitsubishi A1SD75M3

  • Page 1 A1SD75M1/M2/M3, AD75M1/M2/M3 Positioning Module User s Manual Mitsubishi Programmable Logic Controller...

  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS (Always read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The instructions given in this manual are concerned with this product. For the safety instructions of the programmable logic controller system, please read the CPU module User's Manual.
  • Page 4 [Design Instructions] CAUTION Do not bundle or adjacently lay the control wire or communication cable with the main circuit or power wire. Separate these by 100mm or more. Failure to observe this could lead to malfunctioning caused by noise. [Mounting Instructions] CAUTION Use the PLC within the general specifications environment given in this manual.
  • Page 5 [Startup/Maintenance Instructions] CAUTION Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Switch off all phases of the externally supplied power used in the system before installing or removing the module. Failure to turn all phases OFF could lead to module trouble or malfunctioning.

  • Page 6: Revisions

    This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 7: Table Of Contents

    INTRODUCTION Thank you for purchasing the Mitsubishi general-purpose programmable logic controller MELSEC-A Series. Always read through this manual, and fully comprehend the functions and performance of the A Series PLC before starting use to ensure correct usage of this product.
  • Page 8 3. SPECIFICATIONS AND FUNCTIONS 3-1 to 3-18 3.1 General specifications..........................3-2 3.2 Performance specifications........................3-3 3.3 List of functions ............................3-4 3.3.1 AD75 control functions ........................3-4 3.3.2 AD75 main functions ........................... 3-6 3.3.3 AD75 auxiliary functions and common functions ................3-8 3.3.4 Combination of AD75 main functions and auxiliary functions ............
  • Page 9 5.1.9 Types and roles of control data ......................5-17 5.2 List of parameters ............................ 5-22 5.2.1 Basic parameters 1 ........................... 5-22 5.2.2 Basic parameters 2 ........................... 5-26 5.2.3 Detailed parameters 1........................5-28 5.2.4 Detailed parameters 2........................5-38 5.2.5 Zero point return basic parameters ....................5-47 5.2.6 Zero point return detailed parameters ....................
  • Page 10 SECTION 2 CONTROL DETAILS AND SETTING 8. ZERO POINT RETURN CONTROL 8-1 to 8-24 8.1 Outline of zero point return control ......................8-2 8.1.1 Two types of zero point return control ....................8-2 8.2 Machine zero point return .......................... 8-4 8.2.1 Outline of the machine zero point return operation................
  • Page 11 10.2 Advanced positioning control execution procedure ................10-6 10.3 Setting the start block data ........................10-7 10.3.1 Relation between various controls and start block data ..............10-7 10.3.2 Block start (normal start) ........................ 10-8 10.3.3 Condition start ..........................10-10 10.3.4 Wait start............................10-11 10.3.5 Simultaneous start ........................
  • Page 12 12.4 Functions to limit the control ........................ 12-25 12.4.1 Speed limit function........................12-25 12.4.2 Torque limit function........................12-27 12.4.3 Software stroke limit function......................12-30 12.4.4 Hardware stroke limit function ...................... 12-36 12.4.5 Servo ON/OFF function ........................ 12-38 12.5 Functions to change the control details....................12-43 12.5.1 Speed change function .........................
  • Page 13 Appendix 3 Positioning data (No. 1 to 100), List of buffer memory addresses ......Appendix-27 Appendix 4 Comparisons with old versions of A1SD75M1/A1SD75M2/A1SD75M3, and AD75M1/AD75M2/AD75M3 models ..Appendix-30 Appendix 5 MELSEC Explanation of positioning terms ..............Appendix-32 Appendix 6 Positioning control troubleshooting ................Appendix-48 Appendix 7 List of buffer memory addresses ..................Appendix-54...

  • Page 14: About Manuals

    (Enclosed with each software package product) Conformation to the EMC Directive and Low Voltage Instruction For details on making Mitsubishi PLC conform to the EMC directive and low voltage instruction when installing it in your product, please refer to Chapter 3, “EMC Directive and Low Voltage Instruction”...

  • Page 15: Using This Manual (1

    Using This Manual (1) The symbols used in this manual are shown below. Pr.* ..Symbol indicating positioning parameter, zero point return parameter and servo parameter item. Da.* ..Symbol indicating positioning data, start block data and condition data item. Md.* ..

  • Page 16: Using This Manual (2

    Using This Manual (2) The methods for reading this manual are shown below. 1) → 2) → 3) → 4) → 5) → Test operation → 6) → Actual operation Chapter 1 PRODUCT OUTLINE 1) Understand the product functions and specifications, and design the system.

  • Page 17: Using This Manual (3

    Using This Manual (3) The contents of each chapter are shown below. SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING 1 PRODUCT The basic contents for understanding positioning control using AD75 are OUTLINE described. 2 SYSTEM The devices required for positioning control using AD75 are described. CONFIGURATION 3 SPECIFICATIONS The AD75 functions and performance specifications, etc., are described.

  • Page 18: Generic Terms And Abbreviations

    Generic term for PLC CPU on which AD75 can be mounted. AD75 Generic term for positioning module AD75M1, AD75M2, AD75M3, A1SD75M1, A1SD75M2, and A1SD75M3. The module type is described to indicate a specific module. Peripheral device Generic term for DOS/V personal computer that can run the following "AD75 Software Package".

  • Page 19: Enclosed Parts

    Enclosed Parts The AD75 product configuration is shown below. Quantity Part name A1SD75M1 A1SD75M2 A1SD75M3 AD75M1 AD75M2 AD75M3 External device connection connector (10136-3000VE, Sumitomo 3M) Connector cover (10336-56 F0-008, Sumitomo 3M) AD75 A1SD75M1/M2/M3, AD75M1/M2/M3 Positioning Module User's Manual (Hardware) A - 17...
  • Page 20 MEMO A - 18...
  • Page 21 SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING SECTION 1 is configured for the following purposes (1) to (5). (1) To understand the outline of positioning control, and the AD75 specifications and functions (2) To carry out actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a sequence program required for positioning control (5) To understand the memory configuration and data transmission process...
  • Page 22 MEMO...

  • Page 23: Product Outline

    Chapter 1 PRODUCT OUTLINE The purpose and outline of positioning control using AD75 are explained in this chapter. By understanding "What can be done", and "Which procedures to use" beforehand, the positioning system can be structured smoothly. 1.1 Positioning control ......................1-2 1.1.1 Features of AD75....................1-2 1.1.2...

  • Page 24: Positioning Control

    (a) Having the SSCNET interface for connection to the servo amplifier (MR-H- B (MR-H-BN), MR-J-B, MR-J2-B, MR-J2S-B, MR-J2-03B5), the AD75 can be connected directly to the Mitsubishi servo amplifier on the SSCNET. (b) The SSCNET cables are used for connection between the AD75 and servo amplifier or between the servo amplifiers, saving the wiring.
  • Page 25 1 PRODUCT OUTLINE MELSEC-A (2) Ease of compatibility with absolute position detection system (a) Connection of an absolute position corresponding servo system supports an absolute position detection system. (b) Once a zero point position is established, zero point return operation is not necessary at power-on.
  • Page 26 1 PRODUCT OUTLINE MELSEC-A (b) The control method designated with each positioning data includes position control, speed control and speed/position changeover control. (c) Continuous positioning with multiple positioning data items is possible with the operation pattern set by the user using positioning data. With the above multiple positioning data as one block, continuous positioning of multiple blocks is possible.
  • Page 27 1 PRODUCT OUTLINE MELSEC-A MEMO 1 - 5...

  • Page 28: Purpose And Applications Of Positioning Control

    1 PRODUCT OUTLINE MELSEC-A 1.1.2 Purpose and applications of positioning control "Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece") at a designated speed, and accurately stopping it at the target position. The main application examples are shown below. Punch press (X, Y feed positioning •...
  • Page 29 1 PRODUCT OUTLINE MELSEC-A Lifter (Storage of Braun tubes onto aging rack) • During the aging process of braun tubes, Unloader storage onto the rack is carried out by Loader/unloader positioning with the servo. • The up/down positioning of the lifter is carried B conveyor Aging rack out with the 1-axis servo, and the horizontal...

  • Page 30: Mechanism Of Positioning Control

    1 PRODUCT OUTLINE MELSEC-A 1.1.3 Mechanism of positioning control Positioning control using the AD75 is carried out with "SSCNET". In the positioning system using the AD75, various software and devices are used for the following roles. The AD75 realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the PLC CPU.
  • Page 31 1 PRODUCT OUTLINE MELSEC-A The principle of "position control" and "speed control" operation is shown below. Position control The total number of pulses in a pulse train required to move the designated distance is obtained in the following manner. Total number of pulses in a pulse No.

  • Page 32: Outline Design Of Positioning System

    1 PRODUCT OUTLINE MELSEC-A 1.1.4 Outline design of positioning system The outline of the positioning system operation and design, using the AD75, is shown below. PLC CPU AD75 Servo amplifier corresponding SSCNET (refer to section 2.2) Servomotor Position/speed Position Speed Current Inverter command...
  • Page 33 1 PRODUCT OUTLINE MELSEC-A A : Movement amount per pulse (mm/pulse) Vs : Command speed (pulse/s) n : Pulse encoder resolution (pulse/rev) Workpiece L : Worm gear lead (mm/rev) Pulse encoder Worm gear (PLG) R : Deceleration ratio V : Movable section speed (mm/s) Table N : Motor speed (r/min) K : Position loop gain (1/s)

  • Page 34: Communicating Signals Between Ad75 And Each Module

    1 PRODUCT OUTLINE MELSEC-A 1.1.5 Communicating signals between AD75 and each module The outline of signal communication between the AD75 and PLC CPU, peripheral device, servo amplifier, etc. is shown below. AD75 PLC CPU Servo status PLC READY signal AD75 READY signal Servo ON Position/speed command All axes servo ON signal...
  • Page 35 1 PRODUCT OUTLINE MELSEC-A AD75 Peripheral device The AD75 and peripheral device communicate the following data via the peripheral device connection connector. Direction AD75 Peripheral device Peripheral device AD75 Communication Parameter, positioning data, positioning Parameter, positioning data, positioning Data (read/write) start information start information Zero point return control start command...

  • Page 36: Flow Of System Operation

    1 PRODUCT OUTLINE MELSEC-A 1.2 Flow of system operation 1.2.1 Flow of all processes The positioning control processes, using the AD75, are shown below. AD75 software GPP function soft- AD75 Servo, etc. PLC CPU package ware package Understand the functions and performance, and determine the positioning operation method Design (system design) Installation, wiring, single module test...
  • Page 37 1 PRODUCT OUTLINE MELSEC-A The following work is carried out with the processes shown on the left page. Details Reference • Chapter 1 • Understand the product functions and usage methods, the configuration devices Chapter 2 • and specifications required for positioning control, and design the system. Chapter 3 •...

  • Page 38: Outline Of Starting

    1 PRODUCT OUTLINE MELSEC-A 1.2.2 Outline of starting The outline for starting each control is shown with the following flowchart. * It is assumed that each module is installed, and the required system configuration, etc., has been prepared. Flow of starting Installation and connection of module Preparation Setting of hardware...
  • Page 39 1 PRODUCT OUTLINE MELSEC-A Setting method : Indicates the sequence program that must be created. <AD75 software package> Set with AD75 software package Write * Set the parameter and data for executing this function, and the auxiliary functions that need to be set beforehand. AD75 <GPP function software package>...

  • Page 40: Outline Of Stopping

    1 PRODUCT OUTLINE MELSEC-A 1.2.3 Outline of stopping Each control is stopped in the following cases. (1) When each control is completed normally. (2) When Servo alarm ( Md.116 Servo status: b13) turns ON (3) When the PLC READY signal is turned OFF (When "parameter error" or "watch dog timer error"...

  • Page 41: Outline For Restarting

    1 PRODUCT OUTLINE MELSEC-A 1.2.4 Outline for restarting When a stop cause has occurred during operation with position control causing the axis to stop, positioning to the end point of the positioning data can be restarted from the stopped position by using the " Cd.13 Restart command". When "...
  • Page 42 1 PRODUCT OUTLINE MELSEC-A MEMO 1 - 20...

  • Page 43: System Configuration

    Chapter 2 SYSTEM CONFIGURATION In this chapter, the general image of the system configuration of the positioning control using AD75, the configuration devices, applicable CPU module and the precautions of configuring the system are explained. Prepare the required configuration devices to match the positioning control system. 2.1 General image of system ....................2-2 2.2 List of configuration devices...................2-4 2.3 Applicable system......................2-6...

  • Page 44: General Image Of System

    2 SYSTEM CONFIGURATION MELSEC-A 2.1 General image of system The general image of the system, including the AD75, PLC CPU and peripheral devices is shown below. (The Nos. in the illustration refer to the "No." in section "2.2 List of configuration devices".
  • Page 45 2 SYSTEM CONFIGURATION MELSEC-A Servo Terminal connector amplifier Motor corresponding Battery SSCNET*4 Servo amplifier Motor corresponding SSCNET*4 Manual pulse generator SSCNET cable Cable Machine system input (switch) · Near-point dog · Limit switch · External start signal · Speed/position changeover signal ·...

  • Page 46: List Of Configuration Devices

    MR-J2S-B * MR-J2-03B5 * (Prepared by user) Manual pulse – generator Recommended: MR-HDP01 (Mitsubishi Electric) Cable for connecting AD75 with manual pulse generator or machine Connection cable – system input signal. (Prepared by user) (prepared by user) Refer to manual of connected device.
  • Page 47 2 SYSTEM CONFIGURATION MELSEC-A Specifications list of recommended manual pulse generator Item Specifications Model name MR-HDP01 Pulse resolution 25pulse/rev (100 pulse/rev after magnification by 4) Voltage-output (power supply voltage -1V or more), Output method Output current = Max. 20mA Power supply voltage 4.5 to 13.2VDC Current consumption 60mA...

  • Page 48: Applicable System

    When using the A73CPU(-S3), mount the AD75M1, AD75M2 or AD75M3 on the extension base unit. Remote I/O station (MELSECNET/10, MELSECNET (II), MELSECNET/B) The AD75M1/AD75M2/AD75M3 and A1SD75M1/A1SD75M2/A1SD75M3 positioning modules are applicable for the data link system (MELSECNET (II)/B) and network system (MELSECNET/10) remote I/O station, with the exception of A0J2P25/R25 (remote I/O station).

  • Page 49: Precautions For Configuring System

    PLC CPU's No. of input/output points. 2.4.2 Precautions according to module version Some AD75 cannot be used depending on the module version. Refer to "Appendix 4 Comparison with old versions of A1SD75M1/A1SD75M2/A1SD75M3, and AD75M1/AD75M2/AD75M3 models" for details. 2 - 7...

  • Page 50: Precautions For Using 3-Axis Module

    2 SYSTEM CONFIGURATION MELSEC-A 2.4.3 Precautions for using 3-axis module When configuring a positioning system using a 3-axis module (A1SD75M3, AD75M3), the following precautions must be observed. (1) No. of FROM/TO commands executed in one scan (Refer to section "6.1 Precautions for creating program" for details.) The No.

  • Page 51: Precautions For Using Servo Amplifier Mr-J2S-B, Mr-J2-03B5

    2 SYSTEM CONFIGURATION MELSEC-A 2.4.6 Precautions for using servo amplifier MR-J2S-B, MR-J2-03B5 There are the following precautions for use of the servo amplifier MR-J2S-B, MR- J2-03B5. • The parameters, whose specifications and setting ranges have been changed from those of the MR-J2-B by extension/addition/deletion, cannot be set from the peripheral device.
  • Page 52 2 SYSTEM CONFIGURATION MELSEC-A MEMO 2 - 10...

  • Page 53: Specifications And Functions

    Chapter 3 SPECIFICATIONS AND FUNCTIONS The various specifications of the AD75 are explained in this chapter. The "General specifications", "Performance specifications", "List of functions", "Specifications of input/output signals with PLC CPU", and the "Specifications of interfaces with external devices", etc., are described as information required when designing the positioning system.

  • Page 54: General Specifications

    Do not use or store the PLC in the environment where the pressure is higher than the atmospheric pressure at sea level. Otherwise, malfunction may result. To use the PLC in high-pressure environment, contact your nearest Mitsubishi representative. 3 - 2...

  • Page 55: Performance Specifications

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.2 Performance specifications Model A1SD75M1 A1SD75M2 A1SD75M3 Item AD75M1 AD75M2 AD75M3 No. of control axes 1 axis 2 axes 3 axes 2-axis linear interpolation 2-axis linear interpolation Interpolation function None 2-axis circular interpolation 2-axis circular interpolation...

  • Page 56: List Of Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3 List of functions 3.3.1 AD75 control functions The AD75 has several functions. In this manual, the AD75 functions are categorized and explained as follows. Main functions (1) Zero point return control "Zero point return control" is a function that established the start point for carrying out positioning control, and carries out positioning toward that start point.
  • Page 57 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Main functions Auxiliary functions Zero point return control Control registered in AD75 (Functions characteristic to machine zero point return) [Positioning start No.] Zero point return retry function [9001] Machine zero point return Zero point shift function [9002] High-speed zero point return <Functions that compensate...

  • Page 58: Ad75 Main Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3.2 AD75 main functions The outline of the main functions for positioning control with the AD75 are described below. (Refer to "SECTION 2" for details on each function.) Reference Main functions Details section Mechanically establishes the positioning start point. Machine zero point return control (Positioning start No.9001) Positions to the zero point address ( Pr.47 ) stored in the...
  • Page 59 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Reference Main functions Details section With one start, executes the positioning data in a random block Block start (Normal start) 10.3.2 with the set order. Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "start block data".

  • Page 60: Ad75 Auxiliary Functions And Common Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3.3 AD75 auxiliary functions and common functions Auxiliary functions The functions that assist positioning control using the AD75 are described below. (Refer to "SECTION 2" for details on each function.) Reference Auxiliary function Details section This function retries the machine zero point return with the Zero point return retry upper/lower limit switches during machine zero point return.
  • Page 61 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Reference Auxiliary function Details section This function temporarily stops the operation to confirm the positioning operation during debugging, etc. Step function 12.7.1 The operation can be stopped at each "automatic deceleration" or "positioning data". This function stops (decelerates to a stop) the positioning being Skip function executed when the skip signal is input, and carries out the next 12.7.2...

  • Page 62: Combination Of Ad75 Main Functions And Auxiliary Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3.4 Combination of AD75 main functions and auxiliary functions With positioning control using the AD75, the main functions and auxiliary functions can be combined and used as necessary. A list of the main function and auxiliary function combinations is given below.
  • Page 63 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Functions that Functions that limit Functions that change compensate Other functions control control details control – – – – – – – – – – – – – – – – – – – – –...

  • Page 64: Specifications Of Input/Output Signals With Plc Cpu

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.4 Specifications of input/output signals with PLC CPU 3.4.1 List of input/output signals with PLC CPU The AD75 uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals for when the AD75 is mounted in slot No. 0 of the main base unit are shown below.

  • Page 65: Details Of Input Signals (Ad75 Plc Cpu)

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.4.2 Details of input signals (AD75 PLC CPU) The ON/OFF timing and conditions, etc., of the input signals are shown below. Device Signal name Details • When the PLC READY signal [Y1D] turns from OFF to ON, the parameter setting AD75 READY OFF : READY complete...

  • Page 66: Details Of Output Signals (Plc Cpu Ad75)

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.4.3 Details of output signals (PLC CPU AD75) The ON/OFF timing and conditions, etc., of the output signals are shown below. Device Signal name Details • Axis 1 Positioning OFF : No positioning Zero point return or positioning operation is started. •...

  • Page 67: Specifications Of Interfaces With External Devices

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.5 Specifications of interfaces with external devices 3.5.1 Electrical specifications of input signals Rated input Working Input Response Signal name voltage/current voltage range voltage/current voltage/current resistance time 2.5VDC or more/ 1VDC or less/ 5VDC/5mA 4.5 to 6.1VDC Approx.

  • Page 68: Signal Layout For External Device Connection Connector

    3.) Signal direction Connection Pin layout Signal name AD75 – external destination A1SD75M1/A1SD75M2/ 36 Common (External device) A1SD75M3 (Main body side) 35 Common (External device) 34 Open 29 Open 28 Manual pulse generator PULSER B– Manual pulse generator 27 Manual pulse generator PULSER A–...

  • Page 69: List Of Input Signal Details

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.5.3 List of input signal details The details of each AD75 external device connection connector (for 1 axis) signal are shown below. Signal name Pin No. Signal details • Common for near-point dog signal, upper/lower limit, stop signal, Common speed/position changeover signal, and external start signal.

  • Page 70: Interface Internal Circuit

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.5.4 Interface internal circuit The outline diagram of the internal circuit for the AD75 external device connection interface is shown below. Need for External wiring Internal circuit Signal name wiring *1 Near-point dog signal When not using upper limit switch Upper limit signal When not using...

  • Page 71: Installation, Wiring And Maintenance Of The Product

    Chapter 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT The installation, wiring and maintenance of the AD75 are explained in this chapter. Important information such as precautions to prevent malfunctioning of the AD75, accidents and injuries as well as the proper work methods are described. Read this chapter thoroughly before starting installation, wiring or maintenance, and always following the precautions.

  • Page 72: Outline Of Installation, Wiring And Maintenance

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.1 Outline of installation, wiring and maintenance 4.1.1 Installation, wiring and maintenance procedures The outline and procedures for AD75 installation, wiring and maintenance are shown below. STEP 1 Understand the "Handling precautions" and "Names of each part"...

  • Page 73: Names Of Each Part

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.1.2 Names of each part The names of each AD75 part are shown below. For AD75M3 For A1SD75M3 1SD75M3 D75M3 1) 17-segment LED MODE 2) Axis display LED RS-422 MODE 3) Mode switch...
  • Page 74 Connector for connecting mechanical system input and manual pulse generator. connector SSCNET connection SSCNET connector for connection with the servo amplifier. connector Each AD75 interface is as shown below. AD75M1 AD75M2 AD75M3 A1SD75M1 A1SD75M2 A1SD75M3 MODE MODE MODE RS-422 RS-422 RS-422 RS-422 RS-422 RS-422 A1SD75M1...

  • Page 75: Handling Precautions

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.1.3 Handling precautions Handle the AD75 and cable while observing the following precautions. (1) Handling precautions CAUTION Use the PLC within the general specifications environment given in this manual. Using the PLC outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration.
  • Page 76 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (2) Other precautions (a) Main body • The main body case is made of plastic. Take care not to drop or apply strong impacts onto the case. • Do not remove the AD75 PCB from the case. Failure to observe this could lead to faults.

  • Page 77: Installation

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.2 Installation 4.2.1 Precautions for installation The precautions for installing the AD75 are given below. Refer to this section as well as section "4.1.3 Handling precautions" when carrying out the work. (1) Precautions for installation DANGER Switch off all phases of the externally supplied power used in the system before cleaning or...

  • Page 78: Wiring

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.3 Wiring The wiring precautions for the AD75 are described below. Be careful to observe the following items together with the "Handling precautions" described in section 4.1.3. 4.3.1 Precautions for wiring Perform wiring of the AD75 correctly while checking the terminal arrangement.
  • Page 79 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A [Shielding wire processing example] Ground a 2mm or a thicker grounding wire in the shortest path. (Ground to the panel of the AD75 securely.) Strip the sheath of the shielded cable. Remove the shielding wires from the shielded cable and solder them to the grounding cable.
  • Page 80 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (11) To comply with EMC directive and low voltage directive, use shielded cables and AD75CK cable clamp (made by Mitsubishi Electric) to ground to the panel. Inside control panel AD75 20 to 30cm...
  • Page 81 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (12) The influence of noise may be reduced by installing ferrite cores to the cable connected to the AD75 as a noise reduction technique. For the noise reduction techniques related to connection with the servo amplifier, also refer to the instruction manual of the servo amplifier.

  • Page 82: Wiring The External Device Connection Connector Pins

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.3.2 Wiring the external device connection connector pins The pins for the external device connection connector are wired in the following manner..Disassemble the connector section, Disassembling the connector section and remove the connector.
  • Page 83 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (2) Connecting the connector and wire * Refer to section "3.5 Specifications of interfaces with external devices" when connecting. (a) Loosen the cable fixture screw B, pass the cable through, and then tighten screw B.
  • Page 84 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (c) After connection, the state will be as shown below. 4 - 14...
  • Page 85 (b) Sandwich the parts with the connector cover, and tigthen screw A. The following figure shows the case of the AD75M1/AD75M2/AD75M3. * In the case of the A1SD75M1/A1SD75M2/A1SD75M3, the orientation of the connector is opposite. (Refer to section "4.1.2 Names of each part".) 4 - 15...

  • Page 86: Confirming The Installation And Wiring

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.4 Confirming the installation and wiring 4.4.1 Items to confirm when installation and wiring are completed Check the (1) and (2) points when completed with the AD75 installation and wiring. (1) Does the AD75 operate correctly? ... "Single module test" With the "single module test", correct operation of the AD75 is confirmed by the LED displays on the AD75.

  • Page 87: Single Module Test

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.4.2 Single module test Whether the AD75 is operating correctly is confirmed with the LED displays on the AD75 main body. The "single module test" methods are described below. The "single module test" can be carried out when there is no sequence program stored in the PLC CPU, when there is no data stored in the AD75, and when the AD75 is running.
  • Page 88 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (Step 3) Operation monitor 2 1) The axis display LED for each axis will turn ON sequentially at an approx. 0.5 second interval. One of the following states will appear on the 17-segment LED to indicate the state of the axis for which the axis display LED is ON.
  • Page 89 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (Step 5) Internal information 2 monitor 1) The AD75 OS version will appear on the 17-segment LED for reference. [V000] Version 2) The axis display LED for each axis will turn OFF. 3) When the mode switch is pressed, the state will shift to the input information n monitor state described in (Step 6).

  • Page 90: Maintenance

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.5 Maintenance 4.5.1 Precautions for maintenance The precautions for servicing the AD75 are given below. Refer to this section as well as section "4.1.3 Handling precautions" when carrying out the work. DANGER Switch off all phases of the externally supplied power used in the system before cleaning or tightening the screws.
  • Page 91 Chapter 5 DATA USED FOR POSITIONIG CONTROL The parameters and data used to carry out positioning control with the AD75 are explained in this chapter. With the positioning system using the AD75, the various parameters and data explained in this chapter are used for control. The parameters and data include parameters set according to the device configuration, such as the system configuration, and parameters and data set according to each control.

  • Page 92: Data Used For Positioning Control

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1 Types of data 5.1.1 Parameters and data required for control The parameters and data required to carry out control with the AD75 include the "setting data", "monitor data" and "control data" shown below. Setting data (Data set beforehand according to the machine and application, and stored in the flash ROM.) Positioning...
  • Page 93 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Monitor data (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.) Md.1 Md.56 , Md.100 Md.121 Monitors the AD75 specifications, such as the module name and OS type, System monitor data and the operation history.

  • Page 94: Setting Items For Positioning Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.2 Setting items for positioning parameters The setting items for the "positioning parameters" are shown below. The "positioning parameters" are commonly set for each axis for all control using the AD75. Refer to "SECTION 2" for details on each control, and section "5.2 List of parameters" for details on each setting item.
  • Page 95 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Manual Main positioning control control Control Position control Other control Positioning parameter – – – Pr.26 Acceleration time 1 – – – Pr.27 Acceleration time 2 – – – Pr.28 Acceleration time 3 12.7.6* –...

  • Page 96: Setting Items For Zero Point Return Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.3 Setting items for zero point return parameters When carrying out "zero point return control", the "zero point return parameters" must be set. The setting items for the "zero point return parameters" are shown below. The "zero point return parameters"...

  • Page 97: Setting Items For Servo Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.4 Setting items for servo parameters The setting items for the "servo parameters" are indicated below. Set the "servo parameters" axis-by-axis according to the used servo amplifier and control details. The types and setting ranges of the parameters change depending on the used servo amplifier.
  • Page 98 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Servo amplifier model MR-H-B MR-J-B MR-J2-B MR-J2S-B MR-J2-03B5 Servo parameter (MR-H-BN) Pr.127 Monitor output 1 offset Pr.128 Monitor output 2 offset Pr.129 Pre-alarm data selection Pr.130 Zero speed Pr.131 Error excessive alarm level Pr.132 Option function 5 Pr.133 Option function 6 Pr.134 PI-PID switching position droop...

  • Page 99: Setting Items For Positioning Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.5 Setting items for positioning data The "positioning data" must be set when carrying out "main positioning control". The setting items for the "positioning data" are shown below. One to 600 "positioning data" items can be set for each axis. Refer to "Chapter 9 MAIN POSITIONING CONTROL"...
  • Page 100 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Checking the positioning data Da.1 to Da.9 are checked with the following timing. (1) Startup of a positioning operation (2) When the test mode using the AD75 software package 5 - 10...

  • Page 101: Setting Items For Start Block Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.6 Setting items for start block data The "start block data" must be set when carrying out "advanced positioning control". The setting items for the "start block data" are shown below. Up to 50 points of "start block data" can be set for each axis. Refer to "Chapter 10 ADVANCED POSITIONING CONTROL"...

  • Page 102: Setting Items For Condition Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.7 Setting items for condition data When carrying out "advanced positioning control" or using the JUMP command in the "main positioning control", the "condition data" must be set as required. The setting items for the "condition data" are shown below. Up to 10 "condition data"...

  • Page 103: Types And Roles Of Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.8 Types and roles of monitor data Data that indicates the positioning system's operation state is stored in the buffer memory's monitor data area. When using the positioning system, this data must be monitored as necessary. The data that can be monitored is shown below.
  • Page 104 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Monitoring the positioning system operation history Monitor details Corresponding item Monitor whether the system is in the test mode Md.1 In test mode flag Start axis Md.7 Start axis Md.8 Operation type Operation type Hour : minute Md.9...
  • Page 105 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Monitoring the speed Monitor details Corresponding item Indicates the During independent axis control speed of each axis When "0: Indicates the Composite speed" is set for " Pr.21 composite speed Md.31 Feedrate Interpolation speed Monitor the During designation method"...
  • Page 106 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Monitoring the servo conditions Monitor details Corresponding item Monitor the servomotor speed Md.103 Motor speed Monitor the current flowing in the servomotor Md.104 Motor current Monitor " Pr.108 Auto tuning" used by the servo amplifier Md.105 Auto tuning Monitor "...

  • Page 107: Types And Roles Of Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.9 Types and roles of control data Several controls are carried out as necessary when using the positioning system. (When the power is turned ON, the default values of the data used for control are set. However, these values can be set with the sequence program when necessary.) The items that can be controlled are shown below.
  • Page 108 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Reference] The outline of reading and writing the positioning data is shown below. Reading the positioning data Writing the positioning data (The positioning data stored in the buffer memory Cd.8 (The positioning data designated in the OS memory is is written as the positioning data for the No.
  • Page 109 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (2) Controlling the operation Controlling the operation Control details Corresponding item Set which positioning to execute (start No.) Cd.11 Positioning start No. Md.33 Clear (reset) the axis error No. ( ) and axis warning Cd.12 Axis error reset Md.34...
  • Page 110 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Making settings related to operation Control details Corresponding item Turn M code ON signal OFF Cd.14 M code OFF request Set new value when changing current value Cd.15 New current value Cd.20 Validate speed/position changeover signal from external source Speed/position changeover enable flag Change movement amount for position control during speed/position Speed/position changeover control...
  • Page 111 5 DATA USED FOR POSITIONING CONTROL MELSEC-A MEMO 5 - 21...

  • Page 112: List Of Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2 List of parameters 5.2.1 Basic parameters 1 Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program 0 : mm...
  • Page 113 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.2 to Pr.4 Movement amount per pulse Set the movement amount per pulse count when outputting a position/speed command from the AD75. The setting is made with Pr.2 to Pr.4 . (The case for the "...
  • Page 114 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.3 Movement amount per rotation (Al), Pr.4 Unit magnification (Am) The amount how the workpiece moves with one motor rotation is determined by the mechanical structure. If the worm gear lead (mm/rev) is PB and the deceleration rate is 1/n, then Movement amount per rotation (AL) = PB ×...
  • Page 115 5 DATA USED FOR POSITIONING CONTROL MELSEC-A MEMO 5 - 25...

  • Page 116: Basic Parameters 2

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.2 Basic parameters 2 Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program The setting value range differs depending on the " Pr.1 Unit setting".
  • Page 117 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1) If the positioning speed setting is slower than the parameter speed limit, the actual acceleration/deceleration time will be relatively short. Thus, set the maximum positioning speed value to be equal to the parameter speed limit value or a close value under the speed limit value.

  • Page 118: Detailed Parameters 1

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.3 Detailed parameters 1 Setting value buffer Setting value, setting range memory address Item Default value Value set with Value set with peripheral device Axis 1 Axis 2 Axis 3 sequence program The setting value range differs according to the " Pr.1 Unit setting".
  • Page 119 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1) The backlash compensation is valid after completed the machine zero point return. Thus, if the backlash compensation amount is set or changed, always carry out machine zero point return once. 2) The backlash compensation amount setting range is 0 to 65535, but it should be set to 255 or less by using the following expression.
  • Page 120 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1) Generally, the zero point is set at the lower limit or upper limit of the stroke limit. 2) By setting the upper limit value or lower limit value of the software stroke limit, overrun can be prevented in the software.
  • Page 121 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.18 Torque limit setting value Used to limit the torque generated by the servomotor to within the setting range. The set " Pr.18 Torque limit setting value" is set to " Md.45 Torque limit storage value"...
  • Page 122 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.19 M code ON signal output timing Set the timing to output the M code ON signal. The WITH mode and AFTER mode can be used for the M code ON signal output timing.
  • Page 123 5 DATA USED FOR POSITIONING CONTROL MELSEC-A MEMO 5 - 33...
  • Page 124 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with Value set with peripheral device Axis 1 Axis 2 Axis 3 sequence program 0 : Standard speed changeover mode Pr.20 Speed changeover mode...
  • Page 125 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.21 Interpolation speed designation method When carrying out linear interpolation, set whether to designate the composite speed or reference axis speed. 0: Composite speed ....The movement speed for the control target is designated, and the speed for each axis is calculated by the AD75.
  • Page 126 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.23 Manual pulse generator selection Set which manual pulse generator to use for control for each axis (motor). 0 : Ignore manual pulse generator operation..Manual pulse generator operation is not carried out. 1 : Use manual pulse generator 1.......
  • Page 127 5 DATA USED FOR POSITIONING CONTROL MELSEC-A MEMO 5 - 37...

  • Page 128: Detailed Parameters 2

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.4 Detailed parameters 2 Setting value buffer Setting value, setting range memory address Default Item value Value set with Value set with peripheral device Axis 1 Axis 2 Axis 3 sequence program Pr.26 Acceleration time 1 Pr.27 Acceleration time 2 The setting value range differs according to the "...
  • Page 129 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.25 Value set with peripheral device Value set with sequence program (ms) (ms) setting value 0 : 1-word type 1 to 65535 1 to 65535* 1 : 2-word type 1 to 8388608 1 to 8388608 * 1 to 32767 : Set as a decimal...
  • Page 130 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with Value set with peripheral device Axis 1 Axis 2 Axis 3 sequence program 0 : Automatic trapezoid Pr.35 Acceleration/decel- acceleration/deceleration process eration process 1 : S-pattern...
  • Page 131 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.36 S-pattern proportion Set the S-pattern ratio (1 to 100%) for carrying out the S-pattern acceleration/deceleration process. The S-pattern ratio indicates where to draw the acceleration/deceleration curve using the Sin curve as shown below. (Example) Positioning speed...
  • Page 132 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.37 Sudden stop deceleration time Set the time to reach speed 0 from " Pr.7 Speed limit value" during the sudden stop. The setting value size is determined by " Pr.25 Size selection for acceleration/deceleration time".
  • Page 133 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.38 Stop group 1 sudden stop selection Pr.40 Stop group 3 sudden stop selection Set the method to stop when the stop causes in the following stop groups occur. • Stop group 1 ....Stop with hardware stroke limit •...
  • Page 134 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program 0 to 65535 (ms) 0 to 32767 : Pr.41 Positioning complete Set as a decimal 0 to 65535 (ms)
  • Page 135 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.1 Value set with peripheral device Value set with sequence program setting value (unit) (unit) 0 to 100000 ( × 10 µ m) 0 to 10000.0 ( µ m) 0 : mm 0 to 100000 ( ×...
  • Page 136 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.43 External start function selection Set which function to use the external start signal with. 0 : External positioning start ....Carry out positioning operation with external start signal input. 1 : External speed change request ..Change the speed of the positioning operation currently being executed with the external start signal input.

  • Page 137: Zero Point Return Basic Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.5 Zero point return basic parameters Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program 0 : Near-point dog method 4 : Count method 1)
  • Page 138 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Zero point return method 0 : Near-point dog method (1) Start machine zero point return. (Start machine movement at the " Pr.48 Zero point return speed" in the " Pr.46 Zero point return direction".) Zero point return speed Pr.48 (2) Detect the near-point dog ON, and start deceleration.
  • Page 139 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 6 : Data setting method Position where machine zero point (1) Start machine zero point return. return is executed (The axis does not operate.) is registered as (2) Register the current position to the servo amplifier as the zero point zero point.
  • Page 140 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with sequence Value set with peripheral device Axis 1 Axis 2 Axis 3 program 0 : Positive direction (address increment direction) Pr.46 Zero point return direction...
  • Page 141 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.1 Value set with sequence program Value set with peripheral device (unit) (unit) setting value –214748364.8 to 214748364.7 ( µ m) –2147483648 to 2147483647 ( × 10 µ m) 0 : mm –21474.83648 to 21474.83647 (inch) –2147483648 to 2147483647 ( ×...
  • Page 142 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program The setting value range differs depending on the " Pr.1 Unit setting".
  • Page 143 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.1 Value set with peripheral device Value set with sequence program setting value (unit) (unit) 1 to 600000000 ( × 10 0 : mm 0.01 to 6000000.00 (mm/min) mm/min) 1 to 600000000 ( × 10 1 : inch 0.001 to 600000.000 (inch/min) inch/min)

  • Page 144: Zero Point Return Detailed Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.6 Zero point return detailed parameters Setting value buffer Setting value, setting range memory address Default Item value Value set with Value set with peripheral device Axis 1 Axis 2 Axis 3 sequence program The setting value range differs depending on the "...
  • Page 145 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.1 Value set with peripheral device Value set with sequence program (unit) (unit) setting value 0 to 2147483647 ( × 10 µ m) 0 to 214748364.7 ( µ m) 0 : mm 0 to 2147483647 ( ×...
  • Page 146 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program The setting value range differs depending on the " Pr.1 Unit setting".
  • Page 147 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.1 Value set with peripheral device Value set with sequence program (unit) (unit) setting value –2147483648 to 2147483647 ( × 10 µ m) –214748364.8 to 214748364.7 ( µ m) 0 : mm –2147483648 to 2147483647 ( ×...

  • Page 148: Servo Parameters For Mr-H-B (Mr-H-Bn)

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.7 Servo parameters for MR-H-B (MR-H-BN) (1) Servo basic parameters Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device...
  • Page 149 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.100 Servo series Set this parameter to "0: MR-H-B (MR-H-BN)". Pr.101 Amplifier setting Set whether an absolute position detection system is valid or invalid. When using the servo amplifier in an incremental system, set this parameter to "0: Absolute position detection invalid".
  • Page 150 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program Pr.105 No.5...
  • Page 151 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.107 Rotation direction Set the rotation direction as viewed from the load side. Foward run(CCW) Reverse run(CW) Pr.108 Auto tuning Select the auto tuning function. Pr.109 Servo response setting Set this parameter to increase the response of the servo. Description Guideline for position settling time...
  • Page 152 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (2) Servo adjustment parameters Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program...
  • Page 153 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.112 Load inertia ratio (Ratio of load inertia to servomotor inertia) Set the ratio of load inertia to servomotor inertia. When auto tuning is executed, this parameter is automatically changed to the auto tuning result in the servo amplifier.
  • Page 154 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation program device 0 : Servomotor speed 1 : Torque...
  • Page 155 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.123 Option function 1 Set the option function 1 (carrier frequency selection, serial encoder cable selection). • Carrier frequency selection (low acoustic noise mode selection) Select the carrier frequency of "1: 9.0KHz" to reduce the electromagnetic sound generated by the servomotor by about 20dB.
  • Page 156 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (3) Servo extension parameters Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program...
  • Page 157 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.127 Monitor output 1 offset Set the offset voltage for the monitor output 1. Pr.128 Monitor output 2 offset Set the offset voltage for the monitor output 2. Pr.129 Pre-alarm data selection Set the data to be output in analog form at alarm occurrence. Data selection 2 Set any of 0 to A.

  • Page 158: Servo Parameters For Mr-J-B

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.8 Servo parameters for MR-J-B (1) Servo basic parameters Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device...
  • Page 159 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.102 Regenerative brake resister Select the regenerative brake resistor to be used and whether an external dynamic brake is valid or invalid. Regenerative brake option selection 00: External regenerative brake option not used 02: MR-RB013 03: MR-RB033 04: MR-RB064...
  • Page 160 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program Pr.105 No.5...
  • Page 161 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.108 Auto tuning Select the auto tuning function. If "0: Auto tuning selected for use of interpolation axis control in position control" or "1: Auto tuning for ordinary operation" is selected, the setting automatically changes to "2: Invalid"...
  • Page 162 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (2) Servo adjustment parameters Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program...
  • Page 163 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.112 Load inertia ratio (Ratio of load inertia to servomotor inertia) Set the ratio of load inertia to servomotor inertia. When auto tuning is executed, this parameter is automatically changed to the auto tuning result in the servo amplifier.
  • Page 164 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program 0 : Servomotor speed 1 : Torque...
  • Page 165 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.123 Option function 1 Set the option function 1 (carrier frequency selection, serial encoder cable selection). • Carrier frequency selection (low acoustic noise mode selection) Select the carrier frequency of "1: 9.0KHz" to reduce the electromagnetic sound generated by the servomotor by about 20dB.
  • Page 166 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (3) Servo extension parameters Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program...
  • Page 167 5 DATA USED FOR POSITIONING CONTROL MELSEC-A MEMO 5 - 77...

  • Page 168: Servo Parameters For Mr-J2-B

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.9 Servo parameters for MR-J2-B (1) Servo basic parameters Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device...
  • Page 169 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.102 Regenerative brake resister Select the regenerative brake resistor to be used and whether an external dynamic brake is valid or invalid. Regenerative brake option selection 00: External regenerative brake option not used 05: MR-RB32 08: MR-RB30 09: MR-RB50...
  • Page 170 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program 0 : Forward run with positioning address...
  • Page 171 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.109 Servo response setting Set this parameter to increase the response of the servo. Guideline for position Description settling time Setting /GDM Guideline for Machine type value /GDM guideline Response corresponding guideline for = within 5 times machine rigidity load inertia...
  • Page 172 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (2) Servo adjustment parameters Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program...
  • Page 173 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.112 Load inertia ratio (Ratio of load inertia to servomotor inertia) Set the ratio of load inertia to servomotor inertia. When auto tuning is executed, this parameter is automatically changed to the auto tuning result in the servo amplifier.
  • Page 174 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation program device 0 : Servomotor speed 1 : Torque...
  • Page 175 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.123 Option function 1 Set the option function 1 (amplifier EMG selection, serial encoder cable selection). • Amplifier EMG selection The external emergency stop signal EM1 can be made invalid. • Serial encoder cable selection Select the serial encoder cable to be used.
  • Page 176 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (3) Servo extension parameters Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program...
  • Page 177 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.127 Monitor output 1 offset Set the offset voltage for the monitor output 1. Pr.128 Monitor output 2 offset Set the offset voltage for the monitor output 2. Pr.130 Zero speed Set the servomotor speed at which the motor speed is judged as zero. Pr.131 Error excessive alarm level Set the range in which a droop pulse excess alarm will be output.

  • Page 178: Servo Parameters For Mr-J2S-B

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.10 Servo parameters for MR-J2S-B When using the servo amplifier MR-J2Super (Model MR-J2S- B), set the servo series to the "MR-J2-B" on the peripheral device. For the items and ranges that cannot be set as the MR-J2-B, set them in a sequence program (refer to section "6.4 Positioning program examples").
  • Page 179 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.100 Servo series Set this parameter to "2: MR-J2-B". Pr.101 Amplifier setting Set whether an absolute position detection system is valid or invalid. When using the servo amplifier in an incremental system, set this parameter to "0: Absolute position detection invalid".
  • Page 180 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program Pr.106 0 : 16384pulse...
  • Page 181 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.107 Rotation direction Set the rotation direction as viewed from the load side. Foward run(CCW) Reverse run(CW) Pr.108 Auto tuning Select the auto tuning function. 0: Interpolation mode 1: Auto tuning mode 1 2: Manual mode 2 3: Auto tuning mode 2 4: Manual mode 1...
  • Page 182 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (2) Servo adjustment parameters Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program...
  • Page 183 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.113 Position loop gain 1 (Model position gain) Set the gain of the position loop. Increase the position loop gain 1 to improve trackability in response to the position command. When " Pr.108 Auto tuning"...
  • Page 184 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program Notch frequency 0 : Invalid...
  • Page 185 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.119 Feed forward gain Set the feed forward gain factor for position control. When the setting is 0%, feed forward control is not performed. When the setting is 100%, droop pulses are not generated during constant-speed operation.
  • Page 186 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation program device 0 : Servomotor speed ( 8V/max.
  • Page 187 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.122 Monitor output mode selection Select the signals to be output from the analog monitor CH1 and CH2 of the servo amplifier. Monitor output 2 selection Set any of 0 to B. (Refer to the settings of the following monitor output 1) Monitor output 1 selection 0: Servomotor speed ( 8V/max.
  • Page 188 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation program device Slight vibration suppression function selection 0 : Invalid...
  • Page 189 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.125 Low pass filter/adaptive vibration suppression control Set the low pass filter and adaptive vibration suppression control. This parameter cannot be set on the peripheral device. Set this parameter with a sequence program. •...
  • Page 190 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (3) Servo extension parameters Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program...
  • Page 191 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.128 Monitor output 2 offset Set the offset voltage for the monitor output 2. Pr.130 Zero speed Set the servomotor speed at which the motor speed is judged as zero. Pr.131 Error excessive alarm level Set the range in which a droop pulse excess alarm will be output.
  • Page 192 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation program device Pr.138 No.38...
  • Page 193 5 DATA USED FOR POSITIONING CONTROL MELSEC-A MEMO 5 - 103...

  • Page 194: Servo Parameters For Mr-J2-03B5

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.11 Servo parameters for MR-J2-03B5 When using the servo amplifier MR-J2-Jr series (Model MR-J2-03B5), set the servo series to the "MR-J2-B" on the peripheral device. For the items and ranges that cannot be set as the MR-J2-B, set them in a sequence program (refer to section "6.4 Positioning program examples").
  • Page 195 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.104 Motor capacity Set any of 1 to 9999 in hexadecimal. The value is automatically set in the servo amplifier according to the used servomotor. POINT Always set the motor capacity to other than "0". At the default value "0", operation cannot be performed since communication with the servo amplifier is not made.
  • Page 196 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program 0 : Forward run with positioning address...
  • Page 197 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.108 Auto tuning Select the auto tuning function. Pr.109 Servo response setting Set this parameter to increase the response of the servo. Description Guideline for position settling time Setting Guideline for /GDM Machine type value /GDM guideline...
  • Page 198 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (2) Servo adjustment parameters Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program...
  • Page 199 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.112 Load inertia ratio (Ratio of load inertia to servomotor inertia) Set the ratio of load inertia to servomotor inertia. When auto tuning is executed, this parameter is automatically changed to the auto tuning result in the servo amplifier.
  • Page 200 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation program device Pr.122 Monitor output...
  • Page 201 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (3) Servo extension parameters Servo amplifier Setting value buffer Setting value, setting range side parameter memory address Default Item value Abbre- Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 viation device program...

  • Page 202: List Of Positioning Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.3 List of positioning data Before explaining the positioning data setting items Da.1 to Da.9 , the configuration of the positioning data will be shown below. The positioning data stored in the AD75 buffer memory has the following type of configuration.
  • Page 203 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 4290 4280 Positioning data No. Positioning identifier 3320 3310 4291 3300 4281 Da.1 Da.4 3321 Da.9 3311 4292 3301 4282 M code 3322 Da.8 4294 3312 4284 3302 4295 Dwell time 4285 3324 3314 4296 Da.7...
  • Page 204 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value Default Item memory address value Value set with peripheral device Value set with sequence program Axis 1 Axis 2 Axis 3 00 : Positioning complete Operation pattern Da.1 Operation 01 : Continuous positioning control pattern...
  • Page 205 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.1 Operation pattern The operation pattern designates whether positioning of a certain data No. is to be ended with just that data, or whether the positioning for the next data No. is to be carried out in succession.
  • Page 206 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program The setting value range differs according to the " Da.2 Control method".
  • Page 207 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] When " Pr.1 Unit setting" is "mm" Value set with sequence program * Value set with peripheral device Da.2 ( µ m) ( × 10 µ m) setting value ABS Linear 1 : 01 ◊...
  • Page 208 5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "degree" Value set with sequence program * Da.2 Value set with peripheral device ( × 10 setting value (degree) degree) ABS Linear 1 : 01 ◊ Set the address ◊...
  • Page 209 5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "inch" Value set with sequence program * Da.2 Value set with peripheral device ( × 10 setting value (inch) inch) ABS Linear 1 : 01 ◊ Set the address ◊...
  • Page 210 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program The setting value range differs according to the " Da.2 Control method".
  • Page 211 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] When " Pr.1 Unit setting" is "mm" Value set with sequence program * Value set with peripheral device Da.2 ( µ m) ( × 10 µ m) setting value ABS Circular interpolation : 07 ◊...
  • Page 212 5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "pulse" Value set with sequence program * Da.2 Value set with peripheral device setting value (pulse) ( pulse ) ABS Circular interpolation : 07 ◊ Set the address ◊...
  • Page 213 5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "inch" Value set with sequence program * Da.2 Value set with peripheral device ( × 10 setting value (inch) inch ) ABS Circular interpolation : 07 ◊ Set the address ◊...
  • Page 214 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program The setting value range differs depending on the " Pr.1 Unit setting".
  • Page 215 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.1 Value set with sequence program Value set with peripheral device (unit) (unit) setting value 1 to 600000000 ( × 10 0 : mm 0.01 to 6000000.00 (mm/min) mm/min) 1 to 600000000 ( × 10 1 : inch 0.001 to 600000.000 (inch/min) inch/min)
  • Page 216 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.8 Dwell time/JUMP designation positioning data No. Set the "dwell time" or "positioning data No." corresponding to the " Da.2 Control method". • When a method other than "JUMP command" is set for " Da.2 Control method" ..

  • Page 217: List Of Start Block Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.4 List of start block data Before explaining the start block data setting items Da.1 to Da.13 , the configuration of the start block data will be shown below. The start block data stored in the AD75 buffer memory has the following type of configuration.
  • Page 218 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 50th point Buffer memory Setting item address 2nd point 1st point Buffer memory Setting item ddress 4849 Buffer memory Setting item address 4801 4800 Da.11 4899 Da.10 Start data No. Shape 4851 4850 Da.12 Da.13 Special start...
  • Page 219 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value memory address Default Item value Value set with peripheral Value set with sequence program Axis 1 Axis 2 Axis 3 device 0 : End Da.10 Shape 0 0 0 0000 4300 4550 4800 1 : Continue...
  • Page 220 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.10 Shape Set whether to carry out only the local "start block data" and then end control, or to execute the "start block data" set in the next point. Setting value Setting details 0 : End Execute the designated point's "start block data", and then complete the control.

  • Page 221: List Of Condition Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.5 List of condition data Before explaining the condition data setting items Da.14 to Da.18 , the configuration of the condition data will be shown below. The condition data stored in the AD75 buffer memory has the following type of configuration.
  • Page 222 5 DATA USED FOR POSITIONING CONTROL MELSEC-A No.10 Buffer memory Setting item address No.2 No.1 Buffer memory Setting item ddress 4990 Buffer memory Setting item address 4910 4991 4900 4992 4993 Da.15 Da.14 4994 4911 Condition operator Condition target 4995 4912 Open 4901...
  • Page 223 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value memory address Default Item value Value set with peripheral Value set with sequence program Axis 1 Axis 2 Axis 3 device 01 : Device X 02 : Device Y Da.14 Condition target 03 : Buffer memory (1-word)
  • Page 224 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.14 Condition target Set the condition target as required for each control. Setting value Setting details : Device X Set the input/output signal ON/OFF as the conditions. : Device Y : Buffer memory (1-word) Set the value stored in the buffer memory as the condition.
  • Page 225 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.17 Parameter 1 Set the parameters as required for the " Da.15 Condition operator". Da.15 Condition operator Setting value Setting details : ∗∗=P1 Value Set the "P1" value. : ∗∗≤P1, P2≤∗∗ : DEV=ON Value Set the device's bit No.

  • Page 226: List Of Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.6 List of monitor data 5.6.1 System monitor data Storage item Storage details Whether the mode is the test mode from the peripheral device or not is stored. • Md.1 In test mode flag When not in test mode : OFF •...
  • Page 227 Monitoring is carried out with a decimal. – Monitor Storage value value (Corresponding 0: A1SD75M1/AD75M1 name) 1: A1SD75M2/AD75M2 2: A1SD75M3/AD75M3 Monitoring is carried out with a Monitor value hexadecimal. Example) When name is "AD75" Name and OS type is "S000". AD75 –...
  • Page 228 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal. Monitor Md.7 The No. of the axis that started is Storage value value 1: Axis 1 stored. Start axis 2: Axis 2 3: Axis 3 [Stored contents]...
  • Page 229 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Default value Storage buffer memory address (common for axis 1 to axis 3) Md.12 Starting history pointer The pointer No. following the pointer No. where the latest start history is stored is stored. 0000 Pointer No.
  • Page 230 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal. The No. of the axis for which an Monitor Md.13 Storage value value error was detected when starting 1: Axis 1 Start axis is stored.
  • Page 231 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Default value Storage buffer memory address (common for axis 1 to axis 3) Md.18 Starting history pointer at error The pointer No. following the pointer No. where the latest start history during errors is stored is stored. 0000 Pointer No.
  • Page 232 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal. Md.19 Monitor The axis No. for which an Storage value value Axis in which the 1: Axis 1 error was detected is stored.
  • Page 233 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Default value Storage buffer memory address (common for axis 1 to axis 3) Md.23 Error history pointer The pointer No. following the pointer No. where the latest error history is stored is stored. Pointer No.
  • Page 234 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal. Md.24 The axis No. for which a Monitor Storage value Axis in which the value warning was detected is 1: Axis 1 warning stored.
  • Page 235 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Default value Storage buffer memory address (common for axis 1 to axis 3) Md.28 Warning history pointer The pointer No. following the pointer No. where the latest warning history is stored is stored. Pointer No.

  • Page 236: Axis Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.6.2 Axis monitor data Storage item Storage details The currently commanded address is stored. (Different from the actual motor position during operation) The current position address is stored. • Update timing : 56.8ms Md.29 Current feed value •...
  • Page 237 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a hexadecimal. Low-order buffer memory Example) 800 Monitor value 1000 0000 1001 High-order buffer memory Example) 801 ◊...
  • Page 238 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details When an axis warning is detected, the warning code corresponding to the details of the warning is stored. • The latest warning code is always stored. (When a new axis warning occurs, Md.34 Axis warning No.
  • Page 239 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a decimal. Monitor Warning No. value 1008 Refer to section "14.3 List of warnings"...
  • Page 240 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details • The output speed (average value per 910ms) commanded by the AD75 to each axis is stored. (May be different from the actual motor speed.) Md.37 Axis feedrate • “0”...
  • Page 241 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a hexadecimal. Low-order buffer memory Example) 812 Monitor value High-order buffer memory Example) 813 1012 0000 1013...
  • Page 242 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details The ON/OFF state of each flag is stored. The following items are stored. In speed control flag : This signal is used to judge whether the system is in speed control or position control.
  • Page 243 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a hexadecimal. Monitor value Buffer 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 memory Not used Not used...
  • Page 244 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details • During operation with positioning data : The actual target speed, considering the override and speed limit value, etc., is stored. "0" is stored when positioning is completed. • During interpolation : The composite speed or reference axis speed is stored in the reference...
  • Page 245 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a hexadecimal display. Low-order buffer memory Example) 820 1020 Monitor 0000 1021 value High-order buffer memory Example) 821 ◊...
  • Page 246 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details • Md.46 Special start data command The "command code" used with special start and indicated by the start data code setting value pointer currently being executed is stored. The "command parameter" used with special start and indicated by the start data Md.47 Special start data command pointer currently being executed is stored.
  • Page 247 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a decimal display. Monitor Storage value value 00: Block start (Normal start) 01: Condition start 02: Wait start 1027...
  • Page 248 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details • Md.51 Start data pointer being The point No. (1 to 50) of the start data currently being executed is stored. • executed "0" is stored when positioning is completed. •...
  • Page 249 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a decimal display. Monitor Storage value 1032 value 1 to 50 Monitoring is carried out with a decimal display. Monitor Storage value 1033...
  • Page 250 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details • Md.100 Zero point return re- The movement amount (signed) of movement up to the zero point by re- movement is stored. movement amount • The current value of actual movement (current feed value - droop value of Md.101 Real current value deviation counter) is stored.
  • Page 251 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a hexadecimal. Low-order buffer memory Example) 848 Monitor value Example) 849 High-order buffer memory 1048 1049 ◊...
  • Page 252 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details • The " Pr.112 Load inertia ratio" servo parameter value set to the servo amplifier Md.106 Load inertia ratio is stored. (Unit: 0.1%) (When auto tuning is valid, the value calculated by auto tuning is stored.) •...
  • Page 253 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a decimal. 1058 Monitor value Storage value (0.1%) 1059 1060 Monitoring is carried out with a decimal. Monitor value Storage value (rad/s) 1061...
  • Page 254 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details • Md.113 Parameter error When a servo parameter error occurs, the bit corresponding to any of the servo parameter No. 1 to 15 ( Pr.101 to Pr.115 ) in error turns ON. (No.1 to 15) •...
  • Page 255 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a hexadecimal. Monitor value 0000 1070 b0: Not used b1: Servo parameter No.1 ( Pr.101 ) b15: Servo parameter No.15 ( Pr.115 ) Monitoring is carried out with a hexadecimal.
  • Page 256 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details • The average value of the ratios of the regenerative load to the allowable value of the regenerative brake resistor selected in the servo basic parameter for the past Md.117 Regenerative load ratio 15 seconds is stored.
  • Page 257 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 1076 Monitoring is carried out with a decimal. Monitor value 1077 Storage value (%) 1078 Monitoring is carried out with a hexadecimal. <Reference>...

  • Page 258: List Of Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.7 List of control data 5.7.1 System control data Setting item Setting details • The clock data (hour) from the PLC CPU is set after the AD75 power is turned Cd.1 Clock data setting (hour) •...
  • Page 259 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value (common for axis 1 to axis 3) Set with a BCD code. 00 to 23 (hour) Setting value 0000 1100 Buffer memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 No setting 0 to 2 0 to 3...
  • Page 260 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details • Cd.5 Positioning data No. Set the positioning data No. targeted for reading or writing. • When writing the positioning data stored in the Cd.8 data storage address into the positioning data designated with Cd.5 , set the type of the data targeted for writing.
  • Page 261 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value (common for axis 1 to axis 3) Set with a decimal. Setting value 1104 Positioning data 1 to 600 Set with a hexadecimal. Setting value Buffer 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 memory...
  • Page 262 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details Cd.8 Read/write positioning data • Store the data when reading or writing. • Cd.9 Flash ROM write request Write the OS memory contents into the flash ROM. • Set whether the setting data will be initialized or not. Initialization: Indicates that the setting values of the setting data are returned to the default values.
  • Page 263 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value (common for axis 1 to axis 3) Each stored item is stored in the following storage address. Storage address Stored item Reference Axis 1 Axis 2 Axis 3 1108 1118 1128 Positioning identifier Da.1...

  • Page 264: Axis Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.7.2 Axis control data Setting item Setting details • Cd.11 Positioning start No. Set the positioning start No. • Clears the axis error detection, axis error No., axis warning detection and axis warning No. Cd.12 Axis error reset •...
  • Page 265 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 Axis 3 Set with a decimal. Setting value 1150 1200 1250 Positioning data No. · 1 to 600 : Positioning data No. ·...
  • Page 266 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details • When changing the current feed value using the start No. "9003", set the new current feed value. • The value is set within the following range. inch degree Cd.15 New current value pulse µ...
  • Page 267 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 Axis 3 Set with a decimal. Actual New current value Cd.15 value New speed value Cd.16 1154 1204 1254 1155 1205 1255 ◊...
  • Page 268 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details • Set the JOG speed for JOG operation. • The value is set within the following range. inch degree pulse (×10 mm/min) (×10 inch/min) (×10 degree/min) (pulse/s) Cd.19 JOG speed 0 to 600000000 0 to 600000000 0 to 600000000...
  • Page 269 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 Axis 3 Set with a decimal. Actual JOG speed Cd.19 value ◊ Integer value Unit conversion table × 10 Cd.19 1160 1210 1260 Unit...
  • Page 270 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details Cd.22 Manual pulse generator • Set whether or not to carry out manual pulse generator operation. enable flag • Set the magnification of the No. of pulses input from the manual pulse generator. Cd.23 Manual pulse generator 1 •...
  • Page 271 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 Axis 3 Set with a decimal. Setting value 1167 1217 1267 Manual pulse generator enable flag 0: Disable manual pulse generator operation 1: Enable manual pulse generator operation Set with a decimal.
  • Page 272 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details • Cd.27 Step mode When using step operation, set which unit to step with. • Cd.28 Step start information When using step operation, set whether to continue or restart operation. •...
  • Page 273 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 Axis 3 Set with a decimal. Setting value 1173 1223 1273 Step mode 0: Carry out step operation with deceleration unit 1: Carry out step operation with data No.
  • Page 274 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details • To interrupt the operation during continuous operation, set "1". Cd.32 Interrupt request during • If the interrupt request is received after setting "1", "0" will be automatically stored continuous operation by the OS.
  • Page 275 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 Axis 3 Set with a decimal. Setting value 1181 1231 1281 Continuous operation interrupt request 1: Interrupt continuous control or continuous path control.
  • Page 276 5 DATA USED FOR POSITIONING CONTROL MELSEC-A MEMO 5 - 186...

  • Page 277: Sequence Program Used For Positioning Control

    Chapter 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL The programs required to carry out positioning control with the AD75 are explained in this chapter. The sequence program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, start block data and condition data, etc., must be set in the AD75 according to the control to be executed, and program for setting the control data or a program for starting the various control must be created.)

  • Page 278: Precautions For Creating Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.1 Precautions for creating program The common precautions to be taken when writing data from the PLC CPU to the AD75 buffer memory are described below. (1) Reading/writing the data Setting the data explained in this chapter (various parameters, positioning data, positioning start information) should be set using the AD75 software package.
  • Page 279 AD75M1 A1SD75M2 10 times/axis 10 times/axis 10 times/axis 10 times/axis AD75M2 A1SD75M3 4 times/axis 4 times/axis 4 times/axis 10 times/axis AD75M3 (5) Restrictions to speed change execution interval Provide an interval of 100ms or more when changing the speed with the AD75.

  • Page 280: List Of Devices Used

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.2 List of devices used The application of the input/output Nos. [X] [Y], internal relays [M] and data registers [D] used in this chapter are shown below. Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 AD75 READY signal...
  • Page 281 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 Acceleration/deceleration time change Commanding acceleration/deceleration disable command time change disable Torque change command Commanding torque change Step operation command Commanding step operation –...
  • Page 282 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 Parameter initialization command pulse Parameter initialization commanded Parameter initialization command storage Parameter initialization command held Flash ROM write command pulse Flash ROM write commanded Flash ROM write command storage Flash ROM write command held...
  • Page 283 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 Read/write request ( Cd.7 Read/write request) Teaching results ( Cd.7 Read/write request) Axis state ( Md.35 Axis operation status) Restart command ( Cd.13 Restart command) Parameter initialization results...

  • Page 284: Creating A Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.3 Creating a program The "positioning control operation program" actually used is explained in this chapter. The functions and programs explained in "SECTION 2" are assembled into the "positioning control operation program" explained here. (To monitor the control, add the required monitor program that matches the system.

  • Page 285: Positioning Control Operation Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.3.2 Positioning control operation program The various programs that configure the "positioning control operation program" are shown below. When creating the program, refer to the explanation of each program and section "6.4 Positioning program examples", and create an operation program that matches the positioning system.
  • Page 286 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Continued from previous page Start details setting program * Program required to carry out • "Zero point return control" • "Main positioning control" No.9 • "Advance d positioning control" Positioning start No. Refer to section 6.5.2 setting program Start program...
  • Page 287 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Continued from previous page Auxiliary program * Program added according to control details. (Create as required.) No.14 Speed change program Refer to section 12.5.1 No.15 Override program Refer to section 12.5.2 No.16 Acceleration/deceleration time Refer to section 12.5.3 change program...

  • Page 288: Positioning Program Examples

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.4 Positioning program examples An example of the "Axis 1" positioning program is given in this section. [No. 1] to [No. 3] parameter and data setting program * When setting the parameters or data with the sequence program, set them in the AD75 using the TO command from the PLC CPU.
  • Page 289 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A No.3 Positioning start information setting program Start block data of block No.7000 (axis 1) For setting of points 1 to 5 (Conditions) Shapes: Continued at points 1 to 4, ended at point 5 Special start command : Normal start at all of points 1 to 5 <Positioning data are already preset>...
  • Page 290 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A No.5 External start function valid setting program <External start valid write> <External start invalid write> No.6 Clock data setting program <CPU clock data read command ON> <Clock data write command ON> <Date, hour, minute second data transmission> <Clock data writing set>...
  • Page 291 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (3) Positioning with positioning data No.1 (Control other than speed/position changeover control) <Positioning data No.1 setting> <Positioning data No. write> (4) Positioning with positioning data No.1 (Speed/position changeover control) <Positioning data No.1 setting> <Positioning data No.1 write>...
  • Page 292 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A No.11 Reset program <Positioning start signal OFF> <M code OFF request write> No.12 JOG operation program <JOG operation speed setting> <JOG operation speed write> <In JOG flag ON> <JOG operation completed> <Forward run JOG operation execution> <Reverse run JOG operation execution>...
  • Page 293 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A No.14 Speed change program <Speed change command pulse> <Speed change command hold> <New speed value setting> <Speed change request setting> <Speed change write> <Speed change result read> <Speed change command storage OFF> No.15 Override program <Override command pulse>...
  • Page 294 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A No.18 Step operation program <Step operation command pulse> <Step operation run selection> <Data No. unit step mode selection> <Step operation command write> No.19 Skip program <Skip operation command pulse> <Skip operation command ON storage> <Skip operation command write>...
  • Page 295 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A No.21 Continuous operation interrupt program <Continuous operation interrupt command pulse> <Continuous operation interrupt write> No.22 Restart program <Restart command pulse> <Axis status read> <Restart command ON during stop> <Restart request write> <Restart complete read> <Restart command storage OFF>...
  • Page 296 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A No.25 Error reset program <Error code read> <Error code read complete confirmation> <Error reset command pulse> <Error reset execution> <Error code read complete OFF> No.26 Stop program <Stop command pulse> <Stop execution> <Axis stop signal OFF due to axis stop>...

  • Page 297: Program Details

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5 Program details 6.5.1 Initialization program (1) Zero point return request OFF program This program forcibly turns OFF the "zero point return request flag" ( Md.40 Status: b3) which is ON. When using a system that does not require zero point return, assemble the program to cancel the "zero point return request"...

  • Page 298: Start Details Setting Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5.2 Start details setting program This program sets which control, out of "zero point control", "main positioning control" or "advanced positioning control" to execute. For "advanced positioning control", "high- speed zero point return" and "speed/position changeover control", add the respectively required sequence program.

  • Page 299: Start Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5.3 Start program This program is used to start the control with start commands. The control can be started with the following two methods. (1) Starting by inputting positioning start signal [Y10, Y11, Y12] (2) Starting by inputting external start signal Buffer memory Servo amplifier...
  • Page 300 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (1) Starting by inputting positioning start signal Operation when starting (1) When the positioning start signal turns ON, the start complete signal and BUSY signal turn ON, and the positioning operation starts. It can be seen that the axis is operating when the BUSY signal is ON.
  • Page 301 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Starting time chart The time chart for starting each control is shown below. (1) Time chart for starting "machine zero point return" Near-point dog Zero point Positioning start signal [Y10] PLC READY signal [Y1D] [X0] AD75 READY signal...
  • Page 302 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Time chart for starting "high-speed zero point return" Positioning start signal [Y10] [Y1D] PLC READY signal AD75 READY signal [X0] Start complete signal [X1] [X4] BUSY signal Error detection signal [XA] 9002 Cd.11 Positioning start No.
  • Page 303 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Time chart for starting "main positioning control" Operation pattern Dwell time Positioning data No. 1(11) 2(00) Positioning start signal [Y10] PLC READY signal [Y1D] AD75 READY signal [X0] [X1] Start complete signal BUSY signal [X4] Positioning complete signal...
  • Page 304 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Machine zero point return operation timing and process time [Y10,Y11,Y12] Positioning start signal [X4,X5,X6] BUSY signal Start complete signal [X1,X2,X3] Md.35 Axis operation status Waiting In zero point return Waiting Position command Positioning operation Zero point return request flag [ Md.40 Status:b3]...
  • Page 305 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Position control operation timing and process time Positioning start signal [Y10,Y11,Y12] BUSY signal [X4,X5,X6] M code ON signal (WITH mode) [XD,XE,XF] Cd. 14 M code OFF request Start complete signal [X1,X2,X3] Controlling position Waiting Waiting Md.35 Axis operation status...
  • Page 306 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (2) Starting by inputting external start signal When starting positioning control by inputting the external start signal, the start command can be directly input into the AD75. This allows the variation time equivalent to one scan time of the PLC CPU to be eliminated.

  • Page 307: Continuous Operation Interrupt Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5.4 Continuous operation interrupt program During positioning control, the control can be interrupted during continuous positioning control and continuous path control (continuous operation interrupt function). When "continuous operation interruption" is execution, the control will stop when the operation of the positioning data being executed ends.
  • Page 308 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (3) If the operation cannot be decelerated to a stop because the remaining distance is insufficient when "continuous operation interrupt request" is executed with continuous path control, the interruption of the continuous operation will be postponed until the positioning data shown below.

  • Page 309: Restart Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5.5 Restart program When a stop factor occurs during position control and the operation stops, the positioning can be restarted from the stopped position to the position control end point by using the "restart command" ( Cd.13 Restart command). ("Restarting"...
  • Page 310 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (3) Control data requiring setting Set the following data to execute restart. Buffer memory address Setting Setting item Setting details value Axis 1 Axis 2 Axis 3 Cd.13 Restart command Set "1: restarts". 1152 1202 1252...
  • Page 311 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (5) Time chart for restarting Dwell time Positioning start signal [Y10] Axis stop signal [Y13] PLC READY signal [Y1D] AD75 READY signal [X0] Start complete signal [X1] BUSY signal [X4] Positioning complete signal [X7] Error detection signal [XA]...

  • Page 312: Stop Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5.6 Stop program The axis stop signal [Y13, Y14, Y1C] or a stop signal from an external source is used to stop the control. Create a program to turn the axis stop signal [Y13, Y14, Y1C] ON as the stop program.
  • Page 313 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (2) Types of stop processes The operation can be stopped with deceleration stop, sudden stop or immediate stop. (1) Deceleration stop The operation stops with "deceleration time 0 to 3" ( Pr.9 , Pr.29 , Pr.30 , Pr.31 ).
  • Page 314 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (3) Order of priority for stop process The order of priority for the AD75 stop process is as follows. Deceleration stop < Sudden stop < Immediate stop (1) During deceleration (including automatic deceleration), the operation will stop at that deceleration speed even if the decelerations to command turns ON (stop signal turns ON) or a deceleration stop cause occurs.

  • Page 315: Memory Configuration And Data Process

    Chapter 7 MEMORY CONFIGURATION AND DATA PROCESS The AD75 memory configuration and data transmission are explained in this chapter. The AD75 is configured of three memories. By understanding the configuration and roles of these memories, the AD75 internal data transmission process, such as "when the power is turned ON"...

  • Page 316: Configuration And Roles Of Ad75 Memory

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A 7.1 Configuration and roles of AD75 memory 7.1.1 Configuration and roles of AD75 memory The AD75 is configured of the following three memories. Area configuration Memory Role configuration Area that can be directly accessed •...
  • Page 317 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A Details of areas • Parameter area Area where the parameters, such as the positioning parameters, zero point return parameters and servo parameters, required for positioning control are set and stored. (Set the items indicated with Pr.1 to Pr.59 , Pr.100 to Pr.138 , Pr.149 and Pr.150 for each axis.) •...
  • Page 318 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A User accesses this memory. The data used for actual control Data is backed up here. is stored here. Buffer memory Flash ROM OS memory Parameter area Parameter area Parameter area Positioning data area (No.

  • Page 319: Buffer Memory Area Configuration

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A 7.1.2 Buffer memory area configuration The AD75 buffer memory is configured of the following types of areas. Buffer memory address Writing Buffer memory area configuration possibility Axis 1 Axis 2 Axis 3 Basic parameter area 0 to 13 150 to 163 300 to 313...

  • Page 320: Data Transmission Process

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A 7.2 Data transmission process The data is transmitted between the AD75 memories with steps (1) to (11) shown below. • The data transmission patterns numbered (1) to (11) on the right page correspond to the numbers (1) to (11) on the left page.
  • Page 321 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (1) Transmitting data when power is turned ON or PLC CPU is reset When the power is turned ON or the PLC CPU is reset, the "parameters", "positioning data" and "positioning start information" stored (backed up) in the flash ROM is transmitted to the buffer memory and OS memory.
  • Page 322 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A PLC CPU (7) Flash ROM write (6) Block transmission request (Set "1" in Cd.9 , using TO command) (Set data in bufer memory [5100] to [6109] using TO command] AD75 Buffer memory Parameter area (a) Pr.1 Pr.4 Parameter area (a)
  • Page 323 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (6) Transmitting blocks from PLC CPU ( When setting data in positioning data No. 101 to 600 using the sequence program, first the data is set in the "block transmission area" (buffer memory address [5100] to [6109]).
  • Page 324 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A PLC CPU AD75 Buffer memory Parameter area (a) Pr.1 Pr.4 Parameter area (a) Pr.10 Pr.25 Parameter area (b) Pr.45 Pr.59 Pr.100 Pr.139 Positioning data area (No.1 to 100) Pr.149 Pr.150 Positioning start information area Parameter area (b) (No.7000) Pr.7...
  • Page 325 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (9) Reading data from buffer memory or OS memory to peripheral device ( The following transmission processes are carried out with the [AD75 read] from the peripheral device. 1) The "parameters", "positioning data (No. 1 to 100)" and "positioning start information (No.
  • Page 326 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A AD75 Servo parameters Pr.149 Pr.100 Pr.138 (11) Transfer OS memory of servo parameters Servo Servo amplifier parameters Parameter area (a) Parameter area (11) Transfer of servo parameters ( Servo parameter transfer timing The servo parameters transferred to the servo amplifier are the data of the OS memory.
  • Page 327 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A *: About start of communication with the servo amplifier Communication with the servo amplifier starts when the following two conditions hold. (Conditions) • The AD75 and servo amplifier has been powered on and started. •...
  • Page 328 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A [Servo parameters in the buffer memory and OS memory] AD75 Servo parameter Buffer memory, initialization setting from PLC READY AD75 OS memory processing PLC CPU sequence program signal [Y1D] power ON data setting completion OFF to ON Communication with servo...
  • Page 329 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A The data transmission is carried out as shown in the previous pages, but the main method of using this data process is shown below. (A) Correcting the execution data (OS memory) The following methods can be used to correct the OS memory. Using sequence program From peripheral device Write new value into buffer memory using TO command...
  • Page 330 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (B) Setting positioning data No. 101 to 600 data The positioning data is set with the following procedures. From peripheral device Using sequence program (brock transmission) No.1 to 100 No.101 to 600 Positioning data Turn OFF the PLC READY signal [Y1D] Write positioning data into buffer...
  • Page 331 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (Example) When setting the positioning data No. 101 to 300 of axis 1 to the OS memory (The number of data that can be set for block transmission at one time is up to 100 pieces.) Start Turn OFF the PLC READY signal...
  • Page 332 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A MEMO 7 - 18...
  • Page 333 SECTION 2 CONTROL DETAILS AND SETTING SECTION 2 is configured for the following purposes shown in (1) to (3). (1) Understanding of the operation and restrictions of each control. (2) Carrying out the required settings in each control (3) Dealing with errors The required settings in each control include parameter setting, positioning data setting, control data setting by a sequence program, etc.
  • Page 334 MEMO...

  • Page 335: Zero Point Return Control

    Chapter 8 ZERO POINT RETURN CONTROL The details and usage of "zero point return control" are explained in this chapter. Zero point return control includes "machine zero point returns" that establish a machine zero point without using address data, and "high-speed zero point returns" that store the coordinates established by the machine zero point return, and carry out positioning to that position.

  • Page 336: Outline Of Zero Point Return Control

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.1 Outline of zero point return control 8.1.1 Two types of zero point return control In "zero point return control" a position is established as the starting point (or "zero point") when carrying out positioning control, and positioning is carried out toward that starting point.
  • Page 337 8 ZERO POINT RETURN CONTROL MELSEC-A Zero point return auxiliary functions Refer to section "3.3.4 Combination of AD75 main functions and auxiliary functions" for details on "auxiliary functions" that can be combined with zero point return control. Also refer to "Chapter 12 CONTROL AUXILIARY FUNCTIONS" for details on each auxiliary function.

  • Page 338: Machine Zero Point Return

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2 Machine zero point return 8.2.1 Outline of the machine zero point return operation Important Use the zero point return retry function when the zero point position is not always in the same direction from the workpiece operation area (when the zero point is not set near the upper or lower limit of the machine).

  • Page 339: Machine Zero Point Return Method

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.2 Machine zero point return method The method by which the machine zero point is established (method for judging the zero point position and machine zero point return completion) is designated in the machine zero point return according to the configuration and application of the positioning method.
  • Page 340 8 ZERO POINT RETURN CONTROL MELSEC-A Pr.45 Zero point Operation details Remarks return method • When the zero point is passed from a machine zero point return start until the machine moves the distance set to " Setting for the movement amount after near-point dog Pr.52 ON"...

  • Page 341: Zero Point Return Method (1): Near-Point Dog Method

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.3 Zero point return method (1): Near-point dog method The following shows an operation outline of the "near-point dog method" zero point return method. Operation chart The machine zero point return is started. (The machine begins the acceleration designated in " Zero point return acceleration time selection", in the Pr.53 direction designated in "...
  • Page 342 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions The system where the zero point can always be passed between a machine zero point return start and the near-point dog ON to OFF, is required. Precautions during operation (1) An error "Start at zero point" (error code: 201) will occur if another machine zero point return is attempted after a machine zero point return completion when the zero point return retry function is not set ("0"...

  • Page 343: Zero Point Return Method (2): Near-Point Dog Method 2)

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.4 Zero point return method (2): Near-point dog method 2) When the zero point is passed between a machine zero point return start and deceleration to a stop by the near-point dog ON to OFF, the operation outline of the zero point return method "near-point dog method 2)"...
  • Page 344 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions • The system where the machine can move by the movement amount of more than one servomotor revolution is required. • The system where the upper/lower limit stroke limit signal does not turn OFF when the servomotor rotates one turn in the opposite direction following a stop made when the designated condition holds after the near-point dog has turned ON, is required.

  • Page 345: Zero Point Return Method (3): Count Method 1)

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.5 Zero point return method (3): Count method 1) The following shows the outline of the zero point return method "count method 1)". Operation chart The machine zero point return is started. (The machine starts acceleration designated in " Zero point return acceleration time selection"...
  • Page 346 8 ZERO POINT RETURN CONTROL MELSEC-A Precautions during operation (1) If " Pr.52 Setting for the movement amount after near-point dog ON" is less than the distance of deceleration from " Pr.48 Zero point return speed" to " Pr.49 Creep speed", an error "count method movement amount fault" (error code: 206) occurs, disabling a start.
  • Page 347 8 ZERO POINT RETURN CONTROL MELSEC-A (4) If the zero point has never been passed from a machine zero point return start until the machine moves the movement amount set to " Pr.52 Setting for the movement amount after near-point dog ON" after the near-point dog ON, an error "zero point not pass at zero point return"...

  • Page 348: Zero Point Return Method (4): Count Method 2)

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.6 Zero point return method (4): Count method 2) The following shows the operation outline of the zero point return method "count method 2)". Operation chart The machine zero point return is started. (The machine starts acceleration designated in " Pr.53 Zero point return acceleration time selection"...
  • Page 349 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions Since there is a variation of about 1ms in import of near-point dog ON, the stopping position (zero point) will vary as compared with the other zero point return methods. Precautions during operation (1) If "...

  • Page 350: Zero Point Return Method (5): Count Method 3)

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.7 Zero point return method (5): Count method 3) When the zero point is passed from a machine zero point return start until the machine moves the movement amount set to " Pr.52 Setting for the movement amount after near-point dog ON", the operation outline of the zero point return method "count method 3)"...
  • Page 351 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions • The system where the machine can move by the movement amount of more than one servomotor revolution is required. • The system should satisfy the condition that the upper/lower limit stroke limit signal does not turn OFF when the servomotor rotates one turn in the opposite direction following a stop made when the machine has moved the movement amount set to "...

  • Page 352: Zero Point Return Method (6): Data Setting Method

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.8 Zero point return method (6): Data setting method The data setting method machine zero point return is a method in which the position reached by manual operation (JOG operation/manual pulse generator operation) is defined as the zero point in an absolute position detection system.

  • Page 353: High-Speed Zero Point Return

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.3 High-speed zero point return 8.3.1 Outline of the high-speed zero point return operation High-speed zero point return operation In a high-speed zero point return, positioning is carried out by a machine zero point return to the " Md.43 Zero point absolute position" stored in the AD75. The following shows the operation during a high-speed zero point return start.
  • Page 354 8 ZERO POINT RETURN CONTROL MELSEC-A Operation timing and processing time of high-speed zero point returns The following shows details about the operation timing and time during high-speed zero point returns Positioning start [Y10,Y11,Y12] signal [X4,X5,X6] BUSY signal Start complete signal [X1,X2,X3] Standing by In position control...

  • Page 355: Positioning To The Zero Point

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.4 Positioning to the zero point Positioning to the zero point is explained in this section. To carry out positioning to the zero point, "1-axis linear control (ABS) positioning data" is created in which the " Md.43 Zero point absolute position" is set in the positioning address ( Da.5 ).
  • Page 356 8 ZERO POINT RETURN CONTROL MELSEC-A Start time chart Positioning start signal [Y10] PLC READY signal [Y1D] [X0] AD75 READY signal [X1] Start complete signal [X4] BUSY signal [XA] Error detection signal Cd.11 Positioning start No. Zero point absolute position overflow flag [ Md.40 Status:b11] Zero point absolute position underflow flag [ Md.40 Status:b12]...
  • Page 357 8 ZERO POINT RETURN CONTROL MELSEC-A Creating the program AD75 buffer memory PLC CPU data register Md.40 Status D100 Address 817 D101 D102 (Address) D103 Md.43 Zero point absolute position (Positioning data No.) Cd.11 Positioning start No. 1150 2290 Positioning identifier( Da.1 to Da.4 ) 2291 Da.9 M code 2292...
  • Page 358 8 ZERO POINT RETURN CONTROL MELSEC-A Example * Reception program for high-speed machine zero point return commands <High-speed machine zero point return command pulse> <High-speed machine zero point return command hold> <AD75 status information read> <Overflow / underflow extraction> <High-speed machine zero point return start enable>...

  • Page 359: Main Positioning Control

    Chapter 9 MAIN POSITIONING CONTROL The details and usage of the main positioning controls (control functions using the "positioning data") are explained in this chapter. The main positioning controls include such controls as "positioning control" in which positioning is carried out to a designated position using the address information, "speed control"...

  • Page 360: Outline Of Main Positioning Controls

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1 Outline of main positioning controls "Main positioning controls" are carried out using the "positioning data" stored in the AD75. The basic controls such as position control and speed control are executed by setting the required items in this "positioning data", and then starting that positioning data. The control method for the "main positioning controls"...

  • Page 361: Data Required For Main Positioning Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1.1 Data required for main positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "main positioning controls". Setting item Setting details Set the method by which the continuous positioning data (Ex: positioning data No. 1, Operation pattern Da.1 No.

  • Page 362: Operation Patterns Of Main Positioning Controls

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1.2 Operation patterns of main positioning controls In "main positioning control" (advanced positioning control), " Da.1 Operation pattern" can be set to designate whether to continue executing positioning data after the started positioning data. The "operation pattern" includes the following 3 types. ·...
  • Page 363 9 MAIN POSITIONING CONTROL MELSEC-A (1) Independent positioning control (Positioning complete) This control is set when executing only one designated data item of positioning. If a dwell time is designated, the positioning will complete after the designated time elapses. This data (operation pattern [00] data) becomes the end of block data when carrying out block positioning.
  • Page 364 9 MAIN POSITIONING CONTROL MELSEC-A (2) Continuous positioning control (a) The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the AD75 command speed reaches 0 to carry out the next positioning data operation. If a dwell time is designated, the acceleration is carried out after the designated time elapses.
  • Page 365 9 MAIN POSITIONING CONTROL MELSEC-A (3) Continuous path control (a) Continuous path control The speed is changed between the speed of the positioning data currently being positioned and the speed of the positioning data that will be positioned next. The speed is not changed if the current speed and the next speed are equal.
  • Page 366 9 MAIN POSITIONING CONTROL MELSEC-A (b) Deceleration stop conditions during continuous path control Deceleration stops are not carried out in continuous path control, but the machine will carry out a deceleration stop to speed "0" in the following cases 1) to 4). When the operation pattern of the positioning data currently being executed is "continuous path control: 11", and the movement direction of the positioning data currently being executed differs from that of the...
  • Page 367 9 MAIN POSITIONING CONTROL MELSEC-A (c) Speed handling Continuous path control command speeds are set with each positioning data. The AD75 then carries out the positioning at the speed designated with each positioning data. The command speed can be set to "–1" in continuous path control. The control will be carried out at the speed used in the previous positioning data No.
  • Page 368 9 MAIN POSITIONING CONTROL MELSEC-A (d) Speed changeover (Refer to " Speed changeover mode".) Pr.20 Standard speed changeover mode (1) If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the machine will accelerate or decelerate after reaching the positioning point set in the "positioning data currently being executed"...
  • Page 369 9 MAIN POSITIONING CONTROL MELSEC-A [When the speed cannot change over in P2] [When the movement amount is small during automatic deceleration] When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2. The movement amount required to carry out the automatic deceleration cannot be secured, so the machine immediately stops in a speed ≠...
  • Page 370 9 MAIN POSITIONING CONTROL MELSEC-A (3) Speed changeover condition If the movement amount is small in regard to the target speed, the current speed may not reach the target speed even if acceleration/deceleration is carried out. In this case, the machine is accelerated/decelerated so that it nears the target speed.

  • Page 371: Designating The Positioning Address

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1.3 Designating the positioning address The following shows the two methods for commanding the position in control using positioning data. Absolute system Positioning is carried out to a designated position (absolute address) having the zero point as a reference. This address is regarded as the positioning address. (The start point can be anywhere.) Address ·...

  • Page 372: Confirming The Current Value

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1.4 Confirming the current value Values showing the current value The following two types of addresses are used as values to show the position in the AD75. These addresses ("current feed value" and "machine feed value") are stored in the monitor data area, and used in monitoring the current value display, etc.
  • Page 373 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) A 56.8ms error will occur in the current value update timing when the stored "current feed value" and "machine feed value" are used in the control. (2) The "current feed value" and "machine feed value" may differ from the values set in "...

  • Page 374: Control Unit "Degree" Handling

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1.5 Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. (1) Current feed value and machine feed value addresses When the control method is the absolute system, " Md.29 Current feed value" becomes the ring address of 0 to 359.99999 °...
  • Page 375 9 MAIN POSITIONING CONTROL MELSEC-A 2) When the software stroke limit is valid The positioning is carried out in a clockwise/counterclockwise direction depending on the software stroke limit range setting method. Because of this, positioning with "shortcut control" may not be possible.
  • Page 376 9 MAIN POSITIONING CONTROL MELSEC-A (3) Absolute position detection system The positioning address is the address of the position reached by the machine zero point return, and its range is 0 ° to 359.99999 ° . The range 0 ° to 359.99999 ° also applies to the case where the zero point position is not 0 °...

  • Page 377: Interpolation Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1.6 Interpolation control Meaning of interpolation control In "2-axis linear interpolation control", "2-axis fixed-dimension feed control", and "2-axis circular interpolation control", control is carried out so that linear and arc paths are drawn using a motor set in two axis directions. This kind of control is called "interpolation control".
  • Page 378 9 MAIN POSITIONING CONTROL MELSEC-A Starting the interpolation control The positioning data Nos. of the reference axis (axis in which interpolation control was set in " Da.2 Control method") are started when starting the interpolation control. (Starting of the interpolation axis is not required.) The following errors will occur and the positioning will not start if both reference axis and the interpolation axis are started.
  • Page 379 9 MAIN POSITIONING CONTROL MELSEC-A Limits to interpolation control There are limits to the interpolation control that can be executed and speed ( Pr.21 Interpolation speed designation method) that can be set, depending on the " Pr.1 Unit setting" of the reference axis and interpolation axis. (For example, circular interpolation control cannot be executed if the reference axis and interpolation axis units differ.) The following table shows the interpolation control and speed designation limits.

  • Page 380: Setting The Positioning Data

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2 Setting the positioning data 9.2.1 Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be set differ according to the " Da.2 Control method". The following table shows the positioning data setting items corresponding to the different types of control.

  • Page 381: 1-Axis Linear Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.2 1-axis linear control In "1-axis linear control" (" Da.2 Control method" = ABS linear 1, INC linear 1), one motor is used to carry out position control in a set axis direction. (1) 1-axis linear control (ABS linear 1) Operation chart In absolute system 1-axis linear control, addresses established by a machine zero point return are used.
  • Page 382 9 MAIN POSITIONING CONTROL MELSEC-A (2) 1-axis linear control (INC linear 1) Operation chart In increment system 1-axis linear control, addresses established by a machine zero point return are used. Positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "...

  • Page 383: 2-Axis Linear Interpolation Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.3 2-axis linear interpolation control In "2-axis linear interpolation control" (" Da.2 Control method" = ABS linear 2, INC linear 2), two motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis.
  • Page 384 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control. • If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 385 9 MAIN POSITIONING CONTROL MELSEC-A (2) 2-axis linear interpolation control (INC linear 2) Operation chart In increment system 2-axis linear interpolation control, addresses established by a machine zero point return on a 2-axis coordinate plane are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "...
  • Page 386 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation. • If the movement amount of each axis exceeds "1073741824 (=2 )"...

  • Page 387: 1-Axis Fixed-Dimension Feed Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.4 1-axis fixed-dimension feed control In "1-axis fixed-dimension feed control" (" Da.2 Control method" = fixed-dimension feed 1), one motor is used to carry out fixed-dimension feed control in a set axis direction. In fixed-dimension feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of position commands.
  • Page 388 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) An error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". ("Continuous path control" cannot be set in fixed- dimension feed control.) (2) "Fixed-dimension feed"...

  • Page 389: 2-Axis Fixed-Dimension Feed Control (Interpolation)

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.5 2-axis fixed-dimension feed control (interpolation) In "2-axis fixed-dimension feed control" (" Da.2 Control method" = fixed-dimension feed 2), two motors are used to carry out fixed-dimension feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-dimension feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of position commands.
  • Page 390 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) An error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". ("Continuous path control" cannot be set in fixed- dimension feed control.) (2) If the movement amount of each axis exceeds "1073741824 (=2 )"...
  • Page 391 9 MAIN POSITIONING CONTROL MELSEC-A Positioning data setting example The following table shows setting examples when "2-axis fixed-dimension feed control (fixed-dimension feed 2)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis 1 Axis 2 Axis...

  • Page 392: 2-Axis Circular Interpolation Control With Auxiliary Point Designation

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.6 2-axis circular interpolation control with auxiliary point designation In "2-axis circular interpolation control" (" Da.2 Control method" = ABS circular interpolation, INC circular interpolation), two motors are used to carry out position control in an arc path passing through designated auxiliary points, while carrying out interpolation for the axis directions set in each axis.
  • Page 393 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in " Pr.1 Unit setting" • When the units set in " Pr.1 Unit setting" are different for the reference axis and interpolation axis.
  • Page 394 9 MAIN POSITIONING CONTROL MELSEC-A Positioning data setting example The following table shows setting examples when "2-axis circular interpolation control with auxiliary point designation (ABS circular interpolation)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No.
  • Page 395 9 MAIN POSITIONING CONTROL MELSEC-A (2) 2-axis circular interpolation control with auxiliary point designation (INC circular interpolation) In the increment system, 2-axis circular interpolation control with auxiliary point designation, addresses established by a machine zero point return on a 2-axis coordinate plane are used.
  • Page 396 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in " Pr.1 Unit setting" • When the units set in " Pr.1 Unit setting" are different for the reference axis and interpolation axis.
  • Page 397 9 MAIN POSITIONING CONTROL MELSEC-A Positioning data setting example The following table shows setting examples when "2-axis circular interpolation control with auxiliary point designation (INC circular interpolation)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No.

  • Page 398: 2-Axis Circular Interpolation Control With Center Point Designation

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.7 2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" (" Da.2 Control method" = ABS right arc, INC right arc, ABS left arc, INC left arc), two motors are used to carry out position control in an arc path having a designated center point, while carrying out interpolation for the axis directions set in each axis.
  • Page 399 9 MAIN POSITIONING CONTROL MELSEC-A Circular interpolation error compensation In circular interpolation control with center point designation, the arc path calculated from the start point address and arc address may deviate from the position of the end point address set in " Da.5 Positioning address/movement amount".
  • Page 400 9 MAIN POSITIONING CONTROL MELSEC-A (1) 2-axis circular interpolation control with center point designation (ABS right arc, ABS left arc) Operation chart In the absolute system, 2-axis circular interpolation control with center point designation, addresses established by a machine zero point return on a 2-axis coordinate plane are used.
  • Page 401 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in " Pr.1 Unit setting" • When the units set in " Pr.1 Unit setting" are different for the reference axis and interpolation axis.
  • Page 402 9 MAIN POSITIONING CONTROL MELSEC-A POINT Set a value in " Da.7 Command speed" so that the speed of each axis does not exceed the " Pr.7 Speed limit value". (The speed limit does not function for the speed calculated by the AD75 during interpolation control.) (2) 2-axis circular interpolation control with center point designation (INC right arc, INC left arc) Operation chart...
  • Page 403 9 MAIN POSITIONING CONTROL MELSEC-A In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point.
  • Page 404 9 MAIN POSITIONING CONTROL MELSEC-A Positioning data setting examples The following table shows setting examples when "2-axis circular interpolation control with center point designation (INC right arc, INC left arc)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No.

  • Page 405: Speed Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.8 Speed control In "speed control"(" Da.2 Control method" = Forward run: speed control, Reverse run: speed control), control is carried out in the axis direction in which the positioning data has been set by continuously outputting the speed set in " Da.7 Command speed"...
  • Page 406 9 MAIN POSITIONING CONTROL MELSEC-A Current feed value during speed control The following table shows the " Md.29 Current feed value" during speed control corresponding to the " Pr.22 Current feed value during speed control" settings. " Pr.22 Current feed value during speed Md.29 Current feed value control"...
  • Page 407 9 MAIN POSITIONING CONTROL MELSEC-A Positioning data setting examples The following table shows setting examples when "speed control (forward run: speed control)" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Positioning Setting other than "Positioning complete" is not possible in speed Operation pattern Da.1 complete...

  • Page 408: Speed/Position Changeover Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.9 Speed/position changeover control In "speed/position changeover control" (" Da.2 Control method" = Forward run: speed/position, Reverse run: speed/position), position control is carried out for the movement amount set in " Da.5 Positioning address/movement amount", in the axis direction in which the positioning data has been set.
  • Page 409 9 MAIN POSITIONING CONTROL MELSEC-A Da. 7 Command speed Movement amount set in " Da. 5 Positioning address/movement amount" Speed control Position control Dwell time Positioning start signal [Y10,Y11,Y12] BUSY signal [X4,X5,X6] Positioning complete signal [X7,X8,X9] Speed/position changeover signal Cd. 20 Speed/position changeover enable flag In speed control flag Md.
  • Page 410 9 MAIN POSITIONING CONTROL MELSEC-A Operation timing and processing time during speed/position changeover control Positioning start signal [Y10,Y11,Y12] [X4,X5,X6] BUSY signal M code ON signal [XD,XE,XF](WITH mode) Cd.14 M code OFF request Start complete signal [X1,X2,X3] Standing by Md.35 Axis operation status In speed control In position control Standing by...
  • Page 411 9 MAIN POSITIONING CONTROL MELSEC-A Current feed value during speed/position changeover control The following table shows the " Md.29 Current feed value" during speed/position changeover control corresponding to the " Pr.22 Current feed value during speed control" settings. " Pr.22 Current feed value during Md.29 Current feed value speed control"...
  • Page 412 9 MAIN POSITIONING CONTROL MELSEC-A Changing the position control movement amount In "speed/position changeover control", the position control movement amount can be changed during the speed control section. (1) The position control movement amount can be changed during the speed control section of speed/position changeover control.
  • Page 413 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) If "continuous path control" is specified for " Operation pattern, " an error Da.1 "continuous path control not possible" (error code: 516) occurs, resulting in a failure to start. (In the speed or position changeover control mode, "continuous path control"...
  • Page 414 9 MAIN POSITIONING CONTROL MELSEC-A Positioning data setting examples The following table shows setting examples when "speed/position changeover control (forward run: speed/position)" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Set "Positioning complete" assuming the next positioning data will not Positioning Operation pattern be executed.

  • Page 415: Current Value Change

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.10 Current value change When the current value is changed to a new value, control is carried out in which the " Md.29 Current feed value" of the stopped axis is changed to a random address set by the user.
  • Page 416 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) An error "Current value change not possible" (error code: 515) will occur and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". ("Continuous path control" cannot be set in current value change.) (2) "Current value change"...
  • Page 417 9 MAIN POSITIONING CONTROL MELSEC-A (2) Current value change using the start No. (No. 9003) for a current value change Operation chart The current value is changed by setting the new current value in the new current value buffer memory " Cd.15 New current value", setting "9003" in the " Cd.11 Positioning start No.", and turning ON the positioning start signal.
  • Page 418 9 MAIN POSITIONING CONTROL MELSEC-A Setting method for the current value change function The following shows an example of a sequence program and data setting to change the current value to a new value with the positioning start signal. (The "...
  • Page 419 9 MAIN POSITIONING CONTROL MELSEC-A (3) Add the following sequence program to the control program, and write it to the PLC CPU. Example * Current value change program Store new current feed value in D106 and D107 <Current value change command pulse> <New current value write to AD75>...

  • Page 420: Jump Command

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.11 JUMP command The JUMP command is used to control the operation so it jumps to a positioning data No. set in the positioning data during "continuous positioning control" or "continuous path control". JUMP commands include the following two types of JUMP. (1) Unconditional JUMP When no execution conditions are set for the JUMP command (2) Conditional JUMP...
  • Page 421 9 MAIN POSITIONING CONTROL MELSEC-A (3) Use unconditional JUMP commands when setting JUMP commands at the end of continuous path control/continuous positioning control. When conditional JUMP commands are set at the end of continuous path control/continuous positioning control, the positioning data of the next positioning data No.
  • Page 422 9 MAIN POSITIONING CONTROL MELSEC-A MEMO 9 - 64...

  • Page 423: Advanced Positioning Control

    Chapter 10 ADVANCED POSITIONING CONTROL The details and usage of advanced positioning control (control functions using the "start block data") are explained in this chapter. Advanced positioning control is used to carry out applied control using the "positioning data". Examples of advanced control are using conditional judgment to control "positioning data"...

  • Page 424: Outline Of Advanced Positioning Control

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.1 Outline of advanced positioning control In "advanced positioning control" the execution order and execution conditions of the "positioning data" are set to carry out more applied positioning. (The execution order and execution conditions are set in the "start block data" and "condition data".) The following applied positioning controls can be carried out with "advanced positioning control".

  • Page 425: Data Required For Advanced Positioning Control

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.1.1 Data required for advanced positioning control "Advanced positioning control" is executed by setting the required items in the "start block data" and "condition data", then starting that "start block data". Judgment about whether execution is possible, etc., is carried out at execution using the "condition data"...

  • Page 426: Start Block Data" And "Condition Data" Configuration

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.1.2 "Start block data" and "condition data" configuration The "start block data" and "condition data" corresponding to "block No. 7000" can be stored in the buffer memory. (The following drawing shows an example for axis 1.) 50th point Buffer memory Setting item...
  • Page 427 10 ADVANCED POSITIONING CONTROL MELSEC-A Set in AD75 the "start block data" and "condition data" corresponding to the following "block Nos. 7001 to 7010" using the AD75 software package. (The following drawing shows an example for axis 1.) 50th point 50th point Setting item Setting item...

  • Page 428: Advanced Positioning Control Execution Procedure

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.2 Advanced positioning control execution procedure Advanced positioning control is carried out using the following procedure. * "Advanced positioning control" executes each control Preparation STEP 1 ("main positioning control") set in the positioning data Carry out the "main positioning control" setting. Refer to Chapter 9 with the designated conditions,so first carry out preparations so that "main positioning control"...

  • Page 429: Setting The Start Block Data

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3 Setting the start block data 10.3.1 Relation between various controls and start block data The "start block data" must be set to carry out "advanced positioning control". The setting requirements and details of each "start block data" item to be set differ according to the "...

  • Page 430: Block Start (Normal Start)

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.2 Block start (normal start) In a "block start (normal start)", the positioning data groups of a block are continuously executed in a set sequence starting from the positioning data set in " Da.11 Start data No."...
  • Page 431 10 ADVANCED POSITIONING CONTROL MELSEC-A (2) Control examples The following shows the control executed when the "start block data" of the 1st point of axis 1 is set as shown in section (1) and started. <1> The positioning data is executed in the following order before stopping. Axis 1 positioning data No.

  • Page 432: Condition Start

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.3 Condition start In a "condition start", the "condition data" conditional judgment designated in " Da.13 Parameter" is carried out for the positioning data set in " Da.11 Start data No.". If the conditions have been established, the "start block data" set in "1: condition start" is executed.

  • Page 433: Wait Start

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.4 Wait start In a "wait start", the "condition data" conditional judgment designated in " Da.13 Parameter" is carried out for the positioning data set in " Da.11 Start data No.". If the conditions have been established, the "start block data" is executed. If the conditions have not been established, the control stops (waits) until the conditions are established.

  • Page 434: Simultaneous Start

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.5 Simultaneous start In a "simultaneous start", the positioning data set in the " Da.11 Start data No." and positioning data of other axes set in the "condition data" are simultaneously executed (Outputs position/speed commands at the same timing). (The "condition data"...

  • Page 435: Stop

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.6 Stop In a "stop", the control is stopped with the "start block data" set in "4: stop". The control after the point in which the "stop" is set can be restarted by issuing a "...

  • Page 436: Repeated Start (For Loop)

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.7 Repeated start (FOR loop) In a "repeated start (FOR loop)", the data between the "start block data" in which "5: FOR loop" is set in " Da.12 Special start command" and the "start block data" in which "7: NEXT start"...

  • Page 437: Repeated Start (For Condition)

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.8 Repeated start (FOR condition) In a "repeated start (FOR condition)", the data between the "start block data" in which "6: FOR condition" is set in " Da.12 Special start command" and the "start block data" in which "7: NEXT start"...

  • Page 438: Restrictions When Using The Next Start

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.9 Restrictions when using the NEXT start The "NEXT start" is a command indicating the end of the repetitions when executing section "10.3.7 Repeated start (FOR loop)" and section "10.3.8 Repeated start (FOR condition)". The following shows the restrictions when setting "7: NEXT start" in the "start block data".

  • Page 439: Setting The Condition Data

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.4 Setting the condition data 10.4.1 Relation between various controls and the condition data "Condition data" is set in the following cases. (1) When setting conditions during execution of section "9.2.11 JUMP command" (main positioning control) (2) When setting conditions during execution of "advanced positioning control"...
  • Page 440 10 ADVANCED POSITIONING CONTROL MELSEC-A The setting requirements and details of the following "condition data" Da.15 to Da.18 setting items differ according to the " Da.14 Condition target" setting. The following shows the Da.15 to Da.18 setting items corresponding to the " Da.14 Condition target".

  • Page 441: Condition Data Setting Examples

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.4.2 Condition data setting examples The following shows setting examples for "condition data". (1) Setting the device ON/OFF as a condition [Condition] Device "X0" (=AD75 READY) is ON Da.15 Da.14 Da.16 Da.17 Da.18 Condition Condition target Address Parameter 1 Parameter 2...

  • Page 442: Start Program For Advanced Positioning Control

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.5 Start program for advanced positioning control 10.5.1 Starting advanced positioning control To execute advanced positioning control, a sequence program must be created to start the control in the same manner as for main positioning control. The following shows the procedure for starting the "1st point start block data"...

  • Page 443: Example Of A Start Program For Advanced Positioning Control

    10 ADVANCED POSITIONING CONTROL MELSEC-A 10.5.2 Example of a start program for advanced positioning control The following shows an example of a start program for advanced positioning control in which the 1st point "start block data" of axis 1 is started. (The block No. is regarded as "7000".) Control data that require setting The following control data must be set to execute advanced positioning control.
  • Page 444 10 ADVANCED POSITIONING CONTROL MELSEC-A Start time chart The following chart shows a time chart in which the positioning data 1, 2, 10, 11, and 12 of axis 1 are continuously executed as an example. (a) Start block data setting example Da.11 Da.12 Special Da.13...
  • Page 445 10 ADVANCED POSITIONING CONTROL MELSEC-A Creating the program Example Set the start block data beforehand. Positioning start command M104 Pulse the positioning start command. M104 K1150 K7000 Write the positioning data No. 7000 for block positioning. K1178 Write the positioning start point No. Turn ON the positioning start signal.
  • Page 446 10 ADVANCED POSITIONING CONTROL MELSEC-A MEMO 10 - 24...

  • Page 447: Manual Control

    Chapter 11 MANUAL CONTROL The details and usage of manual control are explained in this chapter. In manual control, pulse output commands are issued during a JOG operation executed by the turning ON of the JOG START signal, or from a manual pulse generator connected to the AD75.

  • Page 448: Outline Of Manual Control

    11 MANUAL CONTROL MELSEC-A 11.1 Outline of manual control 11.1.1 Two manual control methods "Manual control" refers to control in which positioning data is not used, and a positioning operation is carried out in response to signal input from an external source. The two types of this "manual control"...
  • Page 449 11 MANUAL CONTROL MELSEC-A Manual control auxiliary functions Refer to section "3.3.4 Combination of AD75 main functions and auxiliary functions" for details on "auxiliary functions" that can be combined with manual control. Also refer to "Chapter 12 CONTROL AUXILIARY FUNCTIONS" for details on each auxiliary function.

  • Page 450: Jog Operation

    11 MANUAL CONTROL MELSEC-A 11.2 JOG operation 11.2.1 Outline of JOG operation Important Use the hardware stroke limit function when carrying out JOG operation near the upper or lower limits. (Refer to section 12.4.4). * If the hardware stroke limit function is not used, the workpiece may exceed the operating range, causing an accident.
  • Page 451 11 MANUAL CONTROL MELSEC-A Precautions during operation The following details must be understood before carrying out JOG operation. (1) For safety, first set " Cd.19 JOG speed" to a smaller value and check the movement. Then gradually increase the value. (2) If "...
  • Page 452 11 MANUAL CONTROL MELSEC-A JOG operation timing and processing time The following drawing shows details of the JOG operation timing and processing time. Forward run JOG start signal [Y16, Y18, Y1A] Reverse run JOG start signal [Y17, Y19, Y1B] BUSY signal [X4, X5, X6] Md.

  • Page 453: Jog Operation Execution Procedure

    11 MANUAL CONTROL MELSEC-A 11.2.2 JOG operation execution procedure The JOG operation is carried out by the following procedure. Preparation * One of the following two methods can be used. STEP 1 Set the parameters <Method 1> Pr.1 Pr.43 Pr.100 Pr.109 Refer to Chapter 5 Directly set (write) the parameters in the AD75 using the AD75...

  • Page 454: Setting The Required Parameters For Jog Operation

    11 MANUAL CONTROL MELSEC-A 11.2.3 Setting the required parameters for JOG operation The "Parameters" must be set to carry out JOG operation. The following table shows the setting items of the required parameters for carrying out JOG operation. When only JOG operation will be carried out, no parameters other than those shown below need to be set.
  • Page 455 11 MANUAL CONTROL MELSEC-A Factory-set initial value Setting item Setting requirement (setting details) Pr.26 Acceleration time 1 (Unit: ms) 1000 Pr.27 Acceleration time 2 (Unit: ms) 1000 Pr.28 Acceleration time 3 (Unit: ms) 1000 Pr.29 Deceleration time 1 (Unit: ms) 1000 Pr.30 Deceleration time 2 (Unit: ms)

  • Page 456: Creating Start Programs For Jog Operation

    11 MANUAL CONTROL MELSEC-A 11.2.4 Creating start programs for JOG operation A sequence program must be created to execute a JOG operation. Consider the "required control data setting", "start conditions", "start time chart", and "device settings" when creating the program. The following shows an example when a JOG operation is started for axis 1.
  • Page 457 11 MANUAL CONTROL MELSEC-A Start time chart Forward JOG run Reverse JOG run [Y16] Forward run JOG start signal [Y17] Reverse run JOG start signal [Y1D] PLC READY signal [X0] AD75 READY signal [X4] BUSY signal [XA] Error detection signal Fig.
  • Page 458 11 MANUAL CONTROL MELSEC-A Creating the program Example * No. 12 JOG operation program <JOG operation speed setting> <JOG operation speed write> <In JOG flag ON> <JOG operation completed> <Forward run JOG operation execution> <Reverse run JOG operation execution> 11 - 12...

  • Page 459: Jog Operation Example

    11 MANUAL CONTROL MELSEC-A 11.2.5 JOG operation example When the "stop signal" is turned ON during JOG operation When the "stop signal" is turned ON during JOG operation, the JOG operation will stop by the "deceleration stop" method. JOG start signals will be ignored while the stop signal is ON. The operation can be started by turning the stop signal OFF, and turning the JOG start signal from OFF to ON again.
  • Page 460 11 MANUAL CONTROL MELSEC-A When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis, the "forward run JOG start signal" is given priority.
  • Page 461 11 MANUAL CONTROL MELSEC-A When the "JOG start signal" is turned ON again during deceleration caused by the ON OFF of the "JOG start signal" When the "JOG start signal" is turned ON again during deceleration caused by the OFF of the "JOG start signal", the JOG operation will be carried out from the time the "JOG start signal"...
  • Page 462 11 MANUAL CONTROL MELSEC-A When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 56.8ms) When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 56.8ms), it will be ignored and the JOG operation will not be carried out. Forward run JOG operation Forward run JOG start signal [Y16, Y18, Y1A]...

  • Page 463: Manual Pulse Generator Operation

    11 MANUAL CONTROL MELSEC-A 11.3 Manual pulse generator operation 11.3.1 Outline of manual pulse generator operation Important Create the sequence program so that " Cd.22 Manual pulse generator enable flag" is always set to "0" (disabled) when a manual pulse generator operation is not carried out.
  • Page 464 11 MANUAL CONTROL MELSEC-A Restricted items A manual pulse generator is required to carry out manual pulse generator operation. Precautions during operation The following details must be understood before carrying out manual pulse generator operation. (1) The speed during manual pulse generation operation is not limited by the "...
  • Page 465 11 MANUAL CONTROL MELSEC-A Manual pulse generator operation timing and processing time The following drawing shows details of the manual pulse generator operation timing and processing time. Cd. 22 Manual pulse generator enable flag Manual pulse generator input pulses BUSY signal [X4,X5,X6] The start complete signal does not turn ON in manual pulse generator operation.
  • Page 466 11 MANUAL CONTROL MELSEC-A Position control by manual pulse generator operation The command output during manual pulse generator operation is as follows. [No. of command pulses] = [No. of manual pulse generator input pulse] × [ Cd.23 Manual pulse generator 1 pulse input magnification] [Command speed*] = [Manual pulse generator input frequency] ×...

  • Page 467: Manual Pulse Generator Operation Execution Procedure

    11 MANUAL CONTROL MELSEC-A 11.3.2 Manual pulse generator operation execution procedure The manual pulse generator operation is carried out by the following procedure. * One of the following two methods can be used. Preparation STEP 1 Set the parameters <Method 1> Pr.1 Pr.23 Pr.100...

  • Page 468: Setting The Required Parameters For Manual Pulse Generator Operation

    11 MANUAL CONTROL MELSEC-A 11.3.3 Setting the required parameters for manual pulse generator operation The "Parameters" must be set to carry out manual pulse generator operation. The following table shows the setting items of the required parameters for carrying out manual pulse generator operation.

  • Page 469: Creating A Program To Enable/Disable The Manual Pulse Generator Operation

    11 MANUAL CONTROL MELSEC-A 11.3.4 Creating a program to enable/disable the manual pulse generator operation A sequence program must be created to execute a manual pulse generator operation. Consider the "required control data setting", "start conditions", "start time chart", and "device settings"...
  • Page 470 11 MANUAL CONTROL MELSEC-A Start time chart Forward run Reverse run Pulse input A phase Pulse input B phase [Y1D] PLC READY signal [X0] AD75 READY signal [X1] Start complete signal [X4] BUSY signal Error detection signal [XA] Cd. 22 Manual pulse generator enable flag Cd.
  • Page 471 11 MANUAL CONTROL MELSEC-A Creating the program Example * No.13 Manual pulse generator operation program <Manual pulse generator operation command pulse> <Manual pulse generator 1 pulse input magnification setting> <Manual pulse generator 1 pulse input magnification write> <Manual pulse generator operation enable write>...
  • Page 472 11 MANUAL CONTROL MELSEC-A MEMO 11 - 26...

  • Page 473: Control Auxiliary Functions

    Chapter 12 CONTROL AUXILIARY FUNCTIONS The details and usage of the "auxiliary functions" added and used in combination with the main functions are explained in this chapter. A variety of auxiliary functions are available, including functions specifically for machine zero point returns and generally related functions such as control compensation, etc. More appropriate, finer control can be carried out by using these auxiliary functions.

  • Page 474: Outline Of Auxiliary Functions

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.1 Outline of auxiliary functions "Auxiliary functions" are functions that compensate, limit, add functions, etc., to the control when the main functions are executed. These auxiliary functions are executed by parameter settings, commands from the AD75 software package, auxiliary function sequence programs, etc.
  • Page 475 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Auxiliary function Details Absolute position restoration function* This function restores the absolute position of the specified axis. This function temporarily stops the operation to confirm the positioning operation during debugging, etc. Step function The operation can be stopped at each "automatic deceleration" or "positioning data".

  • Page 476: Auxiliary Functions Specifically For Machine Zero Point Returns

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.2 Auxiliary functions specifically for machine zero point returns The auxiliary functions specifically for machine zero point returns include the "zero point retry function" and "zero point shift function". Each function is executed by parameter setting. 12.2.1 Zero point return retry function When the workpiece goes past the zero point without stopping during positioning control, it may not move back in the direction of the zero point although a machine zero...
  • Page 477 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) Zero point return retry operation when the workpiece is outside the range between the upper and lower limits. 1) When the direction from the workpiece to the zero point is the same as the " Pr.46 Zero point return direction", a normal machine zero point return is carried out.
  • Page 478 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) Zero point return retry operation performed when the zero point is not passed in the near-point dog method 1) The machine starts moving in the " Pr.46 Zero point return direction" by a machine zero point returns start.
  • Page 479 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (d) Setting the dwell time for a zero point return retry With the zero point return retry function, the dwell time can be set for reverse run operation started at detection of the upper/lower limit signal and for a machine zero point return executed after a stop by near-point dog OFF when a zero point return retry is made.
  • Page 480 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precaution during control (a) The following table shows whether the zero point return retry function may be executed by the " Pr.45 Zero point return method". Pr.45 Zero point return method Execution status of zero point return retry function Near-point dog method : Execution possible* : Execution possible*...
  • Page 481 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (3) Setting the zero point return retry function To use the "zero point return retry function", set the required details in the parameters shown in the following table, and write them to the AD75. When the parameters are set, the zero point return retry function will be added to the machine zero point return control.

  • Page 482: Zero Point Shift Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.2.2 Zero point shift function When a machine zero point return is carried out, the zero point is normally established using the near-point dog and zero point. However, by using the zero point shift function, the machine can be moved a designated movement amount from the position where the zero point was detected.
  • Page 483 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Setting range for the zero point shift amount Set the zero point shift amount within the range from the detected zero point to the upper/lower limit switches. Setting range of the negative zero point Setting range of the positive zero point shift amount shift amount Address decrease...
  • Page 484 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) Zero point shift operation at the " Pr.49 Creep speed" Zero point Pr.46 return direction When the " Pr.55 Zero point Pr.49 Creep speed shift amount" is positive Zero point Zero point Machine zero point return start When the "...

  • Page 485: Functions For Compensating The Control

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.3 Functions for compensating the control The auxiliary functions for compensating the control include the "backlash compensation function", "electronic gear function", and "near pass mode function". Each function is executed by parameter setting or sequence program creation and writing.
  • Page 486 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control (a) The position/speed commands of the backlash compensation amount are not added to the " Md.29 Current feed value" or " Md.30 Machine feed value". (b) Always carry out a machine zero point return before starting the control when using the backlash compensation function (when "...

  • Page 487: Electronic Gear Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.3.2 Electronic gear function The "electronic gear function" adjusts the position and speed commands calculated and output according to the parameters set in the AD75 with the actual machine movement amount. The "electronic gear function" has the following four functions. (A) During machine movement, the function increments in the AD75 values less than one pulse that could not be position command output, and outputs the incremented amount of position commands when the total incremented value...
  • Page 488 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (1) Error compensation method When position control is carried out by the "movement amount per pulse" set in the AD75 parameters, an error sometimes occurs between the command movement amount (L) and the actual movement amount (L'). That error is compensated in the AD75 by adjusting the values in "...
  • Page 489 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Calculation example (Conditions) : 500 ( µ m/rev) Movement amount per pulse No. of pulses per rotation : 12000 (pulse/rev) Unit magnification (Positioning results) Command movement amount : 100mm Actual movement amount : 101mm (Compensation amount) 5 ×...
  • Page 490 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Relation between the movement amount per pulse and speed The following shows the relation of the "movement amount per pulse (A)" to the command speed and actual speed. The command speed is the speed commanded by each control, and the actual speed is the actual feedrate.
  • Page 491 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (3) Precautions during control It is recommended that the "movement amount per pulse (A)" be set to a value close to "1" for the following reasons. “1” set in the “movement amount per pulse” indicates the minimum value of “...

  • Page 492: Near Pass Mode Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.3.3 Near pass mode function When carrying out continuous path control using interpolation control, either the "positioning address pass mode" or the "near pass mode" can be selected by setting the " Pr.44 Near pass mode selection for path control". The "near pass mode"...
  • Page 493 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (1) Control details The following drawing shows the paths of the "positioning address pass mode" and "near pass mode". [Positioning address pass mode path] [Near pass mode path] Da. 5 Positioning address Da. 5 Positioning address Path of positioning data No.
  • Page 494 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control (a) If the movement amount designated by the positioning data is small when the continuous path control is executed in the near pass mode, the output speed may not reach the designated speed. (b) If continuous path control is carried out in the near pass mode, the output will suddenly reverse when the reference axis movement direction changes from the positioning data No.
  • Page 495 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) When continuous path control of a circular interpolation is being carried out in the near pass mode, an address in which the extra movement amount is subtracted from the positioning address of the positioning data currently being executed is replaced by the starting point address of the next positioning data Because of this, circular interpolation control cannot be carried out using the increment system.

  • Page 496: Follow Up Processing Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.3.4 Follow up processing function Follow up processing monitors the rotation amount (real current value) of the motor in a servo OFF status and reflects it on the current feed value. Hence, if the servomotor rotates during servo OFF, the servomotor will not rotate by the droop pulse value at next servo ON, starting positioning at the stopping position.

  • Page 497: Functions To Limit The Control

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.4 Functions to limit the control Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit", and "hardware stroke limit". Each function is executed by parameter setting or sequence program creation and writing. 12.4.1 Speed limit function The speed limit function limits the command speed to a value within the "speed limit value"...
  • Page 498 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control During interpolation control, speed limiting is carried out at the reference axis side setting value. (The speed limit will not function on the interpolation side.) (3) Setting the speed limit function To use the "speed limit function", set the "speed limit value"...

  • Page 499: Torque Limit Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.4.2 Torque limit function The "torque limit function" limits the generated torque to a value within the "torque limit value" setting range when the torque generated in the servomotor exceeds the "torque limit value". The "torque limit function" protects the deceleration function, limits the power of the operation pressing against the stopper, etc.
  • Page 500 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Control details The following drawing shows the operation of the torque limit function. Various operations PLC READY signal [Y1D] Pr.18 Torque limit setting value 100% Cd.101 Torque output setting value Cd.30 New torque value Torque is limited at the torque output Torque is limited at the torque Torque is limited at the torque...
  • Page 501 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Setting the torque limit function (a) To use the "torque limit function", set the "torque limit value" in the axis control data or parameters indicated in the following table, and write them to the AD75. The data set to the axis control data is validated at the rising edge (OFF to ON) of the PLC READY signal (Y1D) and at a start of the corresponding control.

  • Page 502: Software Stroke Limit Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.4.3 Software stroke limit function In the "software stroke limit function" the address established by a machine zero point return is used to set the upper and lower limits of the moveable range of the workpiece. Movement commands issued to addresses outside that setting range will not be executed.
  • Page 503 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A The following drawing shows the differences in the operation when " Md.29 Current feed value" and " Md.30 Machine feed value" are used in the moveable range limit check. [Conditions] Assume the current stop position is 2000, and the upper stroke limit is set to 5000. Moveable range Md.
  • Page 504 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Software stroke limit check details Processing when Check details an error occurs An error shall occur if the current value* is outside the software stroke limit range* (Check " Md.29 Current feed value" or " Md.30 Machine feed An "axis error"...
  • Page 505 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Precautions during software stroke limit check (a) A machine zero point return must be executed beforehand for the "software stroke limit function" to function properly. (b) During interpolation control, a stroke limit check is carried out for the current values of both the reference axis and the interpolation axis.
  • Page 506 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (5) Setting the software stroke limit function To use the "software stroke limit function", set the required values in the parameters shown in the following table, and write them to the AD75. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y1D).
  • Page 507 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (7) Setting when the control unit is "degree" Current value address The " Md.29 Current feed value" address is ring addresses between 0 and 359.99999 ° . 359.99999° 359.99999° 0° 0° 0° Fig. 12.17 Current value address when the control unit is "degree". Setting the software stroke limit The upper limit value/lower limit value of the software stroke limit is a value between 0 and 359.99999 °...

  • Page 508: Hardware Stroke Limit Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.4.4 Hardware stroke limit function In the "hardware stroke limit function", limit switches are set at the upper/lower limit of the physical moveable range, and the control is stopped (by deceleration stop) by the input of a signal from the limit switch. Damage to the machine can be prevented by stopping the control before the upper/lower limit of the physical moveable range is reached.
  • Page 509 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Wiring the hardware stroke limit When using the hardware stroke limit function, wire the terminals of the AD75 upper/lower limit stroke limit as shown in the following drawing. AD75 24VDC Fig. 12.20 Wiring when using the hardware stroke limit (3) Precautions during control (a) If the machine is stopped outside the AD75 control range (outside the upper/lower limit switches), or if stopped by hardware stroke limit detection,...

  • Page 510: Servo On/Off Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.4.5 Servo ON/OFF function The "servo ON/OFF function" performs the servo ON/OFF of the servo amplifier, which is connected to the AD75, from the AD75. Performing servo ON makes the servo operable. Performing servo OFF puts the servomotor in a free run status, so that the axis can be moved by external force when a machine system fault occurs, for example.
  • Page 511 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Servo OFF method Servo OFF includes all axe servo OFF and axis-by-axis servo OFF. (a) All axes servo OFF commands the servo amplifiers of all axes to perform servo OFF. Turn OFF the all axes servo ON signal (Y15) when the " Md.35 Axis operation status"...
  • Page 512 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (3) Restart at servo OFF to ON This section explains whether a restart is allowed or not, the setting method and precautions in the case where servo OFF is performed once by a servo emergency stop command during operation or by a servo OFF command during a stop and servo ON is then performed again.
  • Page 513 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Restart at servo ON after servo OFF by all axes servo ON signal (Y15) or " Cd.100 Servo OFF command" When operation is stopped by an external "stop signal" or the axis stop signal (Y13 (Axis 1), Y14 (Axis 2), Y1C (Axis 3)), " Md.35 Axis operation status"...
  • Page 514 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Setting of " Pr.150 Setting for the restart allowable range when servo OFF to ON" To enable or disable a restart at servo OFF to ON, set the "movement range during servo OFF" in the following parameter. The set data is validated at the rising edge (OFF to ON) of the PLC READY signal (Y1D).

  • Page 515: Functions To Change The Control Details

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.5 Functions to change the control details Functions to change the control details include the "speed change function", "override function", "acceleration/deceleration time change function" and "torque change function". Each function is executed by parameter setting or sequence program creation and writing.
  • Page 516 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (1) Control details The following drawing shows the operation during a speed change. Speed changes to V2. Speed changes to V3. Operation during positioning by V1. Md. 50 In speed change processing flag Fig. 12.22 Speed change operation (2) Precautions during control (a) Control is carried out as follows at the speed change during continuous path control.
  • Page 517 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) When the speed is changed by setting " Cd.16 New speed value" to "0", the operation is carried out as follows. • A deceleration stop is carried out, and the speed change 0 flag ( Md.40 Status: b10) turns ON.
  • Page 518 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (3) Setting the speed change function from the PLC CPU The following shows the data settings and sequence program example for changing the control speed of axis 1 from the PLC CPU. (In this example, the control speed is changed to "20.00mm/min".) (a) Set the following data.
  • Page 519 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) Add the following sequence program to the control program, and write it to the PLC CPU. Example * No.14 Speed change program <Speed change command pulse> <Speed change command hold> <New speed value setting> <Speed change request setting>...
  • Page 520 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Setting the speed change function using an external start signal The speed can also be changed using an "external start signal". The following shows the data settings and sequence program example for changing the control speed of axis 1 using an "external start signal". (In this example, the control speed is changed to "10000.00mm/min".) (a) Set the following data to change the speed using an external start signal.
  • Page 521 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) Add the following sequence program to the control program, and write it to the PLC CPU. Example Write 1000000 to D108 and D109. External start [Speed change processing] valid signal DTOP K1156 D108 Write the new speed. Set the external start function selection to external speed change request.

  • Page 522: Override Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.5.2 Override function The override function changes the command speed by a designated percentage (1 to 300%) for all control to be executed. The speed can be changed by setting the percentage (%) by which the speed is changed in "...
  • Page 523 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precaution during control (a) When changing the speed during continuous path control, the speed change will be ignored if there is not enough distance remaining to carry out the change. (b) A warning "deceleration and stop speed change" (warning code: 500) occurs and the speed cannot be changed in the following cases.
  • Page 524 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) Add the following sequence program to the control program, and write it to the PLC CPU. Example * No.15 Override program <Override command pulse> <Override value setting> <Override value write> 12 - 52...

  • Page 525: Acceleration/Deceleration Time Change Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.5.3 Acceleration/deceleration time change function The "acceleration/deceleration time change function" is used to change the acceleration/deceleration time during a speed change to a random value when carrying out the speed change indicated in section "12.5.1 Speed change function". In a normal speed change (when the acceleration/deceleration time is not changed), the acceleration/deceleration time previously set in the parameters ( Pr.8 , Pr.9 , and Pr.26 to Pr.31 values) is set in the positioning parameter data items Da.3...
  • Page 526 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control (a) When "0" is set in " Cd.33 New acceleration time value" and " Cd.34 New deceleration time value", the acceleration/deceleration time will not be changed even if the speed is changed. In this case, the operation will be controlled at the acceleration/deceleration time previously set in the parameters.
  • Page 527 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (d) If the "new acceleration/deceleration time" is set to "0" and the speed is changed after the "new acceleration/deceleration time" is validated, the operation will be controlled with the previous "new acceleration/deceleration time". Example New acceleration/deceleration time ( Cd.

  • Page 528: Torque Change Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.5.4 Torque change function The "torque change function" is used to change the torque limit value during torque limiting. The torque limit value during torque limiting is normally the value set in the " Cd.101 Torque output setting value"...
  • Page 529 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control (a) If a value other than "0" is set in the " Cd.30 New torque value", the torque generated by the servomotor will be limited by that value. To limit the torque with the value set in "...

  • Page 530: Absolute Position Restoration Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.6 Absolute position restoration function The "absolute position restoration function" restores the absolute position of the axis automatically at power-on of the AD75 by an absolute position detection system. This function eliminates the need for a zero point return after power-off, such as an instantaneous power failure or emergency stop, facilitating on-site recovery.
  • Page 531 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Preparations Note the contents of the following table for preparations of the absolute position detection system. Component Description • 1) Servo amplifier Install the battery (MR-BAT, A6BAT) to the servo amplifier. • (MR-H-B (MR-H-BN), Validate the absolute position detection function of the MR-J-B, MR-J2-B, servo amplifier.
  • Page 532 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A [3] Precautions during control (1) Since the zero point data in the AD75 is initialized before shipment from the factory, the absolute position (zero point position) cannot be restored normally. When using the AD75 for the first time, always perform machine zero point return control.
  • Page 533 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Condition 1. Number of output pulses (a) It indicates the number of pulses that can be output to the servo amplifier when positioning is started from the zero point in the absolute position detection system. In the absolute position detection system, pulses within the range of the following expression can be output.
  • Page 534 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Example 1. (1) The conditions for calculating the positioning address are indicated below. • Movement amount per pulse: 0.1 (µm) • Zero point address: 0.0 (µm) • Number of feedback pulses = 8192 (pulse) (2) Calculate the upper and lower limit values of the positioning address that can be specified from the range of using the number of output pulses in Condition 1 and the expression for calculating the positioning address (Expression 1).
  • Page 535 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Example 2. (1) Using Expression 1, calculate the positioning address that can be specified in the system where the zero point address in Example 1 is 214740000.0 (µm). • Lower limit value of positioning address (Positioning address) = 0.1 ( - 268435456) + 214740000.0 = 187896454.4 (µm)
  • Page 536 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (3) Since the upper and lower limit values of the calculated positioning address are outside the range of Condition 2, use the AD75 within the positioning range of Condition 2 ( 214748364.8 (µm) to 214748364.7 (µm)). Unit: µm Zero point -241591910.4...

  • Page 537: Absolute Position Restoration Mode Switching Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.6.2 Absolute position restoration mode switching function The "absolute position restoration mode switching function" switches the mode for absolute position restoration in the absolute position detection system of control unit "degree". This enables absolute position detection for infinite length positioning control where control is performed in only the given direction, e.g.
  • Page 538 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A [2] Control details The operation performed for absolute position restoration mode switching is described below. To switch the absolute position restoration mode, select the mode in " Pr.59 Absolute position restoration selection" and make a machine zero point return.
  • Page 539 G or later A1SD75M2 G or later A1SD75M3 H or later If the hardware version is earlier than the one indicated in the above table and the software version is as indicated in the above table, selection of the "infinite length mode"...
  • Page 540 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (6) When " Da.2 Control method" "0D : Speed control (forward run)" or "0E Speed control (reverse run)" is to be executed, " Pr.22 Current feed value during speed control" must be set to "1: Update current feed value". If either of the above control methods is executed at the setting of other than "1", an error "control method setting error"...
  • Page 541 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) When " Md.121 Absolute position restoration mode" is not switched " Md.120 FeRAM access count" increases by "2". (11) If the " Md.120 FeRAM access count" exceeds 9.9999 times at automatic updating of the absolute position of the zero point, a warning "automatic update count over"...

  • Page 542: Other Functions

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7 Other functions Other functions include the "step function", "skip function", "M code output function", "teaching function", "command in-position function", "acceleration/deceleration processing function" and "indirectly specification function". Each function is executed by parameter setting or sequence program creation and writing. 12.7.1 Step function The "step function"...
  • Page 543 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Step mode In step operations, the timing for stopping the control can be set. This is called the "step mode". (The "step mode" is set in the control data " Cd.27 Step mode".) The following shows the two types of "step mode" functions. (a) Deceleration unit step The operation stops at positioning data requiring automatic deceleration.
  • Page 544 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Using the step operation The following shows the procedure for checking positioning data using the step operation. (a) Turn ON the step valid flag before starting the positioning data. (Write "1" (carry out step operation) in " Cd.26 Step valid flag".) (b) Set the step mode before starting the positioning data.
  • Page 545 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (5) Control details (a) The following drawing shows a step operation during a "deceleration unit step". Cd. 26 Step valid flag Positioning start signal [Y10, Y11, Y12] [X4, X5, X6] BUSY signal Positioning complete signal [X7, X8, X9] Positioning Positioning data No.
  • Page 546 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (6) Precautions during control (a) When step operation is carried out using interpolation control positioning data, the step function settings are carried out for the reference axis. (b) When the step valid flag is ON, the step operation will start from the beginning if the positioning start signal is turned ON while "...

  • Page 547: Skip Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.2 Skip function The "skip function" is used to stop (deceleration stop) the control of the positioning data being executed at the time of the skip signal input, and execute the next positioning data. A skip is executed by a skip command ( Cd.29 Skip command) or external start signal. The "skip function"...
  • Page 548 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (3) Setting the skip function from the PLC CPU The following shows the settings and sequence program example for skipping the control being executed in axis 1 with a command from the PLC CPU. (a) Set the following data. (The setting is carried out using the sequence program shown below in section (2)).
  • Page 549 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Setting the skip function using an external start signal The skip function can also be executed using an "external start signal". The following shows the settings and sequence program example for skipping the control being executed in axis 1 using an "external start signal". (a) Set the following data to execute the skip function using an external start signal.

  • Page 550: M Code Output Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.3 M code output function The "M code output function" is used to command auxiliary work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal (XD, XE, XF) is turned ON during positioning execution, a No.
  • Page 551 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) AFTER mode The M code ON signal (XD, XE, XF) is turned ON at the positioning completion, and the M code is stored in " Md.32 Valid M code". Positioning start signal [Y10, Y11, Y12] [X4,X5,X6] BUSY signal [XD,XE,XF]...
  • Page 552 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Positioning start signal [Y10, Y11, Y12] BUSY signal [X4,X5,X6] M code ON signal [XD,XE,XF] Cd. 14 M code OFF request Md. 32 Valid M code Positioning Da. 1 Operation pattern * : m1 and m3 indicate set M codes. Warning occurs at this timing.
  • Page 553 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Setting the M code output function The following shows the settings to use the "M code output function". (a) Set the M code No. in the positioning data " Da.9 M code". (b) Set the timing to output the M code ON signal (XD, XE, XF). Set the required value in the following parameter, and write it to the AD75.

  • Page 554: Teaching Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.4 Teaching function The "teaching function" is used to set addresses aligned using the manual control (JOG operation, manual pulse generator operation) in the positioning data addresses ( Da.5 Positioning address/movement amount, Da.6 Arc address). The details shown below explain about the "teaching function".
  • Page 555 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control (a) Before teaching, a "machine zero point return" must be carried out to establish the zero point. (When a current value change function, etc., is carried out, " Md.29 Current feed value" may not show absolute addresses having the zero point as a reference.) (b) Teaching cannot be carried out for positions to which movement cannot be executed by manual control (positions to which the workpiece cannot...
  • Page 556 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Teaching procedure The following shows the procedure for a teaching operation. (a) When teaching to the " Da.5 Positioning address/movement amount" Start Carry out a machine zero point return. Move the workpiece to the target position •...
  • Page 557 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) When teaching to the " Da.6 Arc address", then teaching to the " Da.5 Positioning address/movement amount" Start Carry out a machine zero point return. Move the workpiece to the circular interpolation auxiliary point using a •...
  • Page 558 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Confirm that the buffer memory address [1106] has become 0. Confirm the completion of the writing. • • • • • • • • End teaching? Turn OFF the PLC READY • • • • • • • • Set 1 in the buffer memory address [1138].
  • Page 559 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (5) Teaching program example The following shows a sequence program example for setting (writing) the positioning data obtained with the teaching function to the AD75. (a) Setting conditions • When setting the current feed value as the positioning address/arc auxiliary point, write it when the BUSY signal is OFF.
  • Page 560 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Move the workpiece to the target position using a JOG operation (or a manual pulse generator operation). Example Target position [Y16] Forward run JOG start signal [Y1D] PLC READY signal [X0] AD75 READY signal [X4] BUSY signal [XA] Error detection signal...
  • Page 561 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Carry out the teaching operation with the following program. Example * No.20 Teaching program • Positioning to the target position with manual operation. • Store the data other than the positioning data interface address in D40 to D45. <Teaching command pulse>...
  • Page 562 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) Program example 2 • The following example shows a program in which the " Md.29 Current feed value" is written to the "positioning address" and "arc address" of the circular interpolation control positioning data No. 2 of axis 1 and axis 2. AD75 buffer memory Address Md.
  • Page 563 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Carry out the teaching operation with the following program. Example * Teaching program • Set the positioning data other than the positioning address and circle data of data No. 2. • Position the workpiece to the auxiliary point of the circular interpolation using a manual operation.

  • Page 564: Command In-Position Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.5 Command in-position function The "command in-position function" checks the remaining distance to the stop position during the automatic deceleration of positioning control, and set a flag. This flag is called the "command in-position flag". The command in-position flag is used as a front- loading signal indicating beforehand the completion of the position control.
  • Page 565 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control (a) A command in-position width check will not be carried out in the following cases. • During deceleration by a stop command or sudden stop command. • During speed control, or during the speed control of speed/position changeover control.
  • Page 566 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (3) Setting the command in-position function To use the "command in-position function", set the required value in the parameter shown in the following table, and write it to the AD75. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y1D).

  • Page 567: Acceleration/Deceleration Processing Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.6 Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration when each control is executed. Adjusting the acceleration/deceleration processing to match the control enables more precise control to be carried out. There are three acceleration/deceleration adjustment items that can be set: "Acceleration/deceleration time size selection", "acceleration/deceleration time 0 to 3", and "acceleration/deceleration method setting".
  • Page 568 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) "Acceleration/deceleration time 0 to 3" control details and setting In the AD75, four types each of acceleration time and deceleration time can be set. By using separate acceleration/deceleration times, control can be carried out with different acceleration/deceleration times for positioning control, JOG operation, zero point returns, etc.
  • Page 569 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) S-pattern acceleration/deceleration processing method In this method, the motor burden is reduced during starting and stopping. This is a method in which acceleration/deceleration is carried out gradually, based on the acceleration time, deceleration time, speed limit value, and "...
  • Page 570 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Set the required values for the "acceleration/deceleration method setting" in the parameters shown in the following table, and write them to the AD75. The set details are validated when written to the AD75. Setting Factory-set Setting item Setting details value...

  • Page 571: Indirectly Specification Function

    12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.7 Indirectly specification function The "indirectly specification function" specifies indirectly and starts the positioning data The "indirectly specification function" is executed by setting the positioning data No. 1 to 600 desired to be started to the "indirectly specification data area" and starting that "indirectly specification data".
  • Page 572 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) "Indirectly specification data" configuration The following AD75 buffer memory can store the "indirectly specification data (positioning data No. 1 to 600)" corresponding to the "indirectly specification No. (8001 to 8050)" on an axis basis. Indirectly speccification No.8050 Buffer memory...
  • Page 573 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (3) Control details and setting The following shows the control details and setting when the indirectly specification data set to the indirectly specification No. 8001 of axis 1 is started. AD75 Buffer memory Servo amplifier Controlled with the specified positioning data...
  • Page 574 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (a) Control data that requires setting The following control data must be set to execute the indirectly specification function. Make this setting using a sequence program. Buffer memory address Setting Setting item Setting details value Axis 1 Axis 2 Axis 3...
  • Page 575 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) Start time chart The following time chart assumes that the positioning data No. 1, 2, 3, 4 and 5 of axis 1 are executed consecutively by "indirectly specification" as an example. 1) Indirectly specification data setting example Positioning data No.
  • Page 576 12 CONTROL AUXILIARY FUNCTIONS MELSEC-A MEMO 12 - 104...

  • Page 577: Common Functions

    Chapter 13 COMMON FUNCTIONS The details and usage of the "common functions" executed according to the user's requirements are explained in this chapter. Common functions include functions required when using the AD75, such as parameter initialization and execution data backup. Read the setting and execution procedures for each common function thoroughly, and execute the appropriate function where required.

  • Page 578: Outline Of Common Functions

    13 COMMON FUNCTIONS MELSEC-A 13.1 Outline of common functions "Common functions" are executed according to the user's requirements, regardless of the control method, etc. Common functions include "parameter initialization", "execution data backup", "work status and error code display", etc. These common functions are executed by commands from the AD75 software package, common function sequence programs, mode switches on the front panel of the main unit, etc.

  • Page 579: Parameter Initialization Function

    13 COMMON FUNCTIONS MELSEC-A 13.2 Parameter initialization function "The parameter initialization function" is used to return the setting data set in the AD75 flash ROM and OS memory to their factory-set initial values. This function is used when several parameter errors occur and the AD75 will not start. In this case, resetting is carried out after the setting data are initialized.
  • Page 580 13 COMMON FUNCTIONS MELSEC-A (2) Precautions during control (a) Parameter initialization is only executed when the PLC READY signal (Y1D) is OFF. (A warning “In PLC READY” (warning code: 111) will occur if executed when the PLC READY signal (Y1D) is ON.) (b) A "PLC CPU reset"...

  • Page 581: Execution Data Backup Function

    13 COMMON FUNCTIONS MELSEC-A 13.3 Execution data backup function When the AD75 buffer memory data is rewritten from the PLC CPU, "the data backed up in the AD75 flash ROM" may differ from "the data for which control is being executed".
  • Page 582 13 COMMON FUNCTIONS MELSEC-A (3) Backing up the execution data To use the "execution data backup function", set the data shown in the following table, and write it to the AD75 using the sequence program. The writing to the flash ROM is carried out when the data is written to the AD75. Buffer memory address Setting Setting item...

  • Page 583: Led Display Function

    "axis display LED" on the front of the main unit. The display is changed over by the "mode switch". The following drawing shows the positions of the "17-segment LED", "axis display LED", and "mode switch". AD75M3 A1SD75M3 D75M3 1SD75M3 17-segment LED (17-seg LED)
  • Page 584 13 COMMON FUNCTIONS MELSEC-A (2) Display details The details displayed in the LED display area are classified into several types of information (called "modes"). The following types of information are displayed according to the various modes on the "17-segment LED display" and "axis display LED".
  • Page 585 13 COMMON FUNCTIONS MELSEC-A (b) "Operation monitor 2" display details The axis operation status is displayed in the "operation monitor 2" mode. The status display of each axis changes over every 0.5 seconds. < Display > < Details > IDLE ..... Standing by STOP ...
  • Page 586 13 COMMON FUNCTIONS MELSEC-A (Procedure) 1) Power OFF the servo amplifier. 2) Set the key switch of the PLC CPU to STOP. 3) Power the PLC system OFF once, then ON again. If "FALT" is displayed when the system is powered ON again, the hardware is faulty. 4) Then, correct the contents of the flash ROM.

  • Page 587: Clock Data Function

    13 COMMON FUNCTIONS MELSEC-A 13.5 Clock data function "The clock data function" utilizes the PLC CPU clock data in the AD75. This clock data is used to monitor the various history data. The clock data is controlled in 0.1 second units in the AD75 to simplify the measurement of cycle time, etc. The details shown below explain about the "clock data setting function".
  • Page 588 13 COMMON FUNCTIONS MELSEC-A (b) Add the following sequence program to the control program, and write it to the PLC CPU. Example * No.6 Clock data setting program <CPU clock data read command ON> <Clock data write command ON> <Date, hour, minute second data transmission>...

  • Page 589: Troubleshooting

    Chapter 14 TROUBLESHOOTING The "errors" and "warnings" detected by the AD75 and servo amplifier are explained in this chapter. Errors and warnings can be confirmed with the AD75 LED display and peripheral devices. When an "error" or "warning" is detected, confirm the detection details and carry out the required measures.

  • Page 590: Error And Warning Details

    14 TROUBLESHOOTING MELSEC-A 14.1 Error and warning details (1) Errors Types of errors Errors include AD75-detected parameter setting range errors and errors at operation start/during operation, and servo amplifier-detected errors. (1) Parameter setting range errors detected by AD75 The parameters are checked when the power is turned ON and at the rising edge (OFF ON) of the PLC READY signal [Y1D].
  • Page 591 14 TROUBLESHOOTING MELSEC-A (4) Types of error codes Error code Error type 001 to 019 Fatal error 100 to 199 Common error 200 to 299 Error at zero point return 300 to 399 Error during JOG operation System error 500 to 599 Error during positioning operation 900 to 999 Error during parameter setting range check...
  • Page 592 14 TROUBLESHOOTING MELSEC-A Error storage When an error occurs, the error detection signal turns ON, and the error code corresponding to the error details is stored in the following buffer memory address ( Md.33 Axis error No.) for axis error No. storage. Note that there is a delay of up to 56.8ms after the error detection signal turns ON until the error code is stored.
  • Page 593 14 TROUBLESHOOTING MELSEC-A Warning storage (1) When an axis warning occurs, the warning code corresponding to the warning details is stored in the following buffer memory ( Md.34 Axis warning No.) for axis warning No. storage. Axis No. Buffer memory address 1008 (2) When an axis warning occurs, "1"...

  • Page 594: List Of Errors

    14 TROUBLESHOOTING MELSEC-A 14.2 List of errors 14.2.1 Errors detected by AD75 Description of the errors and remedies are shown below. Division of Error Error name Description Action at occurrence of error error code (Normal) • Hardware error • Any of the parameters saved in the flash Fault ROM is illegal.
  • Page 595 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Setting range Remedy (Setting given in sequence program) Axis 1 Axis 2 Axis 3 • Correct the flash ROM data (refer to [2] (4) in section 13.4). • Check if there are effects of noise or the like. •...
  • Page 596 14 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code Hardware stroke An upper hardware stroke limit signal (FLS) is Stopping according to sudden stop (stopping limit (+) turned OFF. group 1) setting (deceleration and stop/sudden stop) selected in detail parameter 2 (However, deceleration and stop only during manual pulse Hardware stroke...
  • Page 597 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Setting range Remedy (Setting given in sequence program) Axis 1 Axis 2 Axis 3 After making an axis error reset (refer to [3] in Section 14.1), perform manual control operation (refer to Chapter 11) to move the axis to the position where the upper limit signal (FLS) will not be turned OFF.
  • Page 598 14 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code In the near-point dog method or count method 1), the zero point is not passed between a machine zero point return start and machine Zero point not zero point return completion.
  • Page 599 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Setting range Remedy (Setting given in sequence program) Axis 1 Axis 2 Axis 3 • Use the near-point dog method 2) or count method 3) as the zero point return method. (Refer to section 8.2.) <Zero point return method>...
  • Page 600 14 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code Start outside Positioning is started at a position outside the stroke limit (+) upper software stroke limit. Start outside Positioning is started at a position outside the stroke limit (-) lower software stroke limit.
  • Page 601 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Setting range Remedy (Setting given in sequence program) Axis 1 Axis 2 Axis 3 Software stroke limit upper limit value <Software stroke limit upper/lower limit value> Change the current feed to within the range of the •...
  • Page 602 14 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code Command speed The command speed is set at “0.” setting error • The control method setting is out of the range. At start: Operation does not start. •...
  • Page 603 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Setting range Remedy (Setting given in sequence program) Axis 1 Axis 2 Axis 3 Address storing the command <Command speed> Correct the command speed. speed of each of positioning data 1 to 1000000 [pulse/s] (Refer to section 5.3 Da.
  • Page 604 14 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code One of the following is applicable when condition data is referred to for a conditional start, wait start or JUMP command. • The target condition setting is out of the Condition data setting range.
  • Page 605 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Setting range Remedy (Setting given in sequence program) Axis 1 Axis 2 Axis 3 Correct the start block data. Refer to section "5.4 Start block data." Correct the special start data. <Special command> (Refer to section 5.4 Da.
  • Page 606 14 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code Outside speed The setting range of “speed limit value” in basic limit value range parameter 2 is out of the setting range. Outside The setting range of “acceleration time 0” in At power-on or when the PLC READY signal acceleration time basic parameter 2 is out of the setting range.
  • Page 607 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Setting range Remedy (Setting given in sequence program) Axis 1 Axis 2 Axis 3 1 to 1000000 [pulse/s] 1 to 600000000 [mm/min, etc.] (One-word type) 1 to 65535 (Two-word type) 1 to 8388608 Change the setting to within the setting range and turn OFF then ON the PLC READY signal (Y1D).
  • Page 608 14 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code Speed The setting range of the “speed changeover changeover mode” in detail parameter 1 is out of the setting mode error range. Interpolation The setting range of the “interpolation speed speed designation method”...
  • Page 609 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Setting range Remedy (Setting given in sequence program) Axis 1 Axis 2 Axis 3 0, 1 0, 1 0, 1, 2 Change the setting to within the setting range and turn 0: Manual pulse generator operation OFF then ON the PLC READY signal (Y1D).
  • Page 610 14 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code JOG acceleration The setting range of “JOG acceleration time selection setting selection” in detail parameter 2 is out of the error setting range. JOG deceleration The setting range of “JOG deceleration time selection setting selection”...
  • Page 611 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Setting range Remedy (Setting given in sequence program) Axis 1 Axis 2 Axis 3 0, 1, 2 ,3 0, 1, 2 ,3 0, 1 1 to 100 (One-word type) 1 to 65535 (Two-word type) 1 to 8388608 0, 1 0, 1...
  • Page 612 14 TROUBLESHOOTING MELSEC-A Division of Error Error name Description Action at occurrence of error error code The setting range of the “zero point return Zero point return speed” zero point return basic parameter is out speed error of the setting range. The setting range of the “creep speed”...
  • Page 613 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Setting range Remedy (Setting given in sequence program) Axis 1 Axis 2 Axis 3 1 to 1000000 [pulse/s] 1 to 600000000 [mm/min, etc.] 1 to 1000000 [pulse/s] 1 to 600000000 [mm/min, etc.] 0, 1 1 to 300 Change the setting to within the setting range and turn OFF then ON the PLC READY signal (Y1D).

  • Page 614: Errors Detected By Mr-H-B (Mr-H-Bn)

    14 TROUBLESHOOTING MELSEC-A 14.2.2 Errors detected by MR-H-B (MR-H-BN) Servo Error amplifier Name Definition Occurrence factor code LED display 1. Power supply voltage is low. 2. Power failed instantaneously. In case of MR-H700BN or less: 15ms or more In case of MR-H11KBN or less: 10ms or more Power supply voltage 2010 Undervoltage...
  • Page 615 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Review the power supply. Error code 2010 occurs if power is switched Change the servo amplifier. on after all connectors are disconnected. Any of error codes 2012 to 2015 occurs if power is switched ON after all connectors are Change the servo amplifier.
  • Page 616 14 TROUBLESHOOTING MELSEC-A Servo Error amplifier Name Definition Occurrence factor code LED display 1. Wrong setting of " Pr.102 Regenerative brake resistor" Permissible regenerative 2. Built-in regenerative brake resistor or regenerative brake option is power of the built-in not connected. regenerative brake 3.
  • Page 617 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Set correctly. Connect correctly. 1. Reduce the frequency of positioning. Call the status display and check the 2. Use the regenerative brake option of larger capacity. regenerative load ratio.
  • Page 618 14 TROUBLESHOOTING MELSEC-A Servo Error amplifier Name Definition Occurrence factor code LED display 1. SSCNET cable is disconnected. SSCNET cable 2. SSCNET cable fault. 2034 CRC error communication error 3. Noise entered the SSCNET cable. 4. The terminal connector is disconnected. Command pulse Input command pulse is 1.
  • Page 619 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory Checking method Remedy address Axis 1 Axis 2 Axis 3 Connect correctly. Change the cable. Take noise suppression measures. Connect correctly. Change the command pulse frequency to a proper value. Take noise suppression measures. Connect correctly.
  • Page 620 14 TROUBLESHOOTING MELSEC-A Servo Error amplifier Name Definition Occurrence factor code LED display 1. Machine struck something. 2. Wrong connection of servomotor. Servo amplifier's output terminals U, V, W do not match servomotor's input terminals U, V, W. Machine collision or like caused max.
  • Page 621 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory Checking method Remedy address Axis 1 Axis 2 Axis 3 1. Review operation pattern. 2. Install limit switches. Connect correctly. 1. Repeat acceleration/deceleration to execute auto Servo response setting tuning. 2. Change " Pr.109 Servo response setting". 3.

  • Page 622: Errors Detected By Mr-J-B

    14 TROUBLESHOOTING MELSEC-A 14.2.3 Errors detected by MR-J-B Servo Error amplifier Name and definition Occurrence factor code LED display 1. Power supply voltage is 160VAC or less. Undervoltage The power supply voltage (R, S, T) 2010 2. An instantaneous power failure occurred for 15ms or longer. dropped to or below the given level (160VAC).
  • Page 623 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Measure the input voltage (R, S, T) with a Review the power supply capacity. voltmeter. Check if an instantaneous power failure occurred. Observe the input voltage with an oscilloscope.
  • Page 624 14 TROUBLESHOOTING MELSEC-A Servo Error amplifier Name and definition Occurrence factor code LED display 1. The command speed exceeded the permissible speed. 2. The acceleration/deceleration time constant is so small that overshoot occurs. Overspeed 2031 Motor speed reached or exceeded the permissible speed.
  • Page 625 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 1. Check the speed command (pulse train frequency). 2. Check if the motor speed determined by the Set the speed correctly. (600kpps or less) set speed of the AD75 has exceeded the rated speed of the servomotor.
  • Page 626 14 TROUBLESHOOTING MELSEC-A Servo Error amplifier Name and definition Occurrence factor code LED display SSCNET cable is disconnected. Transfer error SSCNET cable fault. 2036 Command cable fault Printed board fault The terminal connector is disconnected. 1. Parameter data corrupted. 2037 Parameter error 2.
  • Page 627 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Check for disconnection of the cable Connect correctly. connector. Check for an open cable, etc. Change the cable. Change the unit. Change the unit. Check for disconnection of the terminal Connect correctly.
  • Page 628 14 TROUBLESHOOTING MELSEC-A Servo Error amplifier Name and definition Occurrence factor code LED display 1. Acceleration/deceleration time constant is too small. 2. Start disabled due to torque shortage. 3. Servo gain (PG1) setting too low. 4. Bus voltage in the unit low. Error excessive 2052 Droop pulse value of the deviation counter...
  • Page 629 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Increase the acceleration/deceleration time Increase the acceleration/deceleration time constant. constant. Increase the setting of " Pr.113 Position loop Set a proper value. gain 1". Refer to the error code 2051-3.

  • Page 630: Errors Detected By Mr-J2-B

    14 TROUBLESHOOTING MELSEC-A 14.2.4 Errors detected by MR-J2-B Servo Error amplifier Name Definition Occurrence factor code LED display 1. Power supply voltage is low. 2. An instantaneous power failure occurred for 100ms or longer. 3. Shortage of power supply capacity caused the power supply Power supply voltage voltage to drop at start, etc.
  • Page 631 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Review the power supply. Error code 2010 occurs if power is switched Change the servo amplifier. ON after all connectors are disconnected. Any of error codes 2011 to 2013 and 2015 occurs if power is switched ON after all Change the servo amplifier.
  • Page 632 14 TROUBLESHOOTING MELSEC-A Servo Error amplifier Name Definition Occurrence factor code LED display 1. " Pr.102 Regenerative brake resistor" setting error Permissible regenerative 2. Built-in regenerative brake resistor or regenerative brake option is power of the built-in not connected. regenerative brake 3.
  • Page 633 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Set correctly. Connect correctly. 1. Reduce the frequency of positioning. Call the status display and check the 2. Use the regenerative brake option of larger capacity. regenerative load ratio.
  • Page 634 14 TROUBLESHOOTING MELSEC-A Servo Error amplifier Name Definition Occurrence factor code LED display 1. Servo amplifier fault caused the parameter setting to be rewritten. 2037 Parameter error Parameter setting error 2. Regenerative brake option not combined with used servo amplifier was selected in " Pr.102 Regenerative brake resistor". 1.
  • Page 635 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Change the servo amplifier. Set " Pr.102 Regenerative brake resistor" correctly. Review environment so that ambient temperature is 0 to 40°C. 1. Reduce load. 2.
  • Page 636 14 TROUBLESHOOTING MELSEC-A Servo Error amplifier Name Definition Occurrence factor code LED display 1. Acceleration/deceleration time constant is small. 2. Motor cannot be started due to torque shortage caused by power supply voltage drop. 3. " Pr.113 Position loop gain 1" value is small. Droop pulse value of the deviation counter exceeded the...
  • Page 637 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Increase the acceleration/deceleration time constant. 1. Review the power supply capacity. 2. Use servomotor that provides larger output. Increase the setting and adjust to ensure proper operation.

  • Page 638: Errors Detected By Mr-J2S-B

    14 TROUBLESHOOTING MELSEC-A 14.2.5 Errors detected by MR-J2S-B Servo Error amplifier Name Definition Occurrence factor code LED display 1. Power supply voltage is low. 2. An instantaneous power failure occurred for 60ms or longer. Power supply voltage 3. Shortage of power supply capacity caused the power supply dropped.
  • Page 639 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Review the power supply. Error code 2010 occurs if power is switched ON after CN1A, CN1B and CN3 connectors Change the servo amplifier. are disconnected. Any of error codes 2011 to 2015 occurs if power is switched ON after CN1A, CN1B and Change the servo amplifier.
  • Page 640 14 TROUBLESHOOTING MELSEC-A Servo Error amplifier Name Definition Occurrence factor code LED display 1. " Pr.102 Regenerative brake resistor" setting error 2. Built-in regenerative brake resistor or regenerative brake option is Permissible regenerative not connected. power of the built-in 3. High-duty operation or continuous regenerative operation caused regenerative brake the permissible regenerative power of the regenerative brake resistor or regenerative...
  • Page 641 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory addresses Checking method Remedy Axis 1 Axis 2 Axis 3 Set correctly. Connect correctly. 1. Reduce the frequency of positioning. Call the status display and check the 2. Use the regenerative brake option of larger capacity. regenerative load ratio.
  • Page 642 14 TROUBLESHOOTING MELSEC-A Servo Error amplifier Name Definition Occurrence factor code LED display 1. SSCNET cable is disconnected. SSCNET cable or 2036 Transfer error 2. SSCNET cable fault. printed board fault 3. The terminal connector is disconnected. 1. Servo amplifier fault caused the parameter setting to be rewritten. 2037 Parameter error Parameter setting error 2.
  • Page 643 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Connect correctly. Change the cable. Connect correctly. Change the servo amplifier. Refer to section "5.2.10 Servo parameters for MR- Set the parameter value to within the setting range. J2S-B".
  • Page 644 14 TROUBLESHOOTING MELSEC-A Servo Error amplifier Name Definition Occurrence factor code LED display 1. Acceleration/deceleration time constant is small. 2. Torque limit value is small. 3. Motor cannot be started due to torque shortage caused by power supply voltage drop. Droop pulse value of the deviation counter 4.
  • Page 645 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Increase the acceleration/deceleration time constant. Torque limit setting value Zero point return torque Increase the torque limit value. limit value Torque output setting value 1180 1230 1280...

  • Page 646: Errors Detected By Mr-J2-03B5

    14 TROUBLESHOOTING MELSEC-A 14.2.6 Errors detected by MR-J2-03B5 Servo Error amplifier Name Definition Occurrence factor code LED display 1. Power supply voltage is low. 2. An instantaneous power failure occurred for 40ms or longer. 3. Shortage of power supply capacity caused the power supply voltage to drop at start, etc.
  • Page 647 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Review the power supply. Error code 2010 occurs if power is switched ON after CN1A, CN1B, CNP2 and CNP3 Change the servo amplifier. connectors are disconnected. Any of error codes 2011 to 2013 and 2015 occurs if power is switched ON after CN1A, Change the servo amplifier.
  • Page 648 14 TROUBLESHOOTING MELSEC-A Servo Error amplifier Name Definition Occurrence factor code LED display 1. SSCNET cable is disconnected. 2. SSCNET cable fault (open cable or short circuit). SSCNET cable 2034 CRC error 3. Noise entered the SSCNET cable. communication error 4.
  • Page 649 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Connect correctly. Change the cable. Take noise suppression measures. Connect correctly. Set correctly. Review the operation program. Take noise suppression measures. Change the AD75. Connect correctly.
  • Page 650 14 TROUBLESHOOTING MELSEC-A Servo Error amplifier Name Definition Occurrence factor code LED display 1. Acceleration/deceleration time constant is small. 2. Torque limit value is small. 3. Motor cannot be started due to torque shortage caused by power supply voltage drop. Droop pulse value of the deviation counter 4.
  • Page 651 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Checking method Remedy Axis 1 Axis 2 Axis 3 Increase the acceleration/deceleration time constant. Torque limit setting value Zero point return torque Increase the torque limit value. limit value Torque output setting value 1180 1230 1280...

  • Page 652: List Of Warnings

    14 TROUBLESHOOTING MELSEC-A 14.3 List of warnings 14.3.1 Warnings detected by AD75 The following table shows the warning details and remedies when warnings occur. Division of Warning Warning name Description Action at occurrence of warning warning code (Normal) FeRAM count FeRAM access count exceeded warning times.
  • Page 653 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Setting range Remedy (Setting given in sequence program) Axis 1 Axis 2 Axis 3 Prepare a new module until the error "FeRAM count over" (error code: 10) occurs. 1080 1083 Replace the module. Correct the start request issuance timing.
  • Page 654 14 TROUBLESHOOTING MELSEC-A Division of Warning Warning name Description Action at occurrence of warning warning code • Setting “0”: Controlled to 100. Illegal override A value outside the range from 1 to 300 is • “301” or larger setting: Controlled to 300. value specified as an override value.
  • Page 655 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Setting range Remedy (Setting given in sequence program) Axis 1 Axis 2 Axis 3 <Positioning operation speed override> 1159 1209 1259 1 to 300 <New torque value> Set a value within the setting range. 1176 1226 1276...
  • Page 656 14 TROUBLESHOOTING MELSEC-A Division of Warning Warning name Description Action at occurrence of warning warning code Deceleration and A speed change request is issued during stop speed Speed change is not carried out. deceleration and stop. change • The speed is controlled to the “speed limit Speed limit value The new speed value given during operation value.”...
  • Page 657 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory address Setting range Remedy (Setting given in sequence program) Axis 1 Axis 2 Axis 3 Do not change the speed during deceleration or <Speed change request> 1158 1208 1258 stoppage caused by a stop command or during 1: Speed change request automatic deceleration under position control.

  • Page 658: Warnings Detected By Mr-H-B (Mr-H-Bn)

    14 TROUBLESHOOTING MELSEC-A 14.3.2 Warnings detected by MR-H-B (MR-H-BN) Servo Warning amplifier Name Definition Occurrence factor code LED display Open battery cable Absolute position detection system 1. Battery cable is open. 2092 warning battery voltage is low. 2. Battery voltage dropped to 2.8V or less. 1.
  • Page 659 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory Servo status at address Checking method Remedy warning occurrence Axis 1 Axis 2 Axis 3 Repair cable or change battery. Servo ON continued Change battery. Remove the cause of droop pulse Servo ON continued occurrence.

  • Page 660: Warnings Detected By Mr-J-B

    14 TROUBLESHOOTING MELSEC-A 14.3.3 Warnings detected by MR-J-B Servo Warning amplifier Name Definition Occurrence factor code LED display Open battery cable Absolute position detection system 1. Battery cable is open. 2092 warning battery voltage is low. 2. Battery voltage dropped to 2.8V or less. 1.
  • Page 661 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory Servo status at address Checking method Remedy warning occurrence Axis 1 Axis 2 Axis 3 Repair cable or change battery. Servo ON continued Change battery. Remove the cause of droop pulse Servo ON continued occurrence.

  • Page 662: Warnings Detected By Mr-J2-B

    14 TROUBLESHOOTING MELSEC-A 14.3.4 Warnings detected by MR-J2-B Servo Warning amplifier Name Definition Occurrence factor code LED display Open battery cable Absolute position detection system 1. Battery cable is open. 2092 warning battery voltage is low. 2. Battery voltage dropped to 2.8V or less. 1.
  • Page 663 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory Servo status at address Checking method Remedy warning occurrence Axis 1 Axis 2 Axis 3 Repair cable or change battery. Servo ON continued Change battery. Remove the cause of droop pulse Servo ON continued occurrence.

  • Page 664: Warnings Detected By Mr-J2S-B

    14 TROUBLESHOOTING MELSEC-A 14.3.5 Warnings detected by MR-J2S-B Servo Warning amplifier Name Definition Occurrence factor code LED display Open battery cable Absolute position detection system 1. Battery cable is open. 2092 warning battery voltage is low. 2. Battery voltage dropped to 2.8V or less. 1.
  • Page 665 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory Servo status at address Checking method Remedy warning occurrence Axis 1 Axis 2 Axis 3 Repair cable or change battery. Servo ON continued Change battery. Remove the cause of droop pulse occurrence. Servo ON continued Reduce creep speed.

  • Page 666: Warnings Detected By Mr-J2-03B5

    14 TROUBLESHOOTING MELSEC-A 14.3.6 Warnings detected by MR-J2-03B5 Servo Warning amplifier Name Definition Occurrence factor code LED display There is a possibility that overload Load increased to 85% or more of overload 1 (error 2141 Overload warning 1 (error code: 2050) or overload 2 code: 2050) or overload 2 (error code: 2051) (error code: 2051) may occur.
  • Page 667 14 TROUBLESHOOTING MELSEC-A Relevant buffer memory Servo status at address Checking method Remedy warning occurrence Axis 1 Axis 2 Axis 3 Refer to overload 1 (error code: 2050) Refer to overload 1 (error code: 2050) or or overload 2 (error code: 2051) in Servo ON continued overload 2 (error code: 2051) in section section "14.2.6 Errors detected by MR-...

  • Page 668: Start During Error History

    14 TROUBLESHOOTING MELSEC-A 14.4 Start during error history If an error occurs when starting, all the data in the buffer memory start history area (address: 462 to 541) is copied to the start during error history area (addresses: 543 to 622).

  • Page 669: Appendices

    ] ....Appendix- 26 Appendix 3 Positioning data (No. 1 to 100), List of buffer memory addresses ....Appendix- 27 Appendix 4 Comparisons with old versions of A1SD75M1 / A1SD75M2 / A1SD75M3, and AD75M1 / AD75M2 / AD75M3 models............Appendix- 30 Appendix 5 MELSEC Explanation of positioning terms ............Appendix- 32 Appendix 6 Positioning control troubleshooting ..............Appendix- 48...

  • Page 670: Appendix 1 External Dimension Drawing

    APPENDICES MELSEC-A Appendix 1 External dimension drawing (1) AD75M1/AD75M2/AD75M3 D75M3 MODE RS-422 37.5 (Unit: mm) Appendix - 2...
  • Page 671 APPENDICES MELSEC-A (2) A1SD75M1/A1SD75M2/A1SD75M3 1SD75M3 MODE RS-422 A1SD75M3 93.6 34.5 (Unit: mm) Appendix - 3...

  • Page 672: Appendix 2 Format Sheets

    APPENDICES MELSEC-A Appendix 2 Format sheets Appendix 2.1 Positioning module operation chart Axis address mm, inch, degree, pulse Appendix - 4...
  • Page 673 APPENDICES MELSEC-A Axis address mm, inch, degree, pulse Appendix - 5...

  • Page 674: Appendix 2.2 Parameter Setting Value Entry Table

    APPENDICES MELSEC-A Appendix 2.2 Parameter setting value entry table [1] Parameters Setting range Item inch degree pulse Pr.1 Unit setting Pr.2 No. of pulses per rotation (Ap) 1 to 65535 pulse 1 to 65535 1 to 65535 1 to 65535 Movement amount per rotation 1 to 65535 Pr.3...
  • Page 675 APPENDICES MELSEC-A Initial value Axis 1 Axis 2 Axis 3 Remarks 20000 20000 200000 1000 1000 2147483647 –2147483648 Appendix - 7...
  • Page 676 APPENDICES MELSEC-A Setting range Item inch degree pulse 0: Ignore manual pulse generator operation 1: Use manual pulse generator 1 (control using manual pulse generator connected to axis 1) 2: Use manual pulse generator 2 Pr.23 Manual pulse generator selection (control using manual pulse generator connected to axis 2) 3: Use manual pulse generator 3 (control using manual pulse generator connected to axis 3)
  • Page 677 APPENDICES MELSEC-A Initial value Axis 1 Axis 2 Axis 3 Remarks Axis 1: 1, Axis 2: 2, Axis 3: 3 1000 1000 1000 1000 1000 1000 20000 1000 Appendix - 9...
  • Page 678 APPENDICES MELSEC-A Setting range Item inch degree pulse 0: Near-point dog method, 4: Count method 1) Pr.45 Zero point return method 5: Count method 2), 6: Data setting method 7: Near-point dog method 2), 8: Count method 3) 0: Positive direction (address increment direction) Pr.46 Zero point return direction 1: Negative direction (address decrement direction) –2147483648 to...
  • Page 679 APPENDICES MELSEC-A Initial value Axis 1 Axis 2 Axis 3 Remarks Appendix - 11...
  • Page 680 APPENDICES MELSEC-A [2] Servo parameters (1) Servo parameters for MR-H-B (MR-H-BN) Item Setting range Servo series 0: MR-H-B (MR-H-BN), 1: MR-J-B, 2: MR-J2-B, 1E: Other Pr.100 0: Absolute position detection invalid Pr.101 Amplifier setting 1: Absolute position detection valid 00: External regenerative brake option not used, 01: FR-RC, FR-BU, Regenerative 02: MR-RB013, 03: MR-RB033, 05: MR-RB32, 06: MR-RB34, brake option...
  • Page 681 APPENDICES MELSEC-A Initial value Axis 1 Axis 2 Axis 3 Remarks 0000 1200 Appendix - 13...
  • Page 682 APPENDICES MELSEC-A Item Setting range Pr.127 Monitor output 1 offset –9999 to 9999mV Pr.128 Monitor output 2 offset –9999 to 9999mV 0: Servomotor speed, 1: Torque, 2: Servomotor speed (+), Data selection 1 3: Torque (+), 4: Current command, 5: Command speed, 6: Droop pulse 1/1, 7: Droop pulse 1/4, 8: Droop pulse 1/16, Data selection 2 Pre-alarm...
  • Page 683 APPENDICES MELSEC-A Initial value Axis 1 Axis 2 Axis 3 Remarks Appendix - 15...
  • Page 684 APPENDICES MELSEC-A (2) Servo parameters for MR-J-B Item Setting range Pr.100 Servo series 0: MR-H-B (MR-H-BN), 1: MR-J-B, 2: MR-J2-B, 1E: Other 0: Absolute position detection invalid Pr.101 Amplifier setting 1: Absolute position detection valid 00: External regenerative brake option not used, 02: MR-RB013, Regenerative 03: MR-RB033, 04: MR-RB064 2, 05: MR-RB32, 06: MR-RB34,...
  • Page 685 APPENDICES MELSEC-A Initial value Axis 1 Axis 2 Axis 3 Remarks 0000 1200 Appendix - 17...
  • Page 686 APPENDICES MELSEC-A (3) Servo parameters for MR-J2-B Item Setting range Pr.100 Servo series 0: MR-H-B (MR-H-BN), 1: MR-J-B, 2: MR-J2-B, 1E: Other Pr.101 Amplifier setting 0: Absolute position detection invalid, 1: Absolute position detection valid Regenerative 00: External regenerative brake option not used, 05: MR-RB32, brake option 08: MR-RB30, 09: MR-RB50, 10: MR-RB032, 11: MR-RB12 Regenerative...
  • Page 687 APPENDICES MELSEC-A Initial value Axis 1 Axis 2 Axis 3 Remarks 0000 1200 Appendix - 19...
  • Page 688 APPENDICES MELSEC-A (4) Servo parameters for MR-J2S-B Item Setting range Pr.100 Servo series 0: MR-H-B (MR-H-BN), 1: MR-J-B, 2: MR-J2-B, 1E: Other 0: Absolute position detection invalid Pr.101 Amplifier setting 1: Absolute position detection valid Regenerative 00: External regenerative brake option not used, 05: MR-RB32, brake option 08: MR-RB30, 09: MR-RB50, 10: MR-RB032, 11: MR-RB12 Regenerative...
  • Page 689 APPENDICES MELSEC-A Initial value Axis 1 Axis 2 Axis 3 Remarks 0000 1200 Appendix - 21...
  • Page 690 APPENDICES MELSEC-A Item Setting range Low pass filter 0: Valid (Automatic adjustment), 1: Invalid selection Low pass Adaptive vibration filter/adaptive suppression 0: Invalid, 1: Valid 2: Hold Pr.125 vibration control selection suppression Adaptive vibration control suppression 0: Normal, 1: Large sensitivity control sensitivity Monitor output 1 offset –999 to 999mV...
  • Page 691 APPENDICES MELSEC-A Initial value Axis 1 Axis 2 Axis 3 Remarks 4000 Appendix - 23...
  • Page 692 APPENDICES MELSEC-A (5) Servo parameters for MR-J2-03B5 Item Setting range Pr.100 Servo series 0: MR-H-B (MR-H-BN), 1: MR-J-B, 2: MR-J2-B, 1E: Other Pr.101 Amplifier setting Reserved (Set initial value) Regenerative Reserved (Set initial value) brake option Regenerative Pr.102 brake resistor External dynamic Reserved (Set initial value) brake selection Pr.103...
  • Page 693 APPENDICES MELSEC-A Initial value Axis 1 Axis 2 Axis 3 Remarks 0000 1200 Appendix - 25...

  • Page 694: Appendix 2.3 Positioning Data Setting Value Entry Table [Data No. To ]

    APPENDICES MELSEC-A Appendix 2.3 Positioning data setting value entry table [data No. Axis Da.1 Da.2 Da.3 Da.4 Da.5 Da.6 Da.7 Da.8 Da.9 Operation Control Accelera- Decelera- Positioning Command Dwell time M code Data pattern method tion time tion time address/ address speed movement...

  • Page 695: Appendix 3 Positioning Data (No. 1 To 100) List Of Buffer Memory Addresses

    APPENDICES MELSEC-A Appendix 3 Positioning data (No. 1 to 100) List of buffer memory addresses (1) For axis 1 Posi- Command Positioning Posi- Command Positioning Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time identi-...
  • Page 696 APPENDICES MELSEC-A (2) For axis 2 Posi- Command Positioning Posi- Command Positioning Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low-...
  • Page 697 APPENDICES MELSEC-A (3) For axis 3 Posi- Command Positioning Posi- Command Positioning Arc data Arc data Data tioning Dwell speed address Data tioning Dwell speed address identi- code time identi- code time Low- High- Low- High- Low- High- Low- High- Low- High- Low-...

  • Page 698: Appendix 4 Comparisons With Old Versions Of A1Sd75M1/A1Sd75M2/A1Sd75M3, And Ad75M1/Ad75M2/Ad75M3 Models

    Appendix 4 Comparisons with old versions of A1SD75M1/A1SD75M2/A1SD75M3, and AD75M1/AD75M2/AD75M3 models The following tables indicate performance comparison and function comparison between the new and old versions of the A1SD75M1/A1SD75M2/A1SD75M3 and AD75M1/AD75M2/AD75M3 and buffer memory addresses for additional functions. (1) Function comparison <Comparison on software version >...
  • Page 699 APPENDICES MELSEC-A (2) Added buffer memory addresses Buffer memory addresses Name Used function Axis 1 Axis 2 Axis 3 Setting for the restart allowable range Restart function when servo OFF to ON Near pass mode selection for path Near pass mode function control Absolute position restoration mode Absolute position restoration selection...

  • Page 700: Appendix 5 Melsec Explanation Of Positioning Terms

    APPENDICES MELSEC-A Appendix 5 MELSEC Explanation of positioning terms 2-SPEED TRAPEZOIDAL CONTROL ABSOLUTE POSITION DETECTION In this positioning control method, the SYSTEM positioning pattern, positioning addresses (P1, P2), and positioning speeds (V1, V2) are set in When positioning is carried out using this the sequence program.
  • Page 701 APPENDICES MELSEC-A ADDRESS BACKLASH COMPENSATION 1) This is a numerical value to express the When a forward run operation changes to a positioning position, designated in mm, inch, reverse run operation, there is sometimes play angle, or No. of pulse units. (backlash) in the mesh of the toothed gears.
  • Page 702 APPENDICES MELSEC-A BALL SCREW CIRCULAR INTERPOLATION This is a type of screw, with balls lined up in Automatic operation in which the machine path the threads like ball bearings. This reduces makes a circle when positioning is carried out backlash, and enables rotation with little force. by simultaneously operating both the longitudinal feed and latitudinal feed motors.
  • Page 703 APPENDICES MELSEC-A CREEP SPEED CW (Clockwise) A speed at which the machine moves very Rotation in the clockwise direction. Rotation in slowly. the clockwise direction looking from the motor It is difficult for the machine to stop accurately shaft end side. when running at high speed, so the movement must first be changed to the creep speed before stopping.
  • Page 704 APPENDICES MELSEC-A DEVIATION COUNTER DWELL TIME Deviation counters have the following two This is the time taken immediately after the functions. positioning is completed to adjust for the droop 1) To count the command pulses issued from pulses in the deviation counter. The the AD75, and transmit the count value to positioning will not be accurate if this time is the D/A converter.
  • Page 705 APPENDICES MELSEC-A ENCODER EXTERNAL REGENERATIVE BRAKE RESISTOR This device turns the input data into a binary code of 1 (ON) and 0 (OFF). A type of pulse This is also called the regenerative brake. generator. When a machine is moved with a motor, power is normally supplied to the motor from an For the main For the zero...
  • Page 706 APPENDICES MELSEC-A FLS SIGNAL (Forward Limit Signal) HIGH-SPEED ZERO POINT RETURN This is the input signal that notifies the user The axis returns to the machine zero point at that the limit switch (b contact configuration, the zero point return speed without detecting normally continuity) installed at the upper limit the near-point dog.
  • Page 707 APPENDICES MELSEC-A INCREMENTAL ENCODER INTERLOCK A device that simply outputs ON/OFF pulses In this condition, the machine is blocked from by the rotation of the axis. 1-phase types moving to the next operation until the output only A pulses, and do not indicate the operation in progress is complete.
  • Page 708 MANUAL PULSE GENERATOR No.8 No.1 Latitudinal feed The handle of this device is manually rotated to generate pulses. This device is used when manually carrying out accurate positioning. Made by Mitsubishi Electric Corp. (model: MR-HDP01) Appendix - 40...
  • Page 709 APPENDICES MELSEC-A MASTER AXIS OPERATION PATTERN When carrying out interpolation operations, The kind of operation to be carried out after this is the side on which the positioning data is executing the positioning data is determined. executed in priority. For example, when 1) If "POSITIONING COMPLETE"...
  • Page 710 APPENDICES MELSEC-A PARAMETER POSITIONING This is the basic data used in positioning. Accurately moving the machine from a point to Parameters are determined by the machine a determined point. The distance, direction, side design, so subsequent changes of speed, etc., for that movement are designated parameters must be accompanied by changes by the user.
  • Page 711 APPENDICES MELSEC-A POSITIONING START REGENERATIVE BRAKE OPTION This refers the act of designating a target data This function is an option. It is used when No. and starting the positioning. carrying out highly repetitive The operation after the positioning is complete acceleration/deceleration.
  • Page 712 APPENDICES MELSEC-A SERVO LOCK SKIP FUNCTION In positioning using a servomotor, working When a SKIP signal is input, the positioning power is required to hold the machine at the being executed is interrupted, the motor is stop position. deceleration stopped, and the next positioning (The position will be lost if the machine is is automatically carried out.
  • Page 713 APPENDICES MELSEC-A SPEED LOOP GAIN STEP FUNCTION This is one item in the servo parameters of the When the operation is designed so that positioning data. It expresses the speed of the several positioning data Nos. are control response during speed control. When consecutively run, this function can be used to the load inertia moment ratio increases, the carry out a test operation for 1 data item at a...
  • Page 714 APPENDICES MELSEC-A SUDDEN STOP TORQUE RIPPLE A stop carried out in a shorter time than the Torque width variations, deviations in the deceleration time designated in the torque. parameters. Full speed TURNTABLE A rotating table, which is turned using power. Sudden stop The table is used divided from one 360 °...
  • Page 715 APPENDICES MELSEC-A WORM GEAR ZERO POINT RETURN PARAMETER This is the basic screw in mechanisms that This parameter is required when returning to position using screw rotation. Ball screws are the zero point. It is determined by the machine often used to reduce backlash and dimension side design, so subsequent changes of this error.

  • Page 716: Appendix 6 Positioning Control Troubleshooting

    APPENDICES MELSEC-A Appendix 6 Positioning control troubleshooting Trouble type Questions/Trouble Remedy The PLC CPU power was turned OFF or the PLC CPU was reset, etc., during flash ROM writing, which deleted Display reads "FFFF " when a the data in the flash ROM. parameter is read with a AD75 Initialize the parameters, and reset the required software package.
  • Page 717 APPENDICES MELSEC-A Trouble type Questions/Trouble Remedy How can the deceleration stop Set "1: Sudden stop" in the " Pr.38 Stop group 1 sudden time during stopping be shortened stop selection", and reduce the setting value of " Pr.37 using the hardware stroke limit? Sudden stop deceleration time".
  • Page 718 APPENDICES MELSEC-A Trouble type Questions/Trouble Remedy The machine only moves to "10081230", although positioning with a command value of "10081234" carried out. Reset Pr.3 and Pr.2 in the following order. 1) Calculate "8192/8000 × 10081230/10081234". How can the error be compensated? 2) Obtain the reduced value.
  • Page 719 APPENDICES MELSEC-A Trouble type Questions/Trouble Remedy The positioning start signal [Y10] is After the BUSY signal turns ON, there is no problem with kept ON until the BUSY signal is turning [Y10] OFF before the BUSY signal turns OFF. OFF, but is there any problem with (The AD75 detects the rising edge (OFF ON) of the turning it OFF before the BUSY...
  • Page 720 A phase pulses are input? Can a manual pulse generator Other manual pulse generators can be used if they Manual pulse other than the Mitsubishi MR- conform to section "3.5 Specifications of interfaces with generator operation HDP01 be used? external devices."...
  • Page 721 APPENDICES MELSEC-A Trouble type Questions/Trouble Remedy Backlash compensation value 0 ≤ ≤ 255 Movement amount per pulse Error 938 (backlash compensation Setting is not possible if the above equation is not amount error 2) occurs even when satisfied. the backlash compensation value Adjust by setting "...

  • Page 722: Appendix 7 List Of Buffer Memory Addresses

    APPENDICES MELSEC-A Appendix 7 List of buffer memory addresses The following shows the relation between the buffer memory addresses and the various items. (Any address not given in the list must not be used. If used, the system may not operate correctly.) Buffer memory address Memory Item...
  • Page 723 APPENDICES MELSEC-A Buffer memory address Memory Item area Axis 1 Axis 2 Axis 3 Pr.34 JOG operation deceleration time selection Pr.35 Acceleration/deceleration process selection Pr.36 S-pattern proportion Pr.37 Sudden stop deceleration time Pr.38 Stop group 1 sudden stop selection Pr.39 Stop group 2 sudden stop selection Pr.40 Stop group 3 sudden stop selection Pr.41 Positioning complete signal output time Pr.42 Allowable circular interpolation error width...
  • Page 724 APPENDICES MELSEC-A Buffer memory address Memory Item area Axis 1 Axis 2 Axis 3 Pr.100 Servo series Pr.101 Amplifier setting Pr.102 Regenerative brake resistor Pr.103 Motor type Pr.104 Motor capacity Pr.105 Motor speed Pr.106 Feedback pulse Pr.107 Rotation direction Pr.108 Auto tuning Pr.109 Servo response setting Pr.112 Load inertia ratio Pr.113 Position loop gain 1...
  • Page 725 APPENDICES MELSEC-A Buffer memory address Memory Item area Common for axis 1, axis 2, and axis 3 Md.1 In test mode flag Md.2 Module name Md.3 OS type Md.4 OS version Md.5 Clock data (hour: minute) Md.6 Clock data (second: 100 ms) (pointer No.) (0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15) Md.7...
  • Page 726 APPENDICES MELSEC-A Buffer memory address Memory Item area Axis 1 Axis 2 Axis 3 1000 Md.29 Current feed value 1001 1002 Md.30 Machine feed value 1003 1004 Md.31 Feedrate 1005 1006 Md.32 Valid M code Md.33 Axis error No. 1007 1008 Md.34 Axis warning No.
  • Page 727 APPENDICES MELSEC-A Buffer memory address Memory Item area Axis 1 Axis 2 Axis 3 1048 Md.100 Zero point return re-movement amount 1049 1050 Md.101 Real current value 1051 1052 Md.102 Deviation counter value 1053 1054 Md.103 Motor speed 1055 1056 Md.104 Motor current 1057 Md.105 Auto tuning...
  • Page 728 APPENDICES MELSEC-A Buffer memory address Memory Item area Axis 1 Axis 2 Axis 3 1100 Cd.1 Clock data setting (hour) 1101 Cd.2 Clock data setting (minute, second) 1102 Cd.3 Clock data writing 1103 Cd.4 Target axis 1104 Cd.5 Positioning data No. 1105 Cd.6 Write pattern...
  • Page 729 APPENDICES MELSEC-A Buffer memory address Memory Item area Axis 1 Axis 2 Axis 3 Da.1 Operation pattern Da.2 Control method 1300 2300 3300 Da.3 Acceleration time No. Da.4 Deceleration time No. Da.9 1301 2301 3301 M code/condition data No. Da.8 Dwell time/JUMP destination 1302 2302...
  • Page 730 APPENDICES MELSEC-A Buffer memory address Memory Item area Axis 1 Axis 2 Axis 3 4500 5750 5000 Start No. 8001 4501 4751 5001 Start No. 8002 4549 4799 5049 Start No. 8001 5050 Condition judgment target data of the condition data 5099 5100...
  • Page 731 INDEX [Number] 1-axis fixed-dimension feed control ....9-29 AUTOMATIC TRAPEZOIDAL ACCELERATION/ 1-axis linear control (ABS linear 1) ....9-23 DECELERATION (explanation of terms) 1-axis linear control (INC linear 1) ....9-24 ............Appendix-33 17-segment LED ..........4-3 Absolute position restoration function ..12-58 2-SPEED TRAPEZOIDAL CONTROL Absolute position restoration mode...
  • Page 732 Axis error No. ( Md.33 )... 5-142, 146 CIRCULAR INTERPOLATION Md.20 Axis error occurrence time (Hour: minute) (explanation of terms) .......Appendix-34 Md.21 ) ............5-142 COMPOSITE SPEED (explanation of terms) Axis error occurrence time (Second: 100 ms) ............Appendix-34 Md.22 ) ............5-142 CONTINUOUS POSITIONING CONTROL (explanation of terms) .......Appendix-34 Axis error reset (...
  • Page 733 Condition target ( Da.14 )......5-134 Data link system..........A-16 Conditional JUMP ......... 9-62 Data setting method machine zero point return Configuration and roles of AD75 memory ..7-2 ................8-18 Confirming the current value......9-14 Data transmission process ......7-6 Confirming the installation and wiring... 4-16 Deceleration stop ...........6-37 Conformation to the EMC Directive and Low Deceleration time 0 (...
  • Page 734 Detected by MR-J2-B ......14-42 General configuration of program ....6-8 Detected by MR-J2S-B ......14-50 General image of system.........2-2 Error compensation method ....... 12-15 General specifications ........3-2 Error detection signal ........3-13 Error excessive alarm level ( Pr.131 ..........5-67,76,87,101,111 HIGH-SPEED MACHINE ZERO POINT RETURN Error history pointer ( Md.23 ) .....
  • Page 735 Internal information 2 ........13-8 List of warnings ..........14-64 Interpolation axis ........... 9-19 Load inertia ratio ( Md.106 ) ......5-162 Interpolation control........9-19 Load inertia ratio ( Pr.112 Interpolation speed designation method ( Pr.21 ..........5-63, 73, 83, 92, 109 ...............
  • Page 736 Manual pulse generator selection ( Pr.23 ............... 5-36 NEAR-POINT DOG (explanation of terms) Max. connection distance ....... 3-3 ............Appendix-41 Max. output command speed ......3-3 NEXT start............10-16 Mechanism of positioning control ....1-8 Names of each part .........4-3 Mode switch............. 4-4 Near pass mode...........12-20 Module name ( Md.2...
  • Page 737 Outline of installation, wiring and maintenance Parameter error (No. 32 to 36) ( Md.115 ................. 4-2 ..............5-164 Outline of starting .......... 1-16 Parameter initialization program....6-19 Outline of stopping ........1-18 Parameter initialization request ( Cd.10 Outline of zero point return control ....8-2 ..............5-172 Override function .........
  • Page 738 Pre-alarm data selection ( Pr.129 )....5-67 Continuous operation interrupt program ...6-19 Precautions according to module version ..2-7 Error reset program........6-20 Precautions for configuring absolute position External start function valid starting program detection system ..........2-8 ..............6-14 Precautions for configuring system ....2-7 Flash ROM write program......6-19 Precautions for creating program ....
  • Page 739 Regenerative brake resistor ( Pr.102 START COMPLETE (explanation of terms) ............. 5-59, 69, 79, 89 ............Appendix-45 Regenerative load ratio ( Md.117 )....5-166 STARTING AXIS ......Appendix-45 Relatively safe stop ........6-36 STATUS (explanation of terms) ..Appendix-45 Remote I/O station .......... 2-6 STEP FUNCTION (explanation of terms) Repeat counter ( ............Appendix-45...
  • Page 740 Setting the torque limit function ....12-29 Speed loop gain 1 ( Md.108 )......5-162 Shape ( Da.10 ) ........... 5-130 Speed loop gain 1 ( Pr.114 Signal layout for connector ......3-16 ..........5-63, 73, 83, 93, 109 Signal name........... 3-13 Speed loop gain 2 ( Md.110 )......5-162...
  • Page 741 Step mode ( Cd.27 ) ........5-182 Time chart for starting high-speed zero point return Step operation program ........ 6-18 ................6-26 Step start information ........12-71 Time chart for starting machine zero point return Step start information ( )....5-182 ................6-25 Cd.28 Step valid flag (...
  • Page 742 WITH MODE (explanation of terms) Zero point return method (1): Near-point dog ............Appendix-46 method .............8-7 WITH mode ..........12-78 Zero point return method (2): Near-point dog WORM GEAR (explanation of terms) method 2) ............8-9 ............Appendix-47 Zero point return method (3): Count method 1) Wait start............
  • Page 743 6. Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi. 7. Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user. 2. Onerous repair term after discontinuation of production (1) Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued.
  • Page 744 Microsoft Windows, Windows NT are registered trademarks of Microsoft Corporation in the United States and other countries. Other company and product names herein may be either trademarks or registered trademarks of their respective owners.
  • Page 746 A1SD75M1/M2/M3, AD75M1/M2/M3 Positioning Module User s Manual A1SD75M/AD75M-U-E MODEL MODEL 13J870 CODE IB(NA)-66715-F(0408)MEE HEAD OFFICE : 1-8-12, OFFICE TOWER Z 14F HARUMI CHUO-KU 104-6212,JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

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