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Mitsubishi Electric RD77MS2 User Manual

Melsec iq-r simple motion module.
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MELSEC iQ-R Simple Motion Module
User's Manual (Application)
RD77MS2
RD77MS4
RD77MS8
RD77MS16

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Table of Contents

   Also See for Mitsubishi Electric RD77MS2

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   Summary of Contents for Mitsubishi Electric RD77MS2

  • Page 1 MELSEC iQ-R Simple Motion Module User's Manual (Application) RD77MS2 RD77MS4 RD77MS8 RD77MS16...
  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. Refer to the user's manual of the CPU module to use for a description of the PLC system safety precautions.
  • Page 4 WARNING ● When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely. For other forms of control (such as program modification, parameter change, forced output, or operating status change) of a running programmable controller, read the relevant manuals carefully and ensure that the operation is safe before proceeding.
  • Page 5 [Design Precautions] CAUTION ● Do not install the control lines or communication cables together with the main circuit lines or power cables. Keep a distance of 100 mm or more between them. Failure to do so may result in malfunction due to noise.
  • Page 6 [Installation Precautions] WARNING ● Shut off the external power supply (all phases) used in the system before mounting or removing the module. Failure to do so may result in electric shock or cause the module to fail or malfunction. [Installation Precautions] CAUTION ●...
  • Page 7 [Wiring Precautions] CAUTION ● Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohm or less. Failure to do so may result in electric shock or malfunction. ● Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.
  • Page 8 [Startup and Maintenance Precautions] WARNING ● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction. ● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so may cause the battery to generate heat, explode, ignite, or leak, resulting in injury or fire.
  • Page 9 CAUTION ● Startup and maintenance of a control panel must be performed by qualified maintenance personnel with knowledge of protection against electric shock. Lock the control panel so that only qualified maintenance personnel can operate it. ● Before handling the module, touch a conducting object such as a grounded metal to discharge the static electricity from the human body.
  • Page 10 [Transportation Precautions] CAUTION ● When transporting lithium batteries, follow the transportation regulations. For details on the regulated models, refer to the MELSEC iQ-R Module Configuration Manual. ● The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a fumigant used for disinfection and pest control of wood packaging materials, may cause failure of the product.
  • Page 11: Conditions Of Use For The Product

    Please make sure that the end users read this manual. Relevant products RD77MS2, RD77MS4, RD77MS8, RD77MS16 In this manual, buffer memories are classified using the following symbols. Each area name can represent the buffer memories corresponding to each axis.
  • Page 12: Compliance With Emc And Low Voltage Directives

    COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES Method of ensuring compliance To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment, certain measures may be necessary. Please refer to one of the following manuals. MELSEC iQ-R Module Configuration Manual Safety Guidelines (This manual is included with the base unit.) The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives.
  • Page 13: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
  • Page 14 Speed control ................108 Speed-position switching control (INC mode) .
  • Page 15 Creating a program to enable/disable the manual pulse generator operation......189 CHAPTER 6 INTER-MODULE SYNCHRONIZATION FUNCTION CHAPTER 7 EXPANSION CONTROL Speed-torque Control .
  • Page 16 8.10 Servo ON/OFF ............... . . 301 Servo ON/OFF.
  • Page 17 Basic parameters2............... 417 Detailed parameters1 .
  • Page 18 Appendix 1 Module Label ..............619 Appendix 2 How to Find Buffer Memory Addresses.
  • Page 19: Relevant Manuals

    RELEVANT MANUALS Manual name [manual number] Description Available form MELSEC iQ-R Simple Motion Module User's Manual Functions, input/output signals, buffer memories, parameter Print book (Application) settings, programming, and troubleshooting of the Simple Motion e-Manual [IB-0300247] (This manual) module EPUB MELSEC iQ-R Simple Motion Module User's Manual Functions and programming for the synchronous control of the Print book (Advanced Synchronous Control)
  • Page 20: Terms

    High speed synchronous communication network between RD77MS and servo amplifier. SSCNET SSCNET(/H) Generic term for SSCNET/H, SSCNET. Servo network 2-axis module Generic term for RD77MS2. 4-axis module Generic term for RD77MS4. 8-axis module Generic term for RD77MS8. 16-axis module Generic term for RD77MS16.
  • Page 21: Chapter 1 Start And Stop

    START AND STOP This chapter describes start and stop methods of the positioning control for the Simple Motion module. Start The Simple Motion module operates the start trigger in each control, and starts the positioning control. The following table shows the start signals for each control. This section describes the start using the positioning start signal [Y10 to Y1F] and the external command signal.
  • Page 22 • Signal state Signal name Signal state Device I/O signal PLC READY signal CPU module preparation completed READY signal RD77MS preparation completed All axis servo ON All axis servo ON Synchronization flag The RD77MS buffer memory can be accessed. Axis stop signal Axis stop signal is OFF [Cd.180] Axis stop M code ON signal...
  • Page 23 Start by the positioning start signal [Y10 to Y1F] The operation at starting by the positioning start signal [Y10 to Y1F] is shown below. • When the positioning start signal [Y10 to Y1F] turns ON, the start complete signal ([Md.31] Status: b14) and BUSY signal [X10 to X1F] turn ON, and the positioning operation starts.
  • Page 24 Start by the external command signal (DI) When starting positioning control by inputting the external command signal (DI), the start command can be directly input into the Simple Motion module. This allows the variation time equivalent to one scan time of the CPU module to be eliminated. This is an effective procedure when operation is to be started as quickly as possible with the start command or when the starting variation time is to be suppressed.
  • Page 25: Multiple Axes Simultaneous Start

    Multiple axes simultaneous start The "multiple axes simultaneous start" starts outputting the command to the specified simultaneous starting axis at the same timing as the started axis. The maximum of four axes can be started simultaneously. Control details The multiple axes simultaneous start control is carried out by setting the simultaneous start setting data to the multiple axes simultaneous start control buffer memory of the axis control data, "9004"...
  • Page 26 *1 Refer to the following for the setting details. Page 504 Control Data *2 The signal of axis 3 and 4 cannot be used in the RD77MS2. Setting examples The following shows the setting examples in which the axis 10 is used as the start axis and the axis 12 and axis 14 are used as the simultaneously started axes.
  • Page 27: Stop

    Stop The axis stop signal or stop signal from external input signal is used to stop the control. Create a program to turn ON the axis stop signal [Cd.180] as the stop program. Each control is stopped in the following cases. •...
  • Page 28 Stop cause Stop process Home position return Major High-level Manual control control positioning positioning control control Machine Fast home JOG/ Manual home position Inching pulse position return operation generator return control operation control  Forced stop "Forced stop input signal" OFF Servo OFF or free run from an external device (The operation stops with dynamic brake)
  • Page 29 Types of stop processes The operation can be stopped with deceleration stop, sudden stop or immediate stop. ■Deceleration stop The operation stops with "deceleration time 0 to 3" ([Pr.10], [Pr.28], [Pr.29], [Pr.30]). Which time from "deceleration time 0 to 3" to use for control is set in positioning data ([Da.4]).
  • Page 30 Order of priority for stop process The order of priority for the Simple Motion module stop process is as follows. (Deceleration stop) < (Sudden stop) < (Servo OFF) • If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0 (including automatic deceleration), operation changes depending on the setting of "[Cd.42] Stop command processing for deceleration stop selection".
  • Page 31: Restart

    Restart 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.6] Restart command). ("Restarting" is not possible when "continuous operation is interrupted.") This instruction is efficient when performing the remaining positioning from the stopped position in the positioning control of incremental method such as INC linear 1.
  • Page 32 Time chart for restarting ■RD77MS4 operation example Dwell time Positioning start signal [Y10] [Cd.180] Axis stop All axis servo ON [Y1] PLC READY signal [Y0] READY signal [X0] Start complete signal ([Md.31] Status: b14) BUSY signal [X10] Positioning complete signal ([Md.31] Status: b15) Error detection signal ([Md.31] Status: b13)
  • Page 33: Chapter 2 Home Position Return Control

    HOME POSITION RETURN CONTROL The details and usage of "home position return control" are explained in this chapter. Outline of Home Position Return Control Two types of home position return control In "home position return control", a position is established as the starting point (or "home position") when carrying out positioning control, and positioning is carried out toward that starting point.
  • Page 34 When using an absolute position system • This flag turns on in the following cases: • When not executing a machine home position return even once after the system starts • Machine home position return start (Unless a machine home position return is completed normally, the home position return request flag does not turn off.) •...
  • Page 35: Machine Home Position Return

    Machine Home Position Return Outline of the machine home position return operation Use the home position return retry function when the home position is not always in the same direction from the workpiece operation area (when the home position is not set near the upper or lower limit of the machine). The machine home position return may not complete unless the home position return retry function is used.
  • Page 36: Machine Home Position Return Method

    Machine home position return method The method by which the machine home position is established (method for judging the home position and machine home position return completion) is designated in the machine home position return according to the configuration and application of the positioning method.
  • Page 37: Near-point Dog Method

    Near-point dog method The following shows an operation outline of the home position return method "near-point dog method". Operation chart [Pr.46] Home position Deceleration at the near-point dog ON return speed [Pr.47] Creep speed [POINT] After the home position return has been started, the zero point 4.
  • Page 38 Precautions during operation • When the home position return retry function is not set ("0" is set in "[Pr.48] Home position return retry"), the error "Start at home position" (error code: 1940H) will occur if the machine home position return is attempted again after the machine home position return completion.
  • Page 39: Count Method1

    Count method1 The following shows an operation outline of the home position return method "count method 1". In the "count method 1", the machine home position return can be performed in the following cases: • Where the near-point dog is on •...
  • Page 40 Precautions during operation • The error "Count method movement amount fault" (error code: 1944H) will occur if the "[Pr.50] Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance from the "[Pr.46] Home position return speed" to "[Pr.47] Creep speed".
  • Page 41: Count Method2

    Count method2 The following shows an operation outline of the home position return method "count method 2". The "count method 2" method is effective when a "zero signal" cannot be received. (Note that compared to the "count method 1" method, using this method will result in more deviation in the stop position during machine home position return.) Operation chart [Pr.46] Home position [Pr.50] Setting for the movement amount...
  • Page 42 Precautions during operation • The error "Count method movement amount fault" (error code: 1944H) will occur and the operation will not start if the "[Pr.50] Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance from the "[Pr.46] Home position return speed"...
  • Page 43: Data Set Method

    Data set method The following shows an operation outline of the home position return method "data set method". The "Data set method" method is effective when a "Near-point dog" is not used. It can be used with absolute position system. With the data set method home position return, the position where the machine home position return has been carried out, is registered into the Simple Motion module as the home position, and the current feed value and feed machine value is overwritten to a home position address.
  • Page 44: Scale Origin Signal Detection Method

    Scale origin signal detection method The following shows an operation outline of the home position return method "scale origin signal detection method". Set "0: Need to pass servo motor Z-phase after power on" in "Function selection C-4 (PC17)". If "1: Not need to pass servo motor Z-phase after power on"...
  • Page 45 Precautions during operation • The error "Start at home position" (error code: 1940H) will occur if another machine home position return is attempted immediately after a machine home position return completion when the home position is in the near-point dog ON position. •...
  • Page 46 • When the zero signal is detected again during deceleration (4.) in the following figure) with detection of zero signal, the operation stops at the zero signal detected lastly to complete the home position return. [Pr.44] Home position return direction [Pr.46] Home position return speed [Pr.47] Creep speed Near-point dog OFF...
  • Page 47: Fast Home Position Return

    Fast Home Position Return Outline of the fast home position return operation Fast home position return operation After establishing home position by a machine home position return, positioning control to the home position is executed without using a near-point dog or a zero signal. The following shows the operation during a basic fast home position return start.
  • Page 48 • Normal timing time (Unit: [ms]) Operation cycle 0.444 0.186 to 1.228 1.186 to 1.662 0.000 to 0.444 0.888 0.186 to 1.228 2.234 to 2.330 0.000 to 0.888 1.777 0.186 to 1.228 3.932 to 4.550 0.000 to 1.777 3.555 0.186 to 1.228 5.520 to 8.098 0.000 to 3.555 *1 The t1 timing time could be delayed by the operation state of other axes.
  • Page 49: Selection Of The Home Position Return Setting Condition

    Selection of the Home Position Return Setting Condition Outline of the home position return setting condition To execute the home position return when selecting "0: Need to pass servo motor Z-phase after power on" with "Function selection C-4 (PC17)", it is necessary that the servomotor has been rotated more than one revolution and passed the Z phase (Motor reference position signal) and that the zero point pass signal ([Md.119] Servo status2: b0) has turned ON.
  • Page 50: Chapter 3 Major Positioning Control

    MAJOR POSITIONING CONTROL The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this chapter. The major 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 51 "interpolation control". (Page 64 Interpolation control) *2 In the RD77MS2, when 3- or 4-axis interpolation is carried out, or axis 3 or axis 4 is designated to the axis to be interpolated for 2-axis interpolation, the error "Illegal interpolation description command" (error code: 1A22H) will occur and the positioning control does not start.
  • Page 52: Data Required For Major Positioning Control

    Data required for major positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "major positioning controls". Setting item Setting details Positioning [Da.1] Operation pattern Set the method by which the continuous positioning data (Ex: positioning data No.1, No.2, data No.
  • Page 53: Operation Patterns Of Major Positioning Controls

    Operation patterns of major positioning controls In "major positioning control" (high-level 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. Positioning control Operation pattern Positioning complete...
  • Page 54 Continuous positioning control • The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the Simple Motion module 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 55 Continuous path control ■Continuous path control • The speed is changed without deceleration stop between the command speed of the "positioning data No. currently being executed" and the speed of the "positioning data No. to carry out the next operation". The speed is not changed if the current speed and the next speed are equal.
  • Page 56 ■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 3 cases. • 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 next positioning data.
  • Page 57 ■Speed handling • Continuous path control command speeds are set with each positioning data. The Simple Motion module 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 58 ■Speed switching (Standard speed switching mode: Switch the speed when executing the next positioning data.) (Page 421 [Pr.19] Speed switching mode) • 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 59 ■Speed switching (Front-loading speed switching mode: The speed switches at the end of the positioning data currently being executed.) (Page 421 [Pr.19] Speed switching mode) • If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the speed will change over to the speed set in the "positioning data to carry out the next operation"...
  • Page 60: Designating The Positioning Address

    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 home position as a reference. This address is regarded as the positioning address.
  • Page 61: Confirming The Current Value

    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 Simple Motion module. 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 62 Monitoring the current value The "current feed value" and "machine feed value" are stored in the following buffer memory addresses, and can be read using a "DFROM(P) instruction" or "DMOV(P) instruction" from the CPU module. n: Axis No. - 1 Monitor item Buffer memory addresses [Md.20]...
  • Page 63: Control Unit "degree" Handling

    Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. Current feed value and machine feed value addresses The address of "[Md.20] Current feed value" becomes a ring address from 0 to 359.99999. The address of "[Md.21] Machine feed value"...
  • Page 64 Positioning control method when the control unit is set to "degree" ■Absolute system (When the software stroke limit is invalid) Positioning is carried out in the nearest direction to the designated address, using the current value as a reference. (This is called "shortcut control".) 1) Positioning is carried out in a clockwise direction when the current value is moved from 315...
  • Page 65 ■Incremental system Positioning is carried out for a designated movement amount in a designated movement direction when in the incremental system of positioning. The movement direction is determined by the sign (+, -) of the movement amount. For a positive (+) movement direction Clockwise For a negative (-) movement direction Counterclockwise...
  • Page 66: Interpolation Control

    The following table shows the reference axis and interpolation axis combinations. : Setting not required (The setting value is invalid. Use the initial value or a value within the setting range.) Interpolation control set in RD77MS2 RD77MS4/RD77MS8/RD77MS16 "[Da.2] Control method"...
  • Page 67 Setting the positioning data When carrying out interpolation control, the same positioning data Nos. are set for the "reference axis" and the "interpolation axis". The following table shows the "positioning data" setting items for the reference axis and interpolation axis. : Setting always required, : Set according to requirements (Set to ""...
  • Page 68 Interpolation control continuous positioning When carrying out interpolation control in which "continuous positioning control" and "continuous path control" are designated in the operation pattern, the positioning method for all positioning data from the started positioning data to the positioning data in which "positioning complete"...
  • Page 69 Limits to interpolation control There are limits to the interpolation control that can be executed and speed ([Pr.20] 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 70: Setting The Positioning Data

    Setting the Positioning Data 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. (In this section, it is assumed that the positioning data setting is carried out using an engineering tool.) : Always set : Set as required (""...
  • Page 71 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur at start.) : Setting not required (The setting value is invalid. Use the initial value or a value within the setting range.) Positioning data Speed-position switching control Position-speed switching control...
  • Page 72 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur at start.) : Setting not required (The setting value is invalid. Use the initial value or a value within the setting range.) Positioning data Other control NOP instruction...
  • Page 73: 1-axis Linear Control

    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-axis linear control (ABS linear 1) ■Operation chart In absolute system 1-axis linear control, positioning is carried out from the current stop position (start point address) to the address (end point address) set in "[Da.6] Positioning address/movement amount".
  • Page 74 1-axis linear control (INC linear 1) ■Operation chart In incremental system 1-axis linear control, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
  • Page 75: 2-axis Linear Interpolation Control

    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. (Refer to Page 64 Interpolation control for details on interpolation control.) 2-axis linear interpolation control (ABS linear 2) ■Operation chart...
  • Page 76 ■Setting positioning data When using 2-axis linear interpolation control (ABS linear 2), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis ...
  • Page 77 2-axis linear interpolation control (INC linear 2) ■Operation chart In incremental system 2-axis linear interpolation control, the designated 2 axes 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 "[Da.6] Positioning address/movement amount".
  • Page 78 ■Setting positioning data When using 2-axis linear interpolation control (INC linear 2), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis ...
  • Page 79: 3-axis Linear Interpolation Control

    3-axis linear interpolation control In "3-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 3, INC linear 3), three motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Page 64 Interpolation control for details on interpolation control.) 3-axis linear interpolation control (ABS linear 3) ■Operation chart...
  • Page 80 ■Setting positioning data When using 3-axis linear interpolation control (ABS linear 3), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis ...
  • Page 81 3-axis linear interpolation control (INC linear 3) ■Operation chart In the incremental system 3-axis linear interpolation control, the designated 3 axes 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 the "[Da.6] Positioning address/movement amount".
  • Page 82 ■Setting positioning data When using 3-axis linear interpolation control (INC linear 3), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis ...
  • Page 83: 4-axis Linear Interpolation Control

    4-axis linear interpolation control In "4-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 4, INC linear 4), four motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Page 64 Interpolation control for details on interpolation control.) 4-axis linear interpolation control (ABS linear 4) In the absolute system 4-axis linear interpolation control, the designated 4 axes are used.
  • Page 84 4-axis linear interpolation control (INC linear 4) In the incremental system 4-axis linear interpolation control, the designated 4 axes 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 the "[Da.6] Positioning address/movement amount".
  • Page 85: Fixed-feed Control

    Fixed-feed control In "fixed-feed control" ("[Da.2] Control method" = fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4), the motor of the specified axis is used to carry out fixed-feed control in a set axis direction. In fixed-feed control, any remainder of below control accuracy is rounded down to convert the movement amount designated in the positioning data into the command value to servo amplifier.
  • Page 86 ■Restrictions • The error "Continuous path control not possible" (error code: 1A1EH to 1A20H) 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-feed control.) •...
  • Page 87 When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the Simple Motion module and reflected at the next positioning. For the fixed-feed control, since the movement distance is maintained constant (= the command number of pulses is maintained constant), the control is carried out after the fraction pulse is cleared to zero at start.
  • Page 88: 2-axis Circular Interpolation Control With Sub Point Designation

    2-axis circular interpolation control with sub point designation In "2-axis circular interpolation control" ("[Da.2] Control method" = ABS circular sub, INC circular sub), two motors are used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis directions set in each axis.
  • Page 89 ■Setting positioning data When using 2-axis circular interpolation control with sub point designation (ABS circular sub), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis...
  • Page 90 2-axis circular interpolation control with sub point designation (INC circular sub) ■Operation chart In the incremental system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/ movement amount"...
  • Page 91 ■Setting positioning data When using 2-axis circular interpolation control with sub point designation (INC circular sub), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis...
  • Page 92: 2-axis Circular Interpolation Control With Center Point Designation

    2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" ("[Da.2] Control method" = ABS circular right, INC circular right, ABS circular left, INC circular left), two motors are used to carry out position control in an arc path having an arc address as a center point, while carrying out interpolation for the axis directions set in each axis.
  • Page 93 2-axis circular interpolation control with center point designation (ABS circular) ■Operation chart In the absolute system, 2-axis circular interpolation control with center point designation positioning is carried out from the current stop position (start point address) to the address (end point address) set in "[Da.6] Positioning address/movement amount", in an arc path having as its center the address (arc address) of the center point set in "[Da.7] Arc address".
  • Page 94 ■Restrictions 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. ("mm" and "inch" combinations are possible.) •...
  • Page 95 2-axis circular interpolation control with center point designation (INC circular) ■Operation chart In the incremental system, 2-axis circular interpolation control with center point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/ movement amount", in an arc path having as its center the address (arc address) of the center point set in "[Da.7] Arc address".
  • Page 96 ■Restrictions 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. ("mm" and "inch" combinations are possible.) •...
  • Page 97: 3-axis Helical Interpolation Control With Sub Point Designation

    3-axis helical interpolation control with sub point designation In "3-axis helical interpolation control" ("[Da.2] Control method" = ABS helical sub, INC helical sub), three motors are used to carry out the circular interpolation control of 2 axes. The remaining axis is used for "helical control" or "tangent control and normal line control".
  • Page 98 • When the movement amount of the linear interpolation axis is more than the composite movement amount of the circular interpolation axis, the speed of the linear interpolation axis cannot be suppressed with "[Pr.8] Speed limit value". • When "0: Composite speed" is set in "[Pr.20] Interpolation speed designation method" or "1: Composite speed"...
  • Page 99 3-axis helical interpolation control with sub point designation (ABS helical sub) ■Operation chart In the absolute system and 3-axis helical interpolation control with sub point designation, the positioning is performed from the current stop position (X0, Y0, Z0) to the position indicated with the arc end point address (X1 and Y1) and the linear interpolation axis end point address (Z1) set in "[Da.6] Positioning address/movement amount".
  • Page 100 ■Positioning data to be set When using 3-axis helical interpolation control with sub point designation (ABS helical sub), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting requirement of Setting requirement of Setting requirement of reference axis...
  • Page 101 3-axis helical interpolation control with sub point designation (INC helical sub) ■Operation chart In the incremental system and 3-axis helical interpolation control with sub point designation, the positioning is performed from the current stop position (X0, Y0, Z0) to the position (X1, Y1, Z1) for the movement amount set in "[Da.6] Positioning address/ movement amount".
  • Page 102 ■Positioning data to be set When using the 3-axis helical interpolation control with sub point designation (INC helical sub), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting requirement of Setting requirement of Setting requirement of...
  • Page 103: 3-axis Helical Interpolation Control With Center Point Designation

    3-axis helical interpolation control with center point designation In "3-axis helical interpolation control" ("[Da.2] Control method" = ABS helical right, INC helical right, ABS helical left, INC helical left), three motors are used to carry out the circular interpolation control of 2 axes. The remaining axis is used for "helical control"...
  • Page 104 • When the movement amount of the linear interpolation axis is more than the composite movement amount of the circular interpolation axis, the speed of the linear interpolation axis cannot be suppressed with "[Pr.8] Speed limit value". • When "0: Composite speed" is set in "[Pr.20] Interpolation speed designation method" or "1: Composite speed"...
  • Page 105 Error compensation of the circular interpolation axis In the 3-axis helical interpolation control with center point designation, as well as the 2-axis circular interpolation control, "[Pr.41] Allowable circular interpolation error width" is enabled. When a circular interpolation error occurs, the path of the circular interpolation control (X axisY axis) becomes spiral as shown below.
  • Page 106 ABS helical right, ABS helical left ■Operation chart In the absolute system and 3-axis helical interpolation control with center point designation, the positioning is performed from the current stop position (X0, Y0, Z0) to the position indicated with the arc end point address (X1 and Y1) and the linear interpolation axis end point address (Z1) set in "[Da.6] Positioning address/movement amount".
  • Page 107 ■Positioning data to be set When using the 3-axis helical interpolation control with center point designation (ABS helical right, ABS helical left), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting requirement of Setting requirement of...
  • Page 108 INC helical right, INC helical left ■Operation chart In the incremental system and 3-axis helical interpolation control with center point designation, the positioning is performed from the current stop position (X0, Y0, Z0) to the position (X1, Y1, Z1) for the movement amount set in "[Da.6] Positioning address/movement amount".
  • Page 109 ■Positioning data to be set When using the 3-axis helical interpolation control with center point designation (INC helical right, INC helical left), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting requirement of Setting requirement of...
  • Page 110: Speed Control

    Speed control In "speed control" ("[Da.2] Control method" = Forward run: speed 1 to 4, Reverse run: speed 1 to 4), control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed"...
  • Page 111 ■2-axis speed control RD77MS4 operation example Interpolation axis (axis 2) [Da.8] Command speed Reference axis (axis 1) [Da.8] Command speed Positioning start signal [Y10] BUSY signal [X10, X11] Does not turn ON even when control is stopped by stop command. Positioning complete signal ([Md.31] Status: b15) [Cd.180] Axis stop...
  • Page 112 Current feed value The following table shows the "[Md.20] Current feed value" during speed control corresponding to the "[Pr.21] Current feed value during speed control" settings. (However, the parameters use the set value of the reference axis.) "[Pr.21] Current feed value during speed control" setting [Md.20] Current feed value 0: Do not update current feed value The current feed value at speed control start is maintained.
  • Page 113 Setting positioning data When using speed control (forward run: speed 1 to 4, reverse run: speed 1 to 4), set the following positioning data. : Always set, : Set as required, : Setting restricted, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis...
  • Page 114: Speed-position Switching Control (inc Mode)

    Speed-position switching control (INC mode) In "speed-position switching control (INC mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output on the axial direction set to the positioning data.
  • Page 115 Operation chart The following chart shows the operation timing for speed-position switching control (INC mode). The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (INC mode). ■RD77MS4 operation example • When using the external command signal [DI] as speed-position switching signal [Da.8] Command speed Movement amount set in "[Da.6] Positioning address/movement amount"...
  • Page 116 Operation timing and processing time [RD77MS4 operation example] Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [X10,X11,X12,X13] M code ON signal (WITH mode) ([Md.31] Status: b12) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) Position [Md.26] Axis operation status Standby Speed control Standby...
  • Page 117 Current feed value The following table shows the "[Md.20] Current feed value" during speed-position switching control (INC mode) corresponding to the "[Pr.21] Current feed value during speed control" settings. "[Pr.21] Current feed value during speed control" setting [Md.20] Current feed value 0: Do not update current feed value The current feed value at control start is maintained during speed control, and updated from the switching to position control.
  • Page 118 Speed-position switching signal setting • The following table shows the items that must be set to use the external command signals [DI] as speed-position switching signals. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address [Pr.42] External command function 2: Speed-position, position-speed switching request.
  • Page 119 Changing the position control movement amount In "speed-position switching control (INC mode)", the position control movement amount can be changed during the speed control section. • The position control movement amount can be changed during the speed control section of speed-position switching control (INC mode).
  • Page 120 Restrictions • The error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". • "Speed-position switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
  • Page 121: Speed-position Switching Control (abs Mode)

    Speed-position switching control (ABS mode) In case of "speed-position switching control (ABS mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output in the axial direction set to the positioning data.
  • Page 122 Operation chart The following chart shows the operation timing for speed-position switching control (ABS mode). The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (ABS mode). ■RD77MS4 operation example • When using the external command signal [DI] as speed-position switching signal [Da.8] Command speed Address set in [Da.6] Positioning address/movement amount...
  • Page 123 Operation timing and processing time ■RD77MS4 operation example Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] M code ON signal ([Md.31] Status: b12) (WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) [Md.26] Axis operation status Standby Speed control...
  • Page 124 Current feed value The following table shows the "[Md.20] Current feed value" during speed-position switching control (ABS mode) corresponding to the "[Pr.21] Current feed value during speed control" settings. "[Pr.21] Current feed value during speed control" setting [Md.20] Current feed value 1: Update current feed value The current feed value is updated during speed control and position control.
  • Page 125 Speed-position switching signal setting • The following table shows the items that must be set to use the external command signals [DI] as speed-position switching signals. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address [Pr.42] External command function selection 2: Speed-position, position-speed switching request.
  • Page 126 Restrictions • The error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". • "Speed-position switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
  • Page 127 Setting positioning data When using speed-position switching control (ABS mode), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required  [Da.1] Operation pattern  [Da.2] Control method (Set "Forward run: speed/position" or "Reverse run: speed/ position".) ...
  • Page 128: Position-speed Switching Control

    Position-speed switching control In "position-speed switching control" ("[Da.2] Control method" = Forward run: position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in "[Da.6] Positioning address/movement amount" in the axis direction in which the positioning data has been set. When the position- speed switching signal is input, the position control is carried out by continuously outputting the pulses for the speed set in "[Da.8] Command speed"...
  • Page 129 Operation chart The following chart shows the operation timing for position-speed switching control. The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control of position-speed switching control. ■RD77MS4 operation example • When using the external command signal [DI] as position-speed switching signal [Da.8] Command speed Position Speed control...
  • Page 130 Operation timing and processing time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] M code ON signal ([Md.31] Status: b12)(WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) Standby Position control Speed control Stopped [Md.26] Axis operation status...
  • Page 131 Current feed value The following table shows the "[Md.20] Current feed value" during position-speed switching control corresponding to the "[Pr.21] Current feed value during speed control" settings. "[Pr.21] Current feed value during speed control" setting [Md.20] Current feed value 0: Do not update current feed value The current feed value is updated during position control, and the current feed value at the time of switching is maintained as soon as position control is switched to speed control.
  • Page 132 Position-speed switching signal setting • The following table shows the items that must be set to use the external command signals [DI] as position-speed switching signals. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address [Pr.42] External command function 2: Speed-position, position-speed switching request.
  • Page 133 Changing the speed control command speed In "position-speed switching control", the speed control command speed can be changed during the position control. • The speed control command speed can be changed during the position control of position-speed switching control. A command speed change request will be ignored unless issued during the position control of the position-speed switching control.
  • Page 134 Restrictions • The error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". • "Position-speed switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
  • Page 135: Current Value Changing

    Current value changing When the current value is changed to a new value, control is carried out in which the "[Md.20] Current feed value" of the stopped axis is changed to a random address set by the user. (The "[Md.21] Machine feed value" is not changed when the current value is changed.) The two methods for changing the current value are shown below.
  • Page 136 ■Setting positioning data When using current value changing, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required  [Da.1] Operation pattern  [Da.2] Control method (Set the current value changing.) ...
  • Page 137 Changing to a new current value using the current value changing start No. (No. 9003) In "current value changing" ("[Cd.3] Positioning start No." = 9003), "[Md.20] Current feed value" is changed to the address set in "[Cd.9] New current value". ■Operation chart The current value is changed by setting the new current value in the current value changing buffer memory "[Cd.9] New current value", setting "9003"...
  • Page 138 ■Setting method for the current value changing function The following shows an example of a program and data setting to change the current value to a new value with the positioning start signal. (The "[Md.20] Current feed value" value is changed to "5000.0 m" in the example shown.) •...
  • Page 139 • Add the following program to the control program, and write it to the CPU module. Classification Label name Description Module label RD77_1.bnPositioningStart[0] Axis 1 Positioning start RD77_1.stnAxMntr_D[0].uStatus_D.E Axis 1 Positioning complete RD77_1.stnAxCtrl1_D[0].dNewPosition_D Axis 1 New current value RD77_1.stnAxCtrl1_D[0].uPositioningStartNo_D Axis 1 Positioning start No. RD77_1.stnAxMntr_D[0].uStatus_D.D Axis 1 Start complete RD77_1.bnBusy[0]...
  • Page 140: Nop Instruction

    NOP instruction The NOP instruction is used for the nonexecutable control method. Operation The positioning data No. to which the NOP instruction is set transfers, without any processing, to the operation for the next positioning data No. Setting positioning data When using the NOP instruction, set the following positioning data.
  • Page 141: Jump Instruction

    JUMP instruction The JUMP instruction 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 instruction includes the following two types of JUMP. JUMP instruction Description Unconditional JUMP...
  • Page 142 Setting positioning data When using the JUMP instruction, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required  [Da.1] Operation pattern  [Da.2] Control method (Set the JUMP instruction.) ...
  • Page 143: Loop

    LOOP The LOOP is used for loop control by the repetition of LOOP to LEND. Operation The LOOP to LEND loop is repeated by set repeat cycles. Setting positioning data When using the LOOP, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required ...
  • Page 144: Lend

    LEND The LEND is used to return the operation to the top of the repeat (LOOP to LEND) loop. Operation When the repeat cycle designated by the LOOP becomes 0, the loop is terminated, and the next positioning data No. processing is started.
  • Page 145: Chapter 4 High-level Positioning Control

    HIGH-LEVEL POSITIONING CONTROL The details and usage of high-level positioning control (control functions using the "block start data") are explained in this chapter. High-level positioning control is used to carry out applied control using the "positioning data". Examples of applied control are using conditional judgment to control "positioning data"...
  • Page 146: Data Required For High-level Positioning Control

    Data required for high-level positioning control "High-level positioning control" is executed by setting the required items in the "block start data" and "condition data", then starting that "block start data". Judgment about whether execution is possible, etc., is carried out at execution using the "condition data"...
  • Page 147: Block Start Data" And "condition Data" Configuration

    "Block start data" and "condition data" configuration The "block start data" and "condition data" corresponding to "block No. 7000" can be stored in the buffer memory. 50th point Buffer memory Setting item address 2nd point 1st point Setting item Buffer memory address Buffer memory 22049+400n...
  • Page 148: High-level Positioning Control Execution Procedure

    High-level Positioning Control Execution Procedure High-level positioning control is carried out using the following procedure. Preparation "High-level positioning control" executes STEP 1 each control ("major positioning control") set Carry out the "major positioning control" setting. in the positioning data with the designated conditions, so first carry out preparations so that "major positioning control"...
  • Page 149: Setting The Block Start Data

    Setting the Block Start Data Relation between various controls and block start data The "block start data" must be set to carry out "high-level positioning control". The setting requirements and details of each "block start data" item to be set differ according to the "[Da.13] Special start instruction"...
  • Page 150: Block Start

    Block start In a "block start (normal start)", the positioning data groups of a block are continuously executed in a set PLC starting from the positioning data set in "[Da.12] Start data No." by one start. The control examples are shown when the "block start data" and "positioning data" are set as shown in the setting examples. Setting examples ■Block start data setting example Axis 1 block start data...
  • Page 151 Control examples The following shows the control executed when the "block start data" of the 1st point of axis 1 is set as shown in the setting examples and started. • The positioning data is executed in the following order before stopping. Axis 1 positioning data No.1  2  3  4  5  6 ...
  • Page 152: Condition Start

    Condition start In a "condition start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the "block start data" set in "1: condition start"...
  • Page 153: Wait Start

    Wait start In a "wait start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the "block start data" is executed. If the conditions have not been established, the control stops (waits) until the conditions are established.
  • Page 154: Simultaneous Start

    Simultaneous start In a "simultaneous start", the positioning data set in the "[Da.12] Start data No." and positioning data of other axes set in the "condition data" are simultaneously executed (commands are output with the same timing). (The "condition data" is designated with "[Da.14] Parameter".) The control examples are shown when the "block start data"...
  • Page 155: Repeated Start (for Loop)

    Repeated start (FOR loop) In a "repeated start (FOR loop)", the data between the "block start data" in which "4: FOR loop" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT start" is set in "[Da.13] Special start instruction " is repeatedly executed for the number of times set in "[Da.14] Parameter".
  • Page 156: Repeated Start (for Condition)

    Repeated start (FOR condition) In a "repeated start (FOR condition)", the data between the "block start data" in which "5: FOR condition" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT start" is set in "[Da.13] Special start instruction" is repeatedly executed until the establishment of the conditions set in the "condition data".
  • Page 157: Restrictions When Using The Next Start

    Restrictions when using the NEXT start The "NEXT start" is an instruction indicating the end of the repetitions when executing the repeated start (FOR loop) and the repeated start (FOR condition). (Page 153 Repeated start (FOR loop), Page 154 Repeated start (FOR condition)) The following shows the restrictions when setting "6: NEXT start"...
  • Page 158: Setting The Condition Data

    Setting the Condition Data Relation between various controls and the condition data "Condition data" is set in the following cases. • When setting conditions during execution of JUMP instruction (major positioning control) • When setting conditions during execution of "high-level positioning control" The "condition data"...
  • Page 159 The setting requirements and details of the following "condition data" [Da.16] to [Da.19] and [Da.23] setting items differ according to the "[Da.15] Condition target" setting. The following shows the [Da.16] to [Da.19] and [Da.23] setting items corresponding to the "[Da.15] Condition target". : Setting not required (The setting value is invalid.
  • Page 160: Condition Data Setting Examples

    Condition data setting examples The following shows the setting examples for "condition data". Setting the device ON/OFF as a condition [Condition] Device "X10" (Axis 1 BUSY signal) is OFF [Da.15] [Da.16] [Da.17] [Da.18] [Da.19] [Da.23] [Da.24] [Da.25] [Da.26] Condition Condition Address Parameter Parameter...
  • Page 161: Start Program For High-level Positioning Control

    Start Program for High-level Positioning Control Starting high-level positioning control To execute high-level positioning control, a program must be created to start the control in the same method as for major positioning control. The following shows the procedure for starting the "1st point block start data" (regarded as block No. 7000) set in axis 1. Simple Motion module Buffer memory Servo amplifier...
  • Page 162: Example Of A Start Program For High-level Positioning Control

    Example of a start program for high-level positioning control The following shows an example of a start program for high-level positioning control in which the 1st point "block start 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 high-level positioning control.
  • Page 163 Start time chart The following chart shows a time chart in which the positioning data No. 1, 2, 10, 11, and 12 of the axis 1 are continuously executed as an example. ■Block start data setting example Axis 1 block start data [Da.11] Shape [Da.12] Start data No.
  • Page 164 Program example Classification Label name Description Module label RD77_1.bnBusy[0] Axis 1 BUSY signal RD77_1.stnAxMntr[0].uStatus.E Axis 1 Positioning complete RD77_1.stnAxCtrl1_D[0].uPositioningStartNo_D Axis 1 Positioning start No. RD77_1.stnAxCtrl1_D[0].uPositioningStartingPointNo_D Axis 1 Positioning starting point No. RD77_1.bnPositioningStart[0] Axis 1 Positioning start Global label, local Defines the global label or the local label as follows. The settings of Assign (Device/Label) are not required for the label that the label assignment device is not set because the unused internal relay and data device are automatically assigned.
  • Page 165: Chapter 5 Manual Control

    MANUAL CONTROL The details and usage of manual control are explained in this chapter. In manual control, commands are issued during a JOG operation and an inching operation executed by the turning ON of the JOG start signal, or from a manual pulse generator connected to the Simple Motion module. Manual control using a program from the CPU module is explained in this chapter.
  • Page 166 Manual pulse generator operation "Manual pulse generator operation" is a control method in which positioning is carried out in response to the number of pulses input from a manual pulse generator (the number of input command is output). This operation is used for manual fine adjustment, etc., when carrying out accurate positioning to obtain the positioning address.
  • Page 167: Jog Operation

    JOG Operation Outline of JOG operation Operation In JOG operation, the forward run JOG start signal [Cd.181] or reverse run JOG start signal [Cd.182] turns ON, causing pulses to be output to the servo amplifier from the Simple Motion module while the signal is ON. The workpiece is then moved in the designated direction.
  • Page 168 Precautions during operation The following details must be understood before carrying out JOG operation. • For safety, set a small value to "[Cd.17] JOG speed" at first and check the movement. Then gradually increase the value. • The error "Outside JOG speed range" (error code: 1980H) will occur and the operation will not start if the "JOG speed" is outside the setting range at the JOG start.
  • Page 169 Normal timing time (Unit: [ms]) Operation cycle 0.444 0.267 to 2.584 0.000 to 0.444 1.128 to 1.699 0.000 to 0.444 0.888 0.267 to 2.584 0.000 to 0.888 2.328 to 3.036 0.000 to 0.888 1.777 0.267 to 2.584 0.000 to 1.777 4.520 to 4.590 0.000 to 1.777 3.555...
  • Page 170: Jog Operation Execution Procedure

    JOG operation execution procedure The JOG operation is carried out by the following procedure. One of the following two methods can be used. STEP 1 Set the parameters. Preparation ([Pr.1] to [Pr.39]) <Method 1> Directly set (write) the parameters in the Simple Motion module using the engineering tool.
  • Page 171: Setting The Required Parameters For Jog Operation

    Setting the required parameters for JOG operation The "Positioning 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. Parameters not shown below are not required to be set for carrying out only JOG operation. (Set the initial value or a value within the setting range.) : Setting always required.
  • Page 172: Creating Start Programs For Jog Operation

    Creating start programs for JOG operation A program must be created to execute a JOG operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a JOG operation is started for axis 1. ("[Cd.17] JOG speed" is set to "100.00 mm/min" in the example shown.) Required control data setting The control data shown below must be set to execute a JOG operation.
  • Page 173 Start time chart ■RD77MS4 operation example Forward JOG run Reverse JOG run [Cd.181] Forward run JOG start [Cd.182] Reverse run JOG start PLC READY signal [Y0] All axis servo ON [Y1] READY signal [X0] BUSY signal [X10] Error detection signal ([Md.31] Status: b13) Program example Refer to the followings for the program example of the JOG operation.
  • Page 174: Jog Operation Example

    JOG operation example Example 1 When the "stop signal" is turned ON during JOG operation, the JOG operation will stop by the "deceleration stop" method. If the JOG start signal is turned ON while the stop signal is ON, the error "Stop signal ON at start" (error code: 1908H) will occur.
  • Page 175 Example 2 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. In this case, the "reverse run JOG start signal" is validated when the BUSY signal of Simple Motion module is turned OFF.
  • Page 176: Inching Operation

    Inching Operation Outline of inching operation Operation In inching operation, pulses are output to the servo amplifier at operation cycle to move the workpiece by a designated movement amount after the forward run JOG start signal [Cd.181] or reverse JOG start signal [Cd.182] is turned ON. The following shows the example of inching operation.
  • Page 177 Precautions during operation The following details must be understood before inching operation is carried out. • Acceleration/deceleration processing is not carried out during inching operation. (Commands corresponding to the designated inching movement amount are output at operation cycle. When the movement direction of inching operation is reversed and backlash compensation is carried out, the backlash compensation amount and inching movement amount are output at the same operation cycle.) The "[Cd.17] JOG speed"...
  • Page 178 Operation timing and processing times The following drawing shows the details of the inching operation timing and processing time. ■RD77MS4 operation example [Cd.181] Forward run JOG start [Cd.182] Reverse run JOG start BUSY signal [X10,X11,X12,X13] [Md.26] Axis operation status Standby (0) JOG operation (3) Standby (0) Arbitrary value...
  • Page 179: Inching Operation Execution Procedure

    Inching operation execution procedure The inching operation is carried out by the following procedure. One of the following two methods can be used. Preparation STEP 1 Set the parameters. ([Pr.1] to [Pr.31]) <Method 1> Directly set (write) the parameters in the Simple Motion module using the engineering tool.
  • Page 180: Setting The Required Parameters For Inching Operation

    Setting the required parameters for inching operation The "Positioning parameters" must be set to carry out inching operation. The following table shows the setting items of the required parameters for carrying out inching operation. Parameters not shown below are not required to be set for carrying out only inching operation. (Set the initial value or a value within the setting range.) : Setting always required.
  • Page 181: Creating A Program To Enable/disable The Inching Operation

    Creating a program to enable/disable the inching operation A program must be created to execute an inching operation. Consider the "required control data setting", "start conditions", and "start time chart" when creating the program. The following shows an example when an inching operation is started for axis 1. (The example shows the inching operation when a "10.0 m"...
  • Page 182 Start time chart ■RD77MS4 operation example Forward run inching operation Reverse run inching operation [Cd.181] Forward run JOG start [Cd.182] Reverse run JOG start PLC READY signal [Y0] All axis servo ON [Y1] READY signal [X0] BUSY signal [X10] Error detection signal ([Md.31] Status: b13) Positioning complete signal ([Md.31] Status: b15)
  • Page 183: Inching Operation Example

    Inching operation example Example 1 If the JOG start signal is turned ON while the stop signal is ON, the error "Stop signal ON at start" (error code: 1908H) will occur. The inching operation can be re-started when the stop signal is turned OFF and the JOG start signal is turned ON from OFF. ■RD77MS4 operation example Ignores that the JOG start signal is turned ON from OFF while the stop signal is ON.
  • Page 184: Manual Pulse Generator Operation

    Manual Pulse Generator Operation Outline of manual pulse generator operation Operation In manual pulse generator operations, pulses are input to the Simple Motion module from the manual pulse generator. This causes the same number of input command to be output from the Simple Motion module to the servo amplifier, and the workpiece is moved in the designated direction.
  • Page 185 Precautions during operation The following details must be understood before carrying out manual pulse generator operation. • If "[Pr.123] Manual pulse generator speed limit value" is set to a value larger than "[Pr.8] Speed limit value", the error "Manual pulse generator speed limit value error" (error code: 1ABBH) will occur and the operation will not start. •...
  • Page 186 Manual pulse generator speed limit mode In "[Pr.122] Manual pulse generator speed limit mode", the output operation which exceeds "[Pr.123] Manual pulse generator speed limit value" can be set during manual pulse generator operation. The setting value and operation for "[Pr.122] Manual pulse generator speed limit mode" are shown below. Setting Operation value...
  • Page 187 Operations when stroke limit error occurs When the hardware stroke limit error or the software stroke limit error is detected during operation, the operation will decelerate to a stop. However, in case of "[Md.26] Axis operation status", "Manual pulse generator operation" will continue After stopping, manual pulse generator input pulses to the outside direction of the limit range are not accepted, but operation can be executed within the range.
  • Page 188 Position control by manual pulse generator operation In manual pulse generator operation, the position is moved by a "manual pulse generator 1 pulse movement amount" per pulse. The current feed value in the positioning control by manual pulse generator operation can be calculated using the expression shown below.
  • Page 189: Manual Pulse Generator Operation Execution Procedure

    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 Preparation STEP 1 Set the parameters. be used. ([Pr.1] to [Pr.24], [Pr.89], [Pr.151]) <Method 1> Directly set (write) the parameters in the Simple Motion module using the engineering tool.
  • Page 190: Setting The Required Parameters For Manual Pulse Generator Operation

    Setting the required parameters for manual pulse generator operation The "Positioning parameters" and "Common 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. Parameters not shown below are not required to be set for carrying out only manual pulse generator operation.
  • Page 191: Creating A Program To Enable/disable The Manual Pulse Generator Operation

    Creating a program to enable/disable the manual pulse generator operation A program must be created to execute a manual pulse generator operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a manual pulse generator operation is started for axis 1. Required control data setting The control data shown below must be set to execute a manual pulse generator operation.
  • Page 192 Start time chart ■RD77MS4 operation example Forward run Reverse run Pulse input A phase Pulse input B phase [Y0] PLC READY signal [Y1] All axis servo ON [X0] READY signal Start complete signal ([Md.31] Status: b14) [X10] BUSY signal Error detection signal ([Md.31] Status: b13) [Cd.
  • Page 193: Chapter 6 Inter-module Synchronization Function

    INTER-MODULE SYNCHRONIZATION FUNCTION This function can synchronize the control timings among multiple modules on the same base. Control details This function can synchronize the interrupt program execution cycle of the CPU module and the operation cycle of the Simple Motion module. Refresh which is synchronized with the operation cycle can be executed between the devices and labels of the buffer memory address and CPU module.
  • Page 194 Precautions • Turn "[Cd.183] Execution prohibition flag" OFF after "[Md.503] Pre-reading data analysis status" is set to "2: Completed". • Because each positioning module operates independently after starting, it operates as follows. (Even though an error occurs and the module stops, the module where an error has not occurred continues to operate. Even though the stop signal is input in the program at the same time, the detection timing of the stop signal may not be the same and the stop position may differ.) •...
  • Page 195: Chapter 7 Expansion Control

    EXPANSION CONTROL The details and usage of expansion control are explained in this chapter. Expansion control includes the speed-torque control to execute the speed control and torque control not including position loop and the synchronous control to synchronize with input axis using software with "synchronous control parameter" instead of controlling mechanically with gear, shaft, speed change gear or cam, etc.
  • Page 196: Setting The Required Parameters For Speed-torque Control

    Setting the required parameters for speed-torque control The "Positioning parameters" must be set to carry out speed-torque control. The following table shows the setting items of the required parameters for carrying out speed-torque control. Parameters not shown below are not required to be set for carrying out only speed-torque control. (Set the initial value or a value within the setting range.) : Setting always required.
  • Page 197: Setting The Required Data For Speed-torque Control

    Setting the required data for speed-torque control Required control data setting for the control mode switching The control data shown below must be set to execute the control mode switching. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address [Cd.138] Control mode...
  • Page 198 Required control data setting for the torque control mode The control data shown below must be set to execute the torque control. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address  [Cd.143] Command torque at torque control mode Set the command torque at torque control mode.
  • Page 199: Operation Of Speed-torque Control

    Operation of speed-torque control Switching of control mode (Speed control/Torque control) ■Switching method of control mode To switch the control mode to the speed control or the torque control, set "1" in "[Cd.138] Control mode switching request" after setting the control mode in "[Cd.139] Control mode setting". When the mode is switched to the speed control mode or the torque control mode, the control data used in each control mode must be set before setting "1"...
  • Page 200 ■Precautions at control mode switching • The start complete signal and the positioning complete signal do not turn ON at control mode switching. • When "30: Control mode switch", "31: Speed control", or "32: Torque control" is set in "[Md.26] Axis operation status", the BUSY signal turns ON.
  • Page 201 ■Operation for "Position control mode  Torque control mode switching" When the position control mode is switched to the torque control mode, the command torque immediately after the switching is the torque set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque control mode". Torque initial value selection ([Pr.90]: b4 to b7) Command torque to servo amplifier immediately after switching from position control mode to torque control mode 0: Command torque...
  • Page 202 ■Operation for "Speed control mode  Torque control mode switching" When the speed control mode is switched to the torque control mode, the command torque immediately after the switching is the torque set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque control mode". Torque initial value selection ([Pr.90]: b4 to b7) Command torque to servo amplifier immediately after switching from speed control mode to torque control mode...
  • Page 203 Switching of control mode (Continuous operation to torque control) ■Switching method of control mode To switch the control mode to the continuous operation to torque control mode, set "1" in "[Cd.138] Control mode switching request" after setting the control mode to switch to "[Cd.139] Control mode setting" (30: Continuous operation to torque control mode) from position control mode or speed control mode.
  • Page 204 • When the mode is switched from position control mode to continuous operation to torque control mode, only the switching from continuous operation to torque control mode to position control mode is possible. If the mode is switched to other control modes, the warning "Control mode switching not possible" (warning code: 09EBH) will occur, and the control mode is not switched.
  • Page 205 The following chart shows the operation timing for axis 1. ■RD77MS4 operation example Continuous operation Position control mode to torque control mode Position control mode Contact with target 1000 Torque 30.0% 6 to 11 ms 6 to 11 ms [Cd.138] Control mode switching request [Cd.139] Control mode setting BUSY signal [X10] [Md.26] Axis operation status...
  • Page 206 ■Operation for "Speed control mode  Continuous operation to torque control mode switching" To switch to the continuous operation to torque control mode, set the control data used in the control mode before setting "1" in "[Cd.138] Control mode switching request". When the switching condition is satisfied at control mode switching request, "1: Position control mode - continuous operation to torque control mode, speed control mode - continuous operation to torque control mode switching"...
  • Page 207 ■Operation for switching from "Position control mode" to "Continuous operation to torque control mode" automatically To switch to the continuous operation to torque control mode automatically when the conditions set in "[Cd.153] Control mode auto-shift selection" and "[Cd.154] Control mode auto-shift parameter" are satisfied, set the control data necessary in the continuous operation to torque control mode, "[Cd.153] Control mode auto-shift selection"...
  • Page 208 The following chart shows the operation when "1: Current feed value pass" is set in "[Cd.153] Control mode auto-shift selection". Position control mode Continuous operation to torque control mode Contact with target 1000 Current feed value passes the address "adr" set in "[Cd.154] Control mode auto-shift parameter".
  • Page 209 Speed control mode ■Operation for speed control mode The speed control is executed at the speed set in "[Cd.140] Command speed at speed control mode" in the speed control mode. Set a positive value for forward rotation and a negative value for reverse rotation. "[Cd.140]" can be changed any time during the speed control mode.
  • Page 210 ■Stop cause during speed control mode The operation for stop cause during speed control mode is shown below. Item Operation during speed control mode "[Cd.180] Axis stop" turned ON. The motor decelerates to speed "0" according to the setting value of "[Cd.142] Deceleration time at speed control mode".
  • Page 211 Torque control mode ■Operation for torque control mode The torque control is executed at the command torque set in "[Cd.143] Command torque at torque control mode" in the torque control mode. "[Cd.143] Command torque at torque control mode" can be changed any time during torque control mode. The relation between the setting of command torque and the torque generation direction of servomotor varies depending on the setting of servo parameters "Rotation direction selection/travel direction selection (PA14)"...
  • Page 212 ■Speed during torque control mode The speed during the torque control mode is controlled with "[Cd.146] Speed limit value at torque control mode". At this time, "Speed limit" ("[Md.119] Servo status2": b4) turns ON. n: Axis No. - 1 Monitor item Buffer memory address [Md.119] Servo status2: b4 2476+100n...
  • Page 213 Continuous operation to torque control mode ■Operation for continuous operation to torque control mode In continuous operation to torque control, the torque control can be executed without stopping the operation during the positioning in position control mode or speed command in speed control mode. During the continuous operation to torque control mode, the torque control is executed at the command torque set in "[Cd.150] Target torque at continuous operation to torque control mode"...
  • Page 214 ■Speed limit value setting method Acceleration/deceleration is performed based on a trapezoidal acceleration/deceleration processing. Set acceleration/deceleration time toward "[Pr.8] Speed limit value" in "[Cd.148] Acceleration time at continuous operation to torque control mode" and "[Cd.149] Deceleration time at continuous operation to torque control mode". The value at continuous operation to torque control mode switching is valid for "[Cd.148]"...
  • Page 215 ■Speed during continuous operation to torque control mode The speed during the continuous operation to torque control mode is controlled with an absolute value of the value set in "[Cd.147] Speed limit value at continuous operation to torque control mode" as command speed. When the speed reaches the absolute value of "[Cd.147] Speed limit value at continuous operation to torque control mode", "Speed limit"...
  • Page 216: Synchronous Control

    Synchronous Control "Synchronous control" can be achieved using software instead of controlling mechanically with gear, shaft, speed change gear or cam, etc. "Synchronous control" synchronizes movement with the input axis (servo input axis or synchronous encoder axis), by setting "the parameters for synchronous control" and starting synchronous control on each output axis. Refer to the following for details of synchronous control.
  • Page 217: Chapter 8 Control Sub Functions

    CONTROL SUB FUNCTIONS The details and usage of the "sub functions" added and used in combination with the main functions are explained in this chapter. A variety of sub functions are available, including functions specifically for machine home position return and generally related functions such as control compensation, etc.
  • Page 218 Sub function Details Functions related to Stop command processing This function selects a deceleration curve when a stop cause occurs during deceleration stop positioning stop for deceleration stop processing to speed 0. function Continuous operation This function interrupts continuous operation. When this request is accepted, the operation stops interrupt function when the execution of the current positioning data is completed.
  • Page 219: Sub Functions Specifically For Machine Home Position Return

    Sub Functions Specifically for Machine Home Position Return The sub functions specifically for machine home position return include the "home position return retry function" and "home position shift function". Each function is executed by parameter setting. Home position return retry function When the workpiece goes past the home position without stopping during positioning control, it may not move back in the direction of the home position although a machine home position return is commanded, depending on the workpiece position.
  • Page 220 ■Home position return retry operation when the workpiece is outside the range between the upper and lower limits. • When the direction from the workpiece to the home position is the same as the "[Pr.44] Home position return direction", a normal machine home position return is carried out.
  • Page 221 ■Setting the dwell time during a home position return retry The home position return retry function can perform such function as the dwell time using "[Pr.57] Dwell time during home position return retry" when the reverse run operation is carried out due to detection by the limit signal for upper and lower limits and when the machine home position return is executed after the near point dog is turned OFF to stop the operation.
  • Page 222 Setting method To use the "home position return retry function", set the required details in the parameters shown in the following table, and write them to the Simple Motion module. When the parameters are set, the home position return retry function will be added to the machine home position return control.
  • Page 223: Home Position Shift Function

    Home position shift function When a machine home position return is carried out, the home position is normally established using the near-point dog and zero signal. However, by using the home position shift function, the machine can be moved a designated movement amount from the position where the zero signal was detected.
  • Page 224 Movement speed during home position shift When using the home position shift function, the movement speed during the home position shift is set in "[Pr.56] Speed designation during home position shift". The movement speed during the home position shift is selected from either the "[Pr.46] Home position return speed"...
  • Page 225 Precautions during control • The following data are set after the home position shift amount is complete. • Home position return complete flag ([Md.31] Status: b4) • [Md.20] Current feed value • [Md.21] Machine feed value • [Md.26] Axis operation status Home position return request flag ([Md.31] Status: b3) is reset after completion of the home position shift.
  • Page 226: Functions For Compensating The Control

    Functions for Compensating the Control The sub functions for compensating the control include the "backlash compensation function", "electronic gear function", and "near pass function". Each function is executed by parameter setting or program creation and writing. Backlash compensation function The "backlash compensation function" compensates the backlash amount in the mechanical system. When the backlash compensation amount is set, an extra amount of command equivalent to the set backlash amount is output every time the movement direction changes.
  • Page 227: Electronic Gear Function

    Electronic gear function The "electronic gear function" adjusts the actual machine movement amount and number of pulse output to servo amplifier according to the parameters set in the Simple Motion module. The "electronic gear function" has the following three functions ( [A] to [C] ). [A] During machine movement, the function increments in the Simple Motion module values less than one pulse that could not be output, and outputs the incremented amount when the total incremented value reached one pulse or more.
  • Page 228 ■For "Ball screw" + "Reduction gear" When the ball screw pitch is 10 mm, the motor is the HG-KR (4194304 pulses/rev) and the reduction ratio of the reduction gear is 9/44. Reduction ratio 9/44 First, find how many millimeters the load (machine) will travel (S) when the motor turns one revolution (AP). AP (Number of pulses per rotation) = 4194304 [pulse] ΔS (Movement amount per rotation)
  • Page 229 ■When "degree" is set as the control unit for a rotary axis When the rotary axis is used, the motor is HG-KR (4194304 pulses/rev) and the reduction ratio of the reduction gear is 3/11. Reduction ratio 3/11 First, find how many degrees the load (machine) will travel (S) when the motor turns one revolution (AP). AP (Number of pulses per rotation) = 4194304 [pulse] S (Movement amount per rotation) = 360.00000 [degree] ...
  • Page 230 ■When "mm" is set as the control unit for conveyor drive (calculation including ) When the belt conveyor drive is used, the conveyor diameter is 135 mm, the pulley ratio is 1/3, the motor is HG-KR (4194304 pulses/rev) and the reduction ratio of the reduction gear is 7/53. Belt conveyor φ135 mm Reduction ratio 7/53...
  • Page 231 ■Number of pulses/ movement amount at linear servo use Simple Motion module Linear servo motor pulse Servo Control Command pulse unit amplifier value pulse Feedback pulse Linear encoder Calculate the number of pulses (AP) and movement amount (AL) for the linear encoder in the following conditions. Number of pulses (AP) Linear encoder resolution = Movement amount (AL)
  • Page 232 The method for compensating the error When the position control is carried out using the "Electronic gear" set in a parameter, this may produce an error between the command movement amount (L) and the actual movement amount (L'). With Simple Motion module, this error is compensated by adjusting the electronic gear.
  • Page 233: Near Pass Function

    Near pass function When continuous pass control is carried out using interpolation control, the near pass function is carried out. The "near pass function" is a function to suppress the mechanical vibration occurring at the time of switching the positioning data when continuous pass control is carried out using interpolation control.
  • Page 234 Precautions during control • If the movement amount designated by the positioning data is small when the continuous path control is executed, the output speed may not reach the designated speed. • The movement direction is not checked during interpolation operation. Therefore, a deceleration stops are not carried out even if the movement direction changes.
  • Page 235: Functions To Limit The Control

    Functions to Limit the Control Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit function", "hardware stroke limit function", and "forced stop function". Each function is executed by parameter setting or program creation and writing. Speed limit function The speed limit function limits the command speed to a value within the "speed limit value"...
  • Page 236 When the "reference axis speed" is set during interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit value". Setting method To use the "speed limit function", set the "speed limit value"...
  • Page 237: Torque Limit Function

    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 238 Control details The following drawing shows the operation of the torque limit function. ■RD77MS4 operation example Each operation PLC READY signal [Y0] All axis servo ON [Y1] Positioning start signal [Y10] [Pr.17] Torque limit setting value [Cd.101] Torque output setting value [Cd.112] Torque change function 0 (Forward/reverse torque limit value same setting)
  • Page 239 Setting method • To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them to the Simple Motion module. The set details are validated at the rising edge (OFF  ON) of the PLC READY signal [Y0]. Setting item Setting value Setting details Factory-set initial value...
  • Page 240: Software Stroke Limit Function

    Software stroke limit function In the "software stroke limit function" the address established by a machine home position 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 241 ■Current value changing When the current value is changed by a new current value command from 2000 to 1000, the current value will change to 1000, but the machine feed value will stay the same at 2000. • When the machine feed value is set at the limit The machine feed value of 5000 (current feed value: 4000) becomes the upper stroke limit.
  • Page 242 Relation between the software stroke limit function and various controls : Check valid : Check is not made when the current feed value is not updated (Page 422 [Pr.21] Current feed value during speed control) at the setting of "current feed value" in "[Pr.14] Software stroke limit selection" during speed control. : Check not carried out (check invalid).
  • Page 243 Axis 1 Deceleration stop is not carried out. Axis 1 stroke limit Arc address ([Da.7]) End point address ([Da.6]) Starting address Axis 2 *1 The software stroke limit check is carried out for the following addresses during circular interpolation control. (Note that "[Da.7] Arc address"...
  • Page 244 Invalidating the software stroke limit To invalidate the software stroke limit, set the following parameters as shown, and write them to the Simple Motion module. (Set the value within the setting range.) (To invalidate only the manual operation, set "1: software stroke limit invalid" in the "[Pr.15] Software stroke limit valid/invalid setting".) The set details are validated at the rising edge (OFF ...
  • Page 245: Hardware Stroke Limit Function

    Hardware stroke limit function WARNING • When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic using b-contact. If it is set in positive logic using a-contact, a serious accident may occur. 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.
  • Page 246 ■External input signal via CPU (buffer memory of Simple Motion module) Lower limit Upper limit Control range of Simple Motion module Mechanical stopper Mechanical stopper Movement Movement Start Start direction direction Input module Deceleration stop at lower Deceleration stop at upper Simple Motion module limit switch detection limit switch detection...
  • Page 247 When the hardware stroke limit function is not used When not using the hardware stroke limit function, wire the terminals of the Simple Motion module/servo amplifier upper/lower limit stroke limit as shown in the following drawing. As for the 24 V DC power supply, the direction of current can be switched. When the logic of FLS and RLS is set to "positive logic"...
  • Page 248: Forced Stop Function

    Forced stop function WARNING • When the forced stop is required to be wired, ensure to wire it in the negative logic using b-contact. • Provided safety circuit outside the Simple Motion module so that the entire system will operate safety even when the "[Pr.82] Forced stop valid/invalid selection"...
  • Page 249 Wiring the forced stop When using the forced stop function, wire the terminals of the Simple Motion module forced stop input as shown in the following drawing. As for the 24 V DC power supply, the direction of current can be switched. Simple Motion module 24 V DC EMI.COM...
  • Page 250: Functions To Change The Control Details

    Functions to Change the Control Details Functions to change the control details include the "speed change function", "override function", "acceleration/deceleration time change function", "torque change function" and "target position change function". Each function is executed by parameter setting or program creation and writing. Refer to the following for combination with main function.
  • Page 251 Precautions during control • At the speed change during continuous path control, when no speed designation (current speed) is provided in the next positioning data, the next positioning data is controlled at the "[Cd.14] New speed value". Also, when a speed designation is provided in the next positioning data, the next positioning data is controlled at its "[Da.8] Command speed".
  • Page 252 ■RD77MS4 operation example Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] [Cd.14] New speed value 1000 [Cd.15] Speed change request Positioning operation Speed change 0 flag ([Md.31] status: b10) • The warning "Deceleration/stop speed change" (warning code: 0990H) occurs and the speed cannot be changed in the following cases.
  • Page 253 Setting method from the CPU module The following shows the data settings and program example for changing the control speed of axis 1 by the command from the CPU module. (In this example, the control speed is changed to "20.00 mm/min".) •...
  • Page 254 Setting method using an external command signal The speed can also be changed using an "external command signal". The following shows the data settings and program example for changing the control speed of axis 1 using an "external command signal". (In this example, the control speed is changed to "10000.00 mm/min".) •...
  • Page 255 • Add the following program to the control program, and write it to the CPU module. Classification Label name Description Module label RD77_1.stnAxPrm_D[0].uExternalCommandFunctionMode_D Axis 1 External command function selection RD77_1.stnAxCtrl1_D[0].uExternalCommandValid_D Axis 1 External command valid RD77_1.stnAxCtrl1_D[0].udNewSpeed_D Axis 1 New speed value Global label, local label Defines the global label or the local label as follows.
  • Page 256: Override Function

    Override function The override function changes the command speed by a designated percentage (0 to 300%) for all control to be executed. The speed can be changed by setting the percentage (%) by which the speed is changed in "[Cd.13] Positioning operation speed override".
  • Page 257 Setting method The following shows the data settings and program example for setting the override value of axis 1 to "200%". • Set the following data. (Set using the program referring to the speed change time chart.) n: Axis No. - 1 Setting item Setting Setting details...
  • Page 258: Acceleration/deceleration Time Change Function

    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 by the "speed change function" and "override function". In a normal speed change (when the acceleration/deceleration time is not changed), the acceleration/deceleration time previously set in the parameters ([Pr.9], [Pr.10], and [Pr.25] to [Pr.30] values) is set in the positioning parameter data items [Da.3] and [Da.4], and control is carried out with that acceleration/deceleration time.
  • Page 259 Precautions during control • When "0" is set in "[Cd.10] New acceleration time value" and "[Cd.11] 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 260 If the speed is changed when an acceleration/deceleration change is enabled, the "new acceleration/ deceleration time" will become the acceleration/deceleration time of the positioning data being executed. The "new acceleration/deceleration time" remains valid until the changeover to the next positioning data. (The automatic deceleration processing at the completion of the positioning will also be controlled by the "new acceleration/deceleration time".) Setting method...
  • Page 261: Torque Change Function

    Torque change function The "torque change function" is used to change the torque limit value during torque limiting. The torque limit value at the control start is the value set in the "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value".
  • Page 262 Control details The torque value (forward new torque value/reverse new torque value) of the axis control data can be changed at all times. The torque can be limited with a new torque value from the time the new torque value has been written to the Simple Motion module.
  • Page 263 ■RD77MS4 operation example Each operation PLC READY signal [Y0] All axis servo ON [Y1] Positioning start signal [Y10] [Pr.17] Torque limit setting value [Cd.101] Torque output setting value [Cd.112] Torque change function switching request [Cd.22] New torque value/forward new torque value [Md.35] Torque limit stored value/forward torque limit stored value...
  • Page 264 Setting method To use the "torque change function", write the data shown in the following table to the Simple Motion module using the program. The set details are validated when written to the Simple Motion module. n: Axis No. - 1 Setting item Setting value Setting details...
  • Page 265: Target Position Change Function

    Target position change function The "target position change function" is a function to change a target position to a newly designated target position at any timing during the position control (1-axis linear control). A command speed can also be changed simultaneously. The target position and command speed changed are set directly in the buffer memory, and the target position change is executed by "[Cd.29] Target position change request flag".
  • Page 266 Precautions during operation • If the positioning movement direction from the stop position to a new target position is reversed, stop the operation once and then position to the new target position. (Page 263 When the direction of the operation is changed:) •...
  • Page 267 Setting method from the CPU module The following shows the data settings and program example for changing the target position of axis 1 by the command from the CPU module. (In this example, the target position value is changed to "300.0 m" and the command speed is changed to "10000.00 mm/min".) •...
  • Page 268: Functions Related To Start

    Functions Related to Start A function related to start includes the "pre-reading start function". This function is executed by parameter setting or program creation and writing. Pre-reading start function The "pre-reading start function" does not start servo while the execution prohibition flag is ON if a positioning start request is given with the execution prohibition flag ON, and starts servo within operation cycle after OFF of the execution prohibition flag is detected.
  • Page 269 Precautions during control • After positioning data analysis, the system is put in an execution prohibition flag OFF waiting status. Any change made to the positioning data in the execution prohibition flag OFF waiting status is not reflected on the positioning data. Change the positioning data before turning ON the positioning start signal.
  • Page 270: Absolute Position System

    Absolute Position System The Simple Motion module can construct an absolute position system by installing the absolute position system and connecting it through SSCNET/H. The following describes precautions when constructing the absolute position system. The configuration of the absolute position system is shown below. Battery Servomotor •...
  • Page 271: Functions Related To Stop

    Functions Related to Stop Functions related to stop include the "stop command processing for deceleration stop function", "Continuous operation interrupt function" and "step function". Each function is executed by parameter setting or program creation and writing. Stop command processing for deceleration stop function The "stop command processing for deceleration stop function"...
  • Page 272 Precautions for control • In manual control (JOG operation, inching operation, manual pulse generator operation) and speed-torque control, the stop command processing for deceleration stop function is invalid. • The stop command processing for deceleration stop function is valid when "0: Normal deceleration stop" is set in "[Pr.37] Stop group 1 sudden stop selection"...
  • Page 273: Continuous Operation Interrupt Function

    Continuous operation interrupt function 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. To execute continuous operation interruption, set "1: Continuous operation interrupt request"...
  • Page 274 Restrictions • When the "continuous operation interrupt request" is executed, the positioning will end. Thus, after stopping, the operation cannot be "restarted". When "[Cd.6] Restart command" is issued, the warning "Restart not possible" (warning code: 0902H) will occur. • Even if the stop command is turned ON after executing the "continuous operation interrupt request", the "continuous operation interrupt request"...
  • Page 275: Step Function

    Step function The "step function" is used to confirm each operation of the positioning control one by one. It is used in debugging work for major positioning control, etc. A positioning operation in which a "step function" is used is called a "step operation". In step operations, the timing for stopping the control can be set.
  • Page 276 Step start request Control stopped by a step operation can be continued by setting "step continues" (to continue the control) in the "step start information". (The "step start information" is set in the control data "[Cd.36] Step start information".) The following table shows the results of starts using the "step start information" during step operation. Stop status in the step operation [Md.26] Axis operation [Cd.36] Step start information Step start results...
  • Page 277 Using the step operation The following shows the procedure for checking positioning data using the step operation. Start Turn ON the step valid flag. Write "1" (carry out step operation) in "[Cd.35] Step valid flag". Set the step mode. Set in "[Cd.34] Step mode". Start positioning.
  • Page 278 Control details • The following drawing shows a step operation during a "deceleration unit step". ■RD77MS4 operation example [Cd. 35] Step valid flag Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [X10, X11, X12, X13] Positioning complete signal ([Md.31] Status: b15) Positioning No.10 No.11...
  • Page 279 Step function settings To use the "step function", write the data shown in the following table to the Simple Motion module using the program. Refer to the following for the timing of the settings. Page 275 Using the step operation The set details are validated after they are written to the Simple Motion module.
  • Page 280: Other Functions

    Other Functions Other functions include the "skip function", "M code output function", "teaching function", "command in-position function", "acceleration/deceleration processing function", "deceleration start flag function", "speed control 10  multiplier setting for degree axis function" and "operation setting for incompletion of home position return function". Each function is executed by parameter setting or program creation and writing.
  • Page 281 Precautions during control • If the skip signal is turned ON at the last of an operation, a deceleration stop will occur and the operation will be terminated. • When a control is skipped (when the skip signal is turned ON during a control), the positioning complete signals will not turn •...
  • Page 282 Setting method using an external command signal The skip function can also be executed using an "external command signal". The following shows the settings and program example for skipping the control being executed in axis 1 using an "external command signal". •...
  • Page 283: M Code Output Function

    M code output function The "M code output function" is used to command sub work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal ([Md.31] Status: b12) is turned ON during positioning execution, a No. called the M code is stored in "[Md.25] Valid M code".
  • Page 284 M code ON signal OFF request When the M code ON signal is ON, it must be turned OFF by the program. To turn OFF the M code ON signal, set "1" (turn OFF the M code signal) in "[Cd.7] M code OFF request". n: Axis No.
  • Page 285 Precautions during control • During interpolation control, the reference axis M code ON signal is turned ON. • The M code ON signal will not turn ON if "0" is set in "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/Number of pitches".
  • Page 286 Reading M codes "M codes" are stored in the following buffer memory when the M code ON signal turns ON. n: Axis No. - 1 Monitor item Monitor Storage details Buffer memory address value  [Md.25] Valid M code The M code No. ([Da.10] M code/Condition data No./Number 2408+100n of LOOP to LEND repetitions/Number of pitches) set in the positioning data is stored.
  • Page 287: Teaching Function

    Teaching function The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation manual pulse generator operation) in the positioning data addresses ("[Da.6] Positioning address/movement amount", "[Da.7] Arc address"). Control details ■Teaching timing Teaching is executed using the program when the BUSY signal [X10 to X1F] is OFF. (During manual control, teaching can be carried out as long as the axis is not BUSY, even when an error or warning has occurred.) ■Addresses for which teaching is possible The addresses for which teaching is possible are "current feed values"...
  • Page 288 Teaching procedure The following shows the procedure for a teaching operation. • When teaching to the "[Da.6] Positioning address/movement amount" (Teaching example on axis 1) Start Perform machine home position return on axis 1. Move the workpiece to the target Using a JOG operation, inching operation, or manual pulse generator operation.
  • Page 289 • When teaching to the "[Da.7] Arc address", then teaching to the "[Da.6] Positioning address/movement amount" (Teaching example for 2-axis circular interpolation control with sub point designation on axis 1 and axis 2) Start Perform a machine home position return on axis 1 and axis 2. Move the workpiece to the circular Using a JOG operation, inching operation, interpolation sub point using a...
  • Page 290 Teaching arc end point address Entering teaching data using "[Cd.38] Teaching data selection" on axis 2. and "[Cd.39] Teaching positioning data No." for axis 2 in the same fashion as for axis 1. End teaching? Turn OFF the PLC READY signal [Y0].
  • Page 291 Teaching program example The following shows a program example for setting (writing) the positioning data obtained with the teaching function to the Simple Motion module. ■Setting conditions When setting the current feed value as the positioning address, write it when the BUSY signal is OFF. ■Program example The following example shows a program to carry out the teaching of axis 1.
  • Page 292: Command In-position Function

    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 sets "1". 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 293 Setting method To use the "command in-position function", set the required value in the parameter shown in the following table, and write it to the Simple Motion module. The set details are validated at the rising edge (OFF  ON) of the PLC READY signal [Y0]. Setting item Setting Setting details...
  • Page 294: Acceleration/deceleration Processing Function

    Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration of each control to the acceleration/ deceleration curve suitable for device. Setting the acceleration/deceleration time changes the slope of the acceleration/deceleration curve. The following two methods can be selected for the acceleration/deceleration curve: •...
  • Page 295 ■S-curve 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 "[Pr.35] S-curve ratio" (1 to 100%) set by the user. When a speed change request or override request is given during S-curve acceleration/deceleration processing, S-curve acceleration/deceleration processing begins at a speed change request or override request start.
  • Page 296: Deceleration Start Flag Function

    Deceleration start flag function The "deceleration start flag function" turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete". This function can be used as a signal to start the operation to be performed by other equipment at each end of position control or to perform preparatory operation, etc.
  • Page 297 Precautions during control • The deceleration start flag function is valid for the control method of "1-axis linear control", "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "speed-position switching control" or "position-speed switching control". In the case of linear interpolation control, the function is valid for only the reference axis. (MELSEC iQ-R Simple Motion Module User's Manual (Startup)) •...
  • Page 298 Checking of deceleration start flag The "deceleration start flag" is stored into the following buffer memory addresses. n: Axis No. - 1 Monitor item Monitor Storage details Buffer memory address value  [Md.48] Deceleration start flag 0: Status other than below 2499+100n 1: Status from deceleration start to next operation start or manual pulse generator operation enable...
  • Page 299: Speed Control 10 Times Multiplier Setting For Degree Axis Function

    Speed control 10 times multiplier setting for degree axis function The "Speed control 10  multiplier setting for degree axis function" is provided to execute the positioning control by 10  speed of the setting value in the command speed and the speed limit value when the setting unit is "degree". Control details When "Speed control 10 multiplier specifying function for degree axis"...
  • Page 300 Setting method Set "Valid/Invalid" by "[Pr.83] Speed control 10  multiplier setting for degree axis". Normally, the speed specification range is 0.001 to 2000000.000 [degree/min], but it will be decupled and become 0.01 to 20000000.00 [degree/min] by setting "[Pr.83] Speed control 10  multiplier setting for degree axis" to valid. To use the "Speed control 10 ...
  • Page 301: Operation Setting For Incompletion Of Home Position Return Function

    Operation setting for incompletion of home position return function The "Operation setting for incompletion of home position return function" is provided to select whether positioning control is operated or not when the home position return request flag is ON. Control details When "[Pr.55] Operation setting for incompletion of home position return"...
  • Page 302 Setting method To use the "Operation setting for incompletion of home position return", set the following parameters using a program. n: Axis No. - 1 Setting item Setting Setting details Buffer memory address value  [Pr.55] Operation setting for incompletion of home Set the operation setting for incompletion of home 87+150n position return...
  • Page 303: Servo On/off

    8.10 Servo ON/OFF Servo ON/OFF This function executes servo ON/OFF of the servo amplifiers connected to the Simple Motion module. By establishing the servo ON status with the servo ON command, servo motor operation is enabled. The following two signals can be used to execute servo ON/OFF. •...
  • Page 304: Follow Up Function

    Follow up function Follow up function The follow up function monitors the number of motor rotations (actual present value) with the servo OFF and reflects the value in the present feed value. If the servomotor rotates during the servo OFF, the servomotor will not just rotate for the amount of droop pulses at switching the servo ON next time, so that the positioning can be performed from the stop position.
  • Page 305: Chapter 9 Common Functions

    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 Simple Motion module, such as parameter initialization and execution data backup. Read the setting and execution procedures for each common function indicated in this chapter thoroughly, and execute the appropriate function where required.
  • Page 306: Parameter Initialization Function

    Parameter Initialization Function The "parameter initialization function" is used to return the setting data set in the buffer memory/internal memory and flash ROM/internal memory (nonvolatile) of Simple Motion module to the default values. Parameter initialization means • Initialization is executed with a program. •...
  • Page 307 Parameter initialization method • Parameter initialization can be carried out by writing the data shown in the table below to the buffer memory of Simple Motion module. The initialization of the parameter is executed at the time point the data is written to the buffer memory of Simple Motion module.
  • Page 308: Execution Data Backup Function

    Execution Data Backup Function When the buffer memory data of Simple Motion module is rewritten from the CPU module, "the data backed up in the flash ROM/internal memory (nonvolatile)" of Simple Motion module may differ from "the execution data being used for control (buffer memory data)".
  • Page 309 Execution data backup method • Refer to the following for the data transmission processing at the backup of the execution data. Page 546 Data transmission process • Execution data backup can be carried out by writing the data shown in the table below to the buffer memory of Simple Motion module.
  • Page 310: External Input Signal Select Function

    [Pr.119] STOP signal 0002H The setting value can be set until "0AH" at RD77MS2 use. selection The setting is not required when the value other than "0" is set. (The setting is ignored.) *1 The setting is not available in "[Pr.119] STOP signal selection". If it is set, the error "STOP signal selection error" (error code: 1AD3H) occurs and the PLC READY signal [Y0] is not turned ON.
  • Page 311 Pin No. DI No. Definition of FLS/ Pin No. DI No. Definition of FLS/ RLS/DOG/STOP RLS/DOG/STOP The signal set with the DI11 The signal set with the input terminal setting in input terminal setting in DI12 "[Pr.116] FLS signal "[Pr.116] FLS signal DI13 selection"...
  • Page 312 (When the current is flowed through the input signal terminal: OFF, When the current is not flowed through the input signal terminal: ON) [Input terminal range] RD77MS2: b0 to b9 RD77MS4/RD77MS8/RD77MS16: b0 to b19 Refer to the following for the setting details.
  • Page 313 ■Precautions on parameter setting • The logic switching parameters are validated when the PLC READY signal [Y0] is turned OFF to ON. (The logic is negative right after power-on.) • If the logic of each signal is set erroneously, the operation may not be carried out correctly. Before setting, check the specifications of the equipment to be used.
  • Page 314 ■External input signals from the servo amplifier (upper/lower stroke limit signal (FLS/RLS) and near-point dog signal (DOG)) Use the following parameter to set the input filter of the external input signals from the servo amplifier (upper/lower stroke limit signal (FLS/RLS) and near-point dog signal (DOG)). Setting item Initial value Setting details...
  • Page 315 ■List of labels to be used In the program examples, the labels to be used are assigned as follows. Classification Label name Description Module label RD77_1.stSysCtrl_D.uExternalInputOperationDevice1_D.0 Axis 1 FLS RD77_1.stSysCtrl_D.uExternalInputOperationDevice1_D.1 Axis 1 RLS RD77_1.stSysCtrl_D.uExternalInputOperationDevice1_D.2 Axis 1 DOG RD77_1.stSysCtrl_D.uExternalInputOperationDevice1_D.3 Axis 1 STOP RD77_1.stSysCtrl_D.uExternalInputOperationDevice1_D.C Axis 4 FLS RD77_1.stSysCtrl_D.uExternalInputOperationDevice1_D.D...
  • Page 316 ■Program example 9 COMMON FUNCTIONS 9.4 External Input Signal Select Function...
  • Page 317 9 COMMON FUNCTIONS 9.4 External Input Signal Select Function...
  • Page 318: History Monitor Function

    History Monitor Function This function monitors start history and current value history stored in the buffer memory of the Simple Motion module on the operation monitor of an engineering tool. Start history The start history logs of operations such as positioning operation, JOG operation, and manual pulse generator operation can be monitored.
  • Page 319 Monitor details Monitor item Home position return data Feed current value The number of backup: Once Servo command value Encoder single revolution position Encoder multiple revolution position Time 1 (Year: month) Time 2 (Day: hour) Time 3 (Minute: second) *1 Displays a value set by the clock function of the CPU module. 9 COMMON FUNCTIONS 9.5 History Monitor Function...
  • Page 320 ■Latest backup data The latest backup data outputs the following data saved in the fixed cycle to the buffer memory. • Feed current value • Servo command value • Encoder single revolution position • Encoder multiple revolution position • Time 1 (Year: month) data •...
  • Page 321: Amplifier-less Operation Function

    Amplifier-less Operation Function The positioning control of Simple Motion module without servo amplifiers connection can be executed in the amplifier-less function. This function is used to debug of user program or simulate of positioning operation at the start. Control details Switch the mode from the normal operation mode (with servo amplifier connection) to the amplifier-less operation mode (without servo amplifier connection) to use the amplifier-less operation function.
  • Page 322 Restrictions • The following monitor data cannot be used during amplifier-less operation mode. n: Axis No. - 1 Storage item Storage details Buffer memory address [Md.102] Deviation counter value Always "0" during amplifier-less operation mode. 2452+100n 2453+100n [Md.105] Connected device As the following connected devices artificially during amplifier-less 58660 operation mode.
  • Page 323 • The operation of following monitor data differs from the normal operation mode during amplifier-less operation mode. n: Axis No. - 1 Storage item Storage details Buffer memory address [Md.30] External input signal When "1: Servo amplifier" is set in "[Pr.116] FLS signal selection", "[Pr.117] RLS signal 2416+100n selection", and "[Pr.118] DOG signal selection", the external input signal status can be operated by turning ON/OFF the "b0: Lower limit signal", "b1: Upper limit signal"...
  • Page 324 • Switch from the amplifier-less operation mode to the normal operation mode Stop all operating axes, and then confirm that the BUSY signal for all axes turned OFF. Turn OFF the PLC READY signal [Y0]. Confirm that the READY signal [X0] turned OFF. Set "0000H"...
  • Page 325: Virtual Servo Amplifier Function

    Virtual Servo Amplifier Function This function is used to operate as virtual servo amplifier axis that generates only command virtually by setting "00000FFFH, 00001FFFH" in servo parameter "[Pr.100] Connected device". The synchronous control with virtually input command is possible by using the virtual servo amplifier axis as servo input axis of synchronous control. Also, it can be used as simulation operation for axes without servo amplifiers.
  • Page 326 Restrictions • The following monitor data of virtual servo amplifier differ from the actual servo amplifier. n: Axis No. - 1 Storage item Storage details Buffer memory address [Md.102] Deviation counter value Always "0". 2452+100n 2453+100n [Md.105] Connected device As the following connected devices artificially. 58660 •...
  • Page 327: Driver Communication Function

    Module Combination of number of settable axes Remark Master axis Slave axis SSCNET MR-J3-_B RD77MS2 1 axis 1 axis or more per master axis The axes other than the MR-J3-_BS master axis and slave RD77MS4 1 axis to 2 axes...
  • Page 328 Control details Set the master axis and slave axis in the servo parameter. Execute each control of Simple Motion module for the master axis. (However, be sure to execute the servo ON/OFF of slave axis and error reset at servo error occurrence in the slave axis.) The servo amplifier set as master axis receives command (positioning command, speed command, torque command) from the Simple Motion module, and send the control data to the servo amplifier set as slave axis by driver communication between servo amplifiers.
  • Page 329 ■Servo amplifier • Use the servo amplifiers compatible with the driver communication for the axis to execute the driver communication. • The combination of the master axis and slave axis is set in the servo parameters. The setting is valid by turning ON or resetting the system's power supply after writing the servo parameters to the Simple Motion module.
  • Page 330 ■I/O signals of slave axis • Input signal: All signals cannot be used. The error detection signal turns ON "Error detection" ([Md.31] Status: b13). • Output signal: All signals cannot be used. ■Data used for positioning control of slave axis •...
  • Page 331 Servo parameter Set the following parameters for the axis to execute the driver communication. (Refer to each servo amplifier instruction manual for details.) [MR-J3-_B/MR-J3-_BS/MR-J3-_B-RJ006 use] n: Axis No. - 1 Setting item Setting details Buffer memory address Input/output PA04 Forced stop deceleration function Disable deceleration stop function at the master axis and 28404+100n setting...
  • Page 332 [MR-J4-_B use] n: Axis No. - 1 Setting item Setting details Buffer memory address Input/output PA04 Forced stop deceleration function selection Disable deceleration stop function at the master 28404+100n setting axis and slave axis. PD15 Driver communication setting Set the master axis and slave axis. 65534+340n PD16 Driver communication setting...
  • Page 333: Mark Detection Function

    Mark Detection Function Any data can be latched at the input timing of the mark detection signal (DI). Also, only data within a specific range can be latched by specifying the data detection range. The following three modes are available for execution of mark detection. Continuous detection mode The latched data is always stored to the first of mark detection data storage area at mark detection.
  • Page 334 Item Performance specifications RD77MS2 RD77MS4 RD77MS8 RD77MS16 Number of mark detection Up to 16 settings Input signal External input signal (DI1 to External input signal (DI1 to DI20) DI10) Input signal detection Selectable for leading edge or trailing edge in logic setting of external input signal direction Correctable within the range of -32768 to 32767 s...
  • Page 335 ■Specified number of detection mode (Number of detections: 2) Mark detection is not executed because the number of mark detections Confirmation of mark detection data range is already 2 (More than the specified (Upper/lower limit value setting: Valid) number of detections). Mark detection signal (Leading edge detection setting) Real current value...
  • Page 336 List of parameters and data The following shows the configuration of parameters and data for mark detection function. Buffer memory address Item Mark detection setting No. 54000 to 54019 Mark detection setting parameter Mark detection setting 1 [Pr.800] to [Pr.807] 54020 to 54039 Mark detection setting 2 54040 to 54059...
  • Page 337 0: Invalid 1 to 2: External command signal of axis 1 to axis 2 (RD77MS2) 1 to 4: External command signal of axis 1 to axis 4 (RD77MS4) 1 to 8: External command signal of axis 1 to axis 8 (RD77MS8)
  • Page 338 Setting value Setting details Invalid 1 to 2 External command signal (DI) of axis 1 to axis 2 (RD77MS2) 1 to 4 External command signal (DI) of axis 1 to axis 4 (RD77MS4) 1 to 8 External command signal (DI) of axis 1 to axis 8 (RD77MS8)
  • Page 339 [Pr.803] Mark detection data axis No. Set the axis No. of data that latched at mark detection. [Pr.802] Mark detection data type [Pr.803] Mark detection data axis No. Setting Data name Unit RD77MS2 RD77MS4 RD77MS8 RD77MS16 value Current feed value [m], 10...
  • Page 340 [Pr.807] Mark detection mode setting Set the data storage method of mark detection. Mode Setting value Operation for mark detection Mark detection data storage method Continuous detection Always The data is updated in the mark detection mode data storage area 1. Specified number of 1 to 32 Number of detections...
  • Page 341 Mark detection monitor data k: Mark detection setting No. - 1 Storage item Storage details/storage value Buffer memory address [Md.800] Number of mark detection The number of mark detections is stored. 54960+80k "0" clear is executed at power supply ON. Continuous detection mode: 0 to 65535 (Ring counter) Specified number of detection mode: 0 to 32 Ring buffer mode: 0 to (number of buffers - 1)
  • Page 342: Optional Data Monitor Function

    9.10 Optional Data Monitor Function This function is used to store the data (refer to following table) up to four points per axis to the buffer memory and monitor them. Data that can be set : Possible, : Not possible ("0" is stored.) Data type Unit Used point...
  • Page 343 List of parameters and data The parameters and data used in the optional data monitor function is shown below. ■Expansion parameter n: Axis No. - 1 Setting item Setting details/setting value Buffer memory address [Pr.91] Optional data monitor: Data type setting 1 •...
  • Page 344: Event History Function

    9.11 Event History Function The "event history function" is used to save the error information and the operation for the module as an event in the data memory or an SD memory card of the CPU module. The saved event information can be displayed with an engineering tool and the occurrence history can be checked in chronological order.
  • Page 345 Detailed information of error/warning event The items displayed in the detailed information, which vary depending on each error category, are configured by the items shown in the table below. Error category Detailed information 1 Detailed information 2 Detailed information 3 ...
  • Page 346 Details of start Start No. Occurred data No. Point No. at block start No. at block start (Positioning start No.) occurrence  (Same as start No.) Positioning start At start Started positioning No. Not displayed (1 to 600) (Analyzing) (1 to 600) Operating Data No.
  • Page 347: Connect/disconnect Function Of Sscnet Communication

    9.12 Connect/Disconnect Function of SSCNET Communication Temporarily connect/disconnect of SSCNET communication is executed during system's power supply ON. This function is used to exchange the servo amplifiers or SSCNET cables. Control details Set the connect/disconnect request of SSCNET communication in "[Cd.102] SSCNET control command", and the status for the command accept waiting or execute waiting is stored in "[Md.53] SSCNET control status".
  • Page 348 ■System monitor data Monitor item Monitor value Storage details Buffer memory address  [Md.53] SSCNET control status The connect/disconnect status of SSCNET communication is 4233 stored. 1: Disconnected axis existing 0: Command accept waiting -1: Execute waiting -2: Executing Procedure to connect/disconnect Procedure to connect/disconnect at the exchange of servo amplifiers or SSCNET...
  • Page 349 Program The following shows the program example to connect/disconnect the servo amplifiers connected after Axis 5. Disconnect procedure Connect procedure Turn OFF the servo amplifier's power supply after checking the LED display Resume operation of servo amplifier after checking the "[Md.26] Axis "AA"...
  • Page 350 ■Connect operation Classification Label name Description Module label RD77_1.stSysMntr1_D.wSSCNET_ControlStatus_D Axis 1 SSCNET control status RD77_1.stSysCtrl_D.wSSCNET_ControlCommand_D Axis 1 SSCNET control command Global label, local label Defines the global label or the local label as follows. The settings of Assign (Device/Label) are not required for the label that the assignment device is not set because the unused internal relay and data device are automatically assigned.
  • Page 351: Online Module Change

    9.13 Online module change Allows to replace a module without stopping the system. For procedures for the online module change, refer to the following. MELSEC iQ-R Online Module Change Manual 9 COMMON FUNCTIONS 9.13 Online module change...
  • Page 352: Hot Line Forced Stop Function

    9.14 Hot line forced stop function This function is used to execute deceleration stop safety for other axes when the servo alarm occurs in the servo amplifier MR-JE-B. Control details The hot line forced stop function is set in the servo parameter. This function can execute deceleration stop for other axes without via Simple Motion module by notifying the servo alarm occurrence.
  • Page 353 • The following shows the timing chart at the servo alarm occurrence. Positioning control Axis in which the servo alarm occurred (axis 2) [Md.108] Servo status1 (b7: Servo alarm) Positioning control Axis in which the servo alarm does not occur (axis 1) [Md.108] Servo status1 (b15: Servo warning) [Cd.5] Axis error reset...
  • Page 354: Chapter 10 Parameter Setting

    PARAMETER SETTING This chapter describes the parameter setting of the Simple Motion module. By setting parameters, the parameter setting by program is not needed. The parameter setting has two types including the module parameter and Simple Motion module setting. 10.1 Parameter Setting Procedure Add the Simple Motion module to the engineering tool.
  • Page 355 Setting item The refresh setting has the following items. Item Reference Refresh at the set timing. Transfer to the Current feed value Page 478 [Md.20] Current feed value CPU. Machine feed value Page 479 [Md.21] Machine feed value Feedrate Page 479 [Md.22] Feedrate Axis error No.
  • Page 356 Item Reference Refresh at the set timing. Transfer to the Special start repetition counter Page 489 [Md.41] Special start repetition counter CPU. Control system repetition counter Page 489 [Md.42] Control system repetition counter Start data pointer being executed Page 490 [Md.43] Start data pointer being executed Positioning data No.
  • Page 357 ■Refresh group Set the refresh timing of the specified refresh destination. Setting value Description At the Execution Time of END Instruction Performs refresh at END processing of the CPU module. At the Execution Time of Specified Program Performs refresh at the execution of the program specified with "Group [n] (n: 1-64)". Refresh processing time A refresh processing time [s] is a constituent of the scan time of the CPU module.
  • Page 358: Simple Motion Module Setting

    10.3 Simple Motion Module Setting Set the required setting for the Simple Motion module. Refer to the "Simple Motion Module Setting Function Help" of the engineering tool for details. Select the Simple Motion module setting from the tree on the following window. [Navigation] ...
  • Page 359: Chapter 11 Specifications Of I/o Signals With Cpu Modules

    SPECIFICATIONS OF I/O SIGNALS WITH CPU MODULES 11.1 List of Input/Output Signals with CPU Modules The Simple Motion module uses 32 input points and 32 output points for exchanging data with the CPU module. The input/output signals of the Simple Motion module are shown below. •...
  • Page 360 Signal direction: CPU module  Simple Motion module Device No. Signal name PLC READY All axis servo ON Use prohibited Axis 1 Positioning start Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12...
  • Page 361: Details Of Input Signals

    11.2 Details of Input Signals The ON/OFF timing and conditions of the input signals are shown below. Device Signal name Details READY ON: READY • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting range is OFF: Not READY/Watch dog checked.
  • Page 362: Details Of Output Signals

    11.3 Details of Output Signals The ON/OFF timing and conditions of the output signals are shown below. Device Signal name Details PLC READY OFF: PLC READY OFF (a) This signal notifies the Simple Motion module that the CPU module is normal. ON: PLC READY ON •...
  • Page 363: Chapter 12 Data Used For Positioning Control

    DATA USED FOR POSITIONING CONTROL The parameters and data used to carry out positioning control with the Simple Motion module are explained in this chapter. With the positioning system using the Simple Motion module, the various parameters and data explained in this chapter are used for control.
  • Page 364 • The following methods are available for data setting. In this manual, the method using the engineering tool will be explained. (Refer to the next "Point".) • Set using the engineering tool. • Create the program for data setting using the engineering tool and execute it. •...
  • Page 365: Setting Items For Servo Network Composition Parameters

    Control data The data is used by users to control the positioning system. The setting data is classified as follows. Item Description System control data Writes/initializes the "positioning data" in the module. Sets the setting for operation of all axes. Axis control data Makes settings related to the operation, and controls the speed change during operation, and stops/restarts the operation for each axis.
  • Page 366: Setting Items For Common Parameters

    Setting items for common parameters The setting items for the "common parameters" are shown below. The "common parameters" are independent of axes and related to the overall system. : Always set : Set as required ("" when not required) : Setting not possible : Setting restricted : Setting not required (The setting value is invalid.
  • Page 367 : Always set : Set as required ("" when not required) : Setting not possible : Setting restricted : Setting not required (The setting value is invalid. When the value is the default value or within the setting range, there is no problem.) Common parameter Manual control...
  • Page 368: Setting Items For Positioning Parameters

    Setting items for positioning parameters The setting items for the "positioning parameters" are shown below. The "positioning parameters" are set for each axis for all controls achieved by the Simple Motion module. Home position return control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not possible : Setting not required (The setting value is invalid.
  • Page 369 Positioning parameter Home position return control  Detailed parameters 2 [Pr.25] Acceleration time 1  [Pr.26] Acceleration time 2  [Pr.27] Acceleration time 3  [Pr.28] Deceleration time 1  [Pr.29] Deceleration time 2  [Pr.30] Deceleration time 3  [Pr.31] JOG speed limit value ...
  • Page 370 Major positioning control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not possible : Setting not required (The setting value is invalid. When the value is the default value or within the setting range, there is no problem.) Positioning parameter Major positioning control...
  • Page 371 Positioning parameter Major positioning control Position control 1 to 4 Speed- Other control axis position 1-axis linear 1/2/3/4- 2-axis 3-axis Current JUMP speed control axis circular helical value instruction, control position- 2/3/4-axis fixed- interpolation interpolation changing speed linear feed control control instruction, control...
  • Page 372 Positioning parameter Major positioning control Position control 1 to 4 Speed- Other control axis position 1-axis linear 1/2/3/4- 2-axis 3-axis Current JUMP speed control axis circular helical value instruction, control position- 2/3/4-axis fixed- interpolation interpolation changing speed linear feed control control instruction, control...
  • Page 373 Positioning parameter Major positioning control Position control 1 to 4 Speed- Other control axis position 1-axis linear 1/2/3/4- 2-axis 3-axis Current JUMP speed control axis circular helical value instruction, control position- 2/3/4-axis fixed- interpolation interpolation changing speed linear feed control control instruction, control...
  • Page 374 Manual control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not possible : Setting not required (The setting value is invalid. When the value is the default value or within the setting range, there is no problem.) Positioning parameter Manual control...
  • Page 375 Positioning parameter Manual control Manual pulse Inching operation JOG operation generator operation    Detailed parameters 2 [Pr.25] Acceleration time 1    [Pr.26] Acceleration time 2    [Pr.27] Acceleration time 3    [Pr.28] Deceleration time 1 ...
  • Page 376 Expansion control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not possible : Setting not required (The setting value is invalid. When the value is the default value or within the setting range, there is no problem.) Positioning parameter Expansion control...
  • Page 377 Positioning parameter Expansion control Speed-torque control  Detailed parameters 2 [Pr.25] Acceleration time 1  [Pr.26] Acceleration time 2  [Pr.27] Acceleration time 3  [Pr.28] Deceleration time 1  [Pr.29] Deceleration time 2  [Pr.30] Deceleration time 3  [Pr.31] JOG speed limit value ...
  • Page 378: Setting Items For Home Position Return Parameters

    Setting items for home position return parameters When carrying out "home position return control", the "home position return parameters" must be set. The setting items for the "home position return parameters" are shown below. The "home position return parameters" are set for each axis. : Always set : Set as required : Setting not required (The setting value is invalid.
  • Page 379: Setting Items For Expansion Parameters

    Setting items for expansion parameters The setting items for the "expansion parameters" are shown below. The "expansion parameters" are set for each axis. Expansion parameter Related sub function Page 340 Optional Data Monitor Function [Pr.91] Optional data monitor: Data type setting 1 [Pr.92] Optional data monitor: Data type setting 2 [Pr.93]...
  • Page 380: Setting Items For Positioning Data

    Setting items for positioning data Positioning data must be set for carrying out any "major positioning control". The table below lists the items to be set for producing the positioning data. One to 600 positioning data items can be set for each axis. : Always set : Set as required (""...
  • Page 381 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur at start.) : Setting not required (The setting value is invalid. When the value is the default value or within the setting range, there is no problem.) Positioning data Speed-position switching control...
  • Page 382 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1A1EH to 1A20H) will occur at start.) : Setting not required (The setting value is invalid. When the value is the default value or within the setting range, there is no problem.) Positioning data Other control...
  • Page 383: Setting Items For Block Start Data

    Setting items for block start data The "block start data" must be set when carrying out "high-level positioning control". The setting items for the "block start data" are shown below. Up to 50 points of "block start data" can be set for each axis. : Set as required (""...
  • Page 384: Types And Roles Of Monitor Data

    Types and roles of monitor data The monitor data area in the buffer memory stores data relating to the operating state of the positioning system, which are monitored as required while the positioning system is operating. The following data are available for monitoring. Item Description System monitoring...
  • Page 385 ■Monitoring the speed Monitor details Corresponding item Monitor the During independent axis control Indicates the speed of [Md.22] Feedrate current each axis speed During When "0: Composite speed" is set for "[Pr.20] Indicates the interpolation Interpolation speed designation method" composite speed control When "1: Reference axis speed"...
  • Page 386 ■Monitoring the state Monitor details Corresponding item Monitor the latest error code that occurred with the axis [Md.23] Axis error No. Monitor the latest warning code that occurred with the axis [Md.24] Axis warning No. Monitor the valid M codes [Md.25] Valid M code Monitor the axis operation state [Md.26] Axis operation status...
  • Page 387: Types And Roles Of Control Data

    Types and roles of control data Operation of the positioning system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the program.) Items that can be controlled are described below.
  • Page 388 ■Controlling the speed Control details Corresponding item When changing acceleration time during speed change, set new acceleration time. [Cd.10] New acceleration time value When changing deceleration time during speed change, set new deceleration time. [Cd.11] New deceleration time value Set acceleration/deceleration time validity during speed change. [Cd.12] Acceleration/deceleration time change value during speed change, enable/disable Change positioning operation speed between 0 and 300% range.
  • Page 389 Control details Corresponding item Set the PI-PID switching to servo amplifier. [Cd.136] PI-PID switching request Speed-torque Switch the control mode. [Cd.138] Control mode switching request control Set the control mode to switch. [Cd.139] Control mode setting Set the command speed during speed control mode. [Cd.140] Command speed at speed control mode Set the acceleration time during speed control mode.
  • Page 390: List Of Buffer Memory Addresses

    12.2 List of Buffer Memory Addresses The following shows the relation between the buffer memory addresses and the various items. Do not use the buffer memory address that not been described here for a "Maker setting". For the list of buffer memory addresses for positioning data, refer to the "Simple Motion Module Setting Function Help" of the engineering tool.
  • Page 391 Memory area Item Buffer memory address Positioning Detailed [Pr.22] Input signal logic selection 31+150n parameters parameters 1 [Pr.81] Speed-position function selection 34+150n [Pr.116] FLS signal selection 116+150n [Pr.117] RLS signal selection 117+150n [Pr.118] DOG signal selection 118+150n [Pr.119] STOP signal selection 119+150n Detailed [Pr.25]...
  • Page 392 Memory area Item Buffer memory address Home Home position [Pr.50] Setting for the movement amount after near-point dog ON 80+150n position return detailed 81+150n return parameters [Pr.51] Home position return acceleration time selection 82+150n parameters [Pr.52] Home position return deceleration time selection 83+150n [Pr.53] Home position shift amount...
  • Page 393 Memory area Item Buffer memory address Axis monitor data [Md.29] Speed-position switching control positioning movement amount 2414+100n 2415+100n [Md.30] External input signal 2416+100n [Md.31] Status 2417+100n [Md.32] Target value 2418+100n 2419+100n [Md.33] Target speed 2420+100n 2421+100n [Md.34] Movement amount after near-point dog ON 2424+100n 2425+100n [Md.35]...
  • Page 394 Memory area Item Buffer memory address Axis monitor data [Md.112] Optional data monitor output 4 2481+100n [Md.113] Semi/Fully closed loop status 2487+100n [Md.114] Servo alarm 2488+100n [Md.116] Encoder option information 2490+100n [Md.119] Servo status2 2476+100n [Md.120] Reverse torque limit stored value 2491+100n [Md.122] Speed during command...
  • Page 395 Memory area Item Buffer memory address Axis control data [Cd.17] JOG speed 4318+100n 4319+100n [Cd.18] Interrupt request during continuous operation 4320+100n [Cd.19] Home position return request flag OFF request 4321+100n [Cd.20] Manual pulse generator 1 pulse input magnification 4322+100n 4323+100n [Cd.21] Manual pulse generator enable flag 4324+100n...
  • Page 396 Memory area Item Buffer memory address Axis control data [Cd.146] Speed limit value at torque control mode 4384+100n 4385+100n [Cd.147] Speed limit value at continuous operation to torque control mode 4386+100n 4387+100n [Cd.148] Acceleration time at continuous operation to torque control mode 4388+100n [Cd.149] Deceleration time at continuous operation to torque control mode...
  • Page 397 Memory area Item Buffer memory address Positioning data No.2 6010+1000n  6019+1000n 71010+1000n 71011+1000n No.3 6020+1000n  6029+1000n 71020+1000n 71021+1000n   No.100 6990+1000n  6999+1000n 71990+1000n 71991+1000n No.101 Set with the engineering tool.  No.600 Block start data n: Axis No. - 1 Memory area Item Buffer memory address...
  • Page 398 Memory area Item Buffer memory address Positioning Starting block 1 Block start data 22200+400n  data (Starting block data) 22299+400n Condition data 22300+400n  22399+400n Starting block 2 Block start data Set with the engineering tool. Condition data Starting block 3 Block start data Condition data Starting block 4...
  • Page 399 The following shows the relation between the buffer memory addresses of servo parameter and the various items. The setting range is different depending on the servo amplifier model. Refer to each servo amplifier instruction manual for details. n: Axis No. - 1 Memory area Item Servo amplifier parameter No.
  • Page 400 Memory area Item Servo amplifier parameter No. Buffer memory address  Servo parameters PB16 28434+100n  PB17 28435+100n  PB18 28436+100n  PB19 28437+100n  PB20 28438+100n  PB21 28439+100n  PB22 28440+100n  PB23 28441+100n  PB24 28442+100n  PB25 28443+100n ...
  • Page 401 Memory area Item Servo amplifier parameter No. Buffer memory address  Servo parameters PC04 28467+100n  PC05 28468+100n  PC06 28469+100n  PC07 28470+100n  PC08 28471+100n  PC09 28472+100n  PC10 28473+100n  PC11 28474+100n  PC12 28475+100n  PC13 28476+100n ...
  • Page 402 Memory area Item Servo amplifier parameter No. Buffer memory address  Servo parameters PC56 64455+70n  PC57 64456+70n  PC58 64457+70n  PC59 64458+70n  PC60 64459+70n  PC61 64460+70n  PC62 64461+70n  PC63 64462+70n  PC64 64463+70n  PD01 65520+340n ...
  • Page 403 Memory area Item Servo amplifier parameter No. Buffer memory address  Servo parameters PD44 65563+340n  PD45 65564+340n  PD46 65565+340n  PD47 65566+340n  PD48 65567+340n  PE01 65568+340n  PE02 65569+340n  PE03 65570+340n  PE04 65571+340n  PE05 65572+340n ...
  • Page 404 Memory area Item Servo amplifier parameter No. Buffer memory address  Servo parameters PE48 65615+340n  PE49 65616+340n  PE50 65617+340n  PE51 65618+340n  PE52 65619+340n  PE53 65620+340n  PE54 65621+340n  PE55 65622+340n  PE56 65623+340n  PE57 65624+340n ...
  • Page 405 Memory area Item Servo amplifier parameter No. Buffer memory address  Servo parameters PF01 65632+340n  PF02 65633+340n  PF03 65634+340n  PF04 65635+340n  PF05 65636+340n  PF06 65637+340n  PF07 65638+340n  PF08 65639+340n  PF09 65640+340n  PF10 65641+340n ...
  • Page 406 Memory area Item Servo amplifier parameter No. Buffer memory address  Servo parameters Po05 65684+340n  Po06 65685+340n  Po07 65686+340n  Po08 65687+340n  Po09 65688+340n  Po10 65689+340n  Po11 65690+340n  Po12 65691+340n  Po13 65692+340n  Po14 65693+340n ...
  • Page 407 Memory area Item Servo amplifier parameter No. Buffer memory address  Servo parameters PL25 65768+340n  PL26 65769+340n  PL27 65770+340n  PL28 65771+340n  PL29 65772+340n  PL30 65773+340n  PL31 65774+340n  PL32 65775+340n  PL33 65776+340n  PL34 65777+340n ...
  • Page 408 The following shows the relation between the buffer memory addresses for mark detection function and the various items. k: Mark detection setting No. - 1 Memory area Item Buffer memory address Mark detection setting parameters [Pr.800] Mark detection signal setting 54000+20k [Pr.801] Mark detection signal compensation time...
  • Page 409: Basic Setting

    193EH) occurs. When connecting with the connected device with the setting value other than above, the warning "Incompatible device" (warning code: 0C81H) occurs. Identification code list 58021 58020 (High-order) (Low-order) Vendor ID Identification code Mitsubishi electric (Vendor ID: 0000) Identification Model Remark Network code 0100 MR-J3-_B, MR-J3W-_B (2-axis type) SSCNET...
  • Page 410: Common Parameters

    Common parameters Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.24] Manual pulse 0: A-phase/B-phase multiplied by 4 generator/Incremental 1: A-phase/B-phase multiplied by 2 synchronous encoder input 2: A-phase/B-phase multiplied by 1 selection 3: PULSE/SIGN...
  • Page 411 [Pr.24] Manual pulse generator/Incremental synchronous encoder input selection Set the manual pulse generator/incremental synchronous encoder input pulse mode. Manual pulse generator/Incremental synchronous encoder input selection Setting value A-phase/B-phase multiplied by 4 A-phase/B-phase multiplied by 2 A-phase/B-phase multiplied by 1 PULSE/SIGN Set the positive logic or negative logic in "[Pr.151] Manual pulse generator/Incremental synchronous encoder input logic selection".
  • Page 412 ■PULSE/SIGN [Pr.151] Manual pulse generator/Incremental synchronous encoder input logic selection Positive logic Negative logic Forward run and reverse run are controlled with the ON/OFF of the direction Forward run and reverse run are controlled with the ON/OFF of the direction sign (SIGN).
  • Page 413 [Pr.96] Operation cycle setting Set the operation cycle. Operation cycle setting Setting value 0.888 ms 0000H 1.777 ms 0001H 3.555 ms 0002H 0.444 ms 0200H Automatic setting FFFFH The default value is "FFFFH: Automatic setting". *1 Available only when "1: SSCNET/H" is set in "[Pr.97] SSCNET setting". If "0: SSCNET" is set, the error "Operation cycle setting error"...
  • Page 414 OFF) ON at trailing edge (When the current is flowed through the input signal terminal: OFF, When the current is not flowed through the input signal terminal: ON) ■RD77MS2 Input terminal Input terminal...
  • Page 415 [Pr.152] Maximum number of control axes Set the maximum number of control axes. Maximum number of control axes Setting value No setting (Controls with the maximum number of control axes for each module.) Maximum number of control axes (Controls the axes until the set axis No.) 1 to 16 •...
  • Page 416: Basic Parameters1

    Basic parameters1 This section describes the details on the basic parameter 1. n: Axis No. - 1 Item Setting value, setting range Default Buffer memory value address Value set with the Value set with a engineering tool program [Pr.1] 0: mm 0+150n Unit setting 1: inch...
  • Page 417 [Pr.2] Number of pulses per rotation (AP) Set the number of pulses required for a complete rotation of the motor shaft. If you are using the Mitsubishi servo amplifier MR-J4(W)-B/MR-JE-B/MR-J3(W)-B, set the value given as the "resolution per servomotor rotation" in the speed/position detector specifications. Number of pulses per rotation (AP) = Resolution per servomotor rotation [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.
  • Page 418 Trapezoidal acceleration/deceleration (S-curve ratio is 0%) [Pr.8] Speed limit value [Da.8] Command speed [Pr.7] Bias speed at start Actual Actual acceleration time deceleration time Acceleration time Deceleration time [Pr.9] Acceleration time 0 [Pr.10] Deceleration time 0 [Pr.25] Acceleration time 1 [Pr.28] Deceleration time 1 [Pr.26] Acceleration time 2 [Pr.29] Deceleration time 2...
  • Page 419: Basic Parameters2

    Basic parameters2 This section describes the details on the basic parameter 2. n: Axis No. - 1 Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.8] The setting range differs depending on the "[Pr.1] Unit setting". 200000 10+150n Speed limit value...
  • Page 420: Detailed Parameters1

    Detailed parameters1 n: Axis No. - 1 Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.11] The setting value range differs according to the "[Pr.1] Unit setting". 17+150n Backlash compensation amount...
  • Page 421 [Pr.11] Backlash compensation amount The error that occurs due to backlash when moving the machine via gears can be compensated. (When the backlash compensation amount is set, commands equivalent to the compensation amount will be output each time the direction changes during positioning.) [Pr.44] Home position return direction Workpiece (moving body)
  • Page 422 [Pr.13] Software stroke limit lower limit value Set the lower limit for the machine's movement range during positioning control. Software stroke Software stroke limit lower limit limit upper limit Emergency stop Emergency stop (Machine movement range) limit switch limit switch Home position •...
  • Page 423 [Pr.17] Torque limit setting value Set the maximum value of the torque generated by the servomotor as a percentage between 0.1 and 1000.0%. *1 The torque limit function limits the torque generated by the servomotor within the set range. If the torque required for control exceeds the torque limit value, it is controlled with the set torque limit value. Page 235 Torque limit function [Pr.18] M code ON signal output timing This parameter sets the M code ON signal output timing.
  • Page 424 [Pr.20] Interpolation speed designation method When carrying out linear interpolation/circular interpolation, set whether to designate the composite speed or reference axis speed. Setting value Details 0: Composite speed The movement speed for the control target is designated, and the speed for each axis is calculated by the Simple Motion module.
  • Page 425 [Pr.22] Input signal logic selection Set the input signal logic that matches the signaling specification of the external input signal (upper/lower limit switch, near- point dog) of servo amplifier connected to the Simple Motion module or "[Cd.44] External input signal operation device (Axis 1 to 16)".
  • Page 426 When the input type is set with "0: Simple Motion module", set the input terminal. The setting is not required when the value other than "0" is set. 00H: No setting (The control by the external input signal is disabled.) • [RD77MS2] 01H to 0AH: Set the input terminal. • [RD77MS4/RD77MS8/RD77MS16] 01H to 14H: Set the input terminal.
  • Page 427: Detailed Parameters2

    Detailed parameters2 n: Axis No. - 1 Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.25] 1 to 8388608 (ms) 1 to 8388608 (ms) 1000 36+150n Acceleration time 1 37+150n [Pr.26] 38+150n...
  • Page 428 Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.83] 0: Invalid 63+150n Speed control 10 times 1: Valid multiplier setting for degree axis [Pr.84] 0, 1 to 327680 [pulse] 64+150n Restart allowable range 0: restart not allowed...
  • Page 429 [Pr.32] JOG operation acceleration time selection Set which of "acceleration time 0 to 3" to use for the acceleration time during JOG operation. 0: Use value set in "[Pr.9] Acceleration time 0". 1: Use value set in "[Pr.25] Acceleration time 1". 2: Use value set in "[Pr.26] Acceleration time 2".
  • Page 430 [Pr.36] Sudden stop deceleration time Set the time to reach speed 0 from "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control) during the sudden stop. The illustration below shows the relationships with other parameters. 1) Positioning start 2) Sudden stop cause occurrence 3) Positioning stop •...
  • Page 431 [Pr.40] Positioning complete signal output time Set the output time of the positioning complete signal output from the Simple Motion module. A positioning completes when the specified dwell time has passed after the Simple Motion module had terminated the command output. For the interpolation control, the positioning completed signal of interpolation axis is output only during the time set to the reference axis.
  • Page 432 [Pr.41] Allowable circular interpolation error width The allowable error range of the calculated arc path and end point address is set. If the error of the calculated arc path and end point address is within the set range, circular interpolation will be carried out to the set end point address while compensating the error with spiral interpolation.
  • Page 433 [Pr.83] Speed control 10 times multiplier setting for degree axis Set the speed control 10  multiplier setting for degree axis when you use command speed and speed limit value set by the positioning data and the parameter at "[Pr.1] Unit setting" setup degree by ten times at the speed. 0: Invalid 1: Valid Normally, the speed specification range is 0.001 to 2000000.000 [degree/min], but it will be decupled and become 0.01 to...
  • Page 434 ■Setting method For performing restart at switching servo OFF to ON, set the restart allowable range in the following buffer memory. n: Axis No. - 1 Item Setting range Default value Buffer memory address [Pr.84] Restart allowable range when servo OFF to 0, 1 to 327680 [pulse] 64+150n 0: restart not allowed...
  • Page 435 [Pr.90] Operation setting for speed-torque control mode Operation setting of the speed control mode, torque control mode or continuous operation to torque control mode at the speed-torque control is executed. ■Torque initial value selection Set the torque initial value at switching to torque control mode or to continuous operation to torque control mode. Setting value Details 0: Command torque...
  • Page 436 [Pr.95] External command signal selection Set the external command signal. ■RD77MS2 Setting value Details 0: Not used External command signal is not used. 1: DI1 DI1 is used as external command signal.   10: DI10 DI10 is used as external command signal.
  • Page 437: Home Position Return Basic Parameters

    Home position return basic parameters n: Axis No. - 1 Item Setting value, setting range Default Buffer memory value address Value set with the engineering tool Value set with a program [Pr.43] 0: Near-point dog method 70+150n Home position return 4: Count method 1 method 5: Count method 2...
  • Page 438 [Pr.44] Home position return direction Set the direction to start movement when starting machine home position return. Setting value Details 0: Positive direction (address increment direction) Moves in the direction that the address increments. (Arrow 2)) 1: Negative direction (address decrement direction) Moves in the direction that the address decrements.
  • Page 439 [Pr.46] Home position return speed Set the speed for home position return. [Pr.1] setting value Value set with the engineering tool (unit) Value set with a program (unit) 1 to 2000000000 (  10 0: mm 0.01 to 20000000.00 (mm/min) mm/min) 1 to 2000000000 ( ...
  • Page 440: Home Position Return Detailed Parameters

    Home position return detailed parameters n: Axis No. - 1 Item Setting value, setting range Default Buffer memory value address Value set with the engineering tool Value set with a program [Pr.50] The setting value range differs depending on the "[Pr.1] Unit setting". 80+150n Setting for the movement amount after 81+150n...
  • Page 441 [Pr.50] Setting for the movement amount after near-point dog ON When using the count method 1 or 2, set the movement amount to the home position after the near-point dog signal turns ON. (The movement amount after near-point dog ON should be equal to or greater than the sum of the "distance covered by the deceleration from the home position return speed to the creep speed"...
  • Page 442 [Pr.53] Home position shift amount Set the amount to shift (move) from the position stopped at with machine home position return. *1 The home position shift function is used to compensate the home position stopped at with machine home position return. If there is a physical limit to the home position, due to the relation of the near-point dog installation position, use this function to compensate the home position to an optimum position.
  • Page 443 [Pr.55] Operation setting for incompletion of home position return Set whether the positioning control is executed or not (When the home position return request flag is ON.). 0: Positioning control is not executed. 1: Positioning control is executed. • When the home position return request flag is ON, selecting "0: Positioning control is not executed" will result in the error "Start at home position return incomplete"...
  • Page 444: Expansion Parameters

    Expansion parameters n: Axis No. - 1 Item Setting value, setting range Default Buffer memory value address Value set with the engineering tool Value set with a program [Pr.91] 0: No setting 100+150n Optional data monitor: Data type 1: Effective load ratio setting 1 2: Regenerative load ratio 3: Peak load factor...
  • Page 445 [Pr.91] to [Pr.94] Optional data monitor: Data type setting 1/2/3/4 Set the data type monitored in optional data monitor function. Setting value Data type Used point No setting 1 word Effective load ratio Regenerative load ratio Peak load factor Load inertia moment ratio Model loop gain Bus voltage Servo motor rotation speed...
  • Page 446: Servo Parameters

    Servo parameters Refer to each servo amplifier instruction manual for details of the parameter list and setting items for MR-J4(W)-B/MR-JE-B/ MR-J3(W)-B. Do not change other than the buffer memory addresses of the parameters described in each servo amplifier instruction manual. 12 DATA USED FOR POSITIONING CONTROL 12.3 Basic Setting...
  • Page 447: Positioning Data

    12.4 Positioning Data Before explaining the positioning data setting items [Da.1] to [Da.10], [Da.20] to [Da.22], [Da.27] to [Da.29], the configuration of the positioning data is shown below. The positioning data stored in the buffer memory of the Simple Motion module is the following configuration. Up to 100 positioning data items can be set (stored) for each axis in the buffer memory address shown on the left.
  • Page 448 The following explains the positioning data setting items [Da.1] to [Da.10], [Da.20] to [Da.22] and [Da.27] to [Da.29]. (The buffer memory addresses shown are those of the "positioning data No.1".) n: Axis No. - 1 Item Setting value Default Buffer memory value address Value set with the engineering tool Value set with a program...
  • Page 449 Item Setting value Default Buffer memory value address Value set with the engineering tool Value set with a program Positioning [Da.3] 0: [Pr.9] Acceleration time 0 0000H 6000+1000n [Da.2] identifier Acceleration time No. 1: [Pr.25] Acceleration time 1 Setting value 2: [Pr.26] Acceleration time 2 3: [Pr.27] Acceleration time 3 Convert into...
  • Page 450 Item Setting value Default Buffer memory value address Value set with the engineering tool Value set with a program Positioning [Da.27] 0: Uses the setting value of "[Pr.18] M 0000H 6003+1000n option M code ON code ON signal output timing". signal output 1: WITH mode timing...
  • Page 451 [Da.4] Deceleration time No. Set which of "deceleration time 0 to 3" to use for the deceleration time during positioning. 0: Use the value set in "[Pr.10] Deceleration time 0". 1: Use the value set in "[Pr.28] Deceleration time 1". 2: Use the value set in "[Pr.29] Deceleration time 2".
  • Page 452 ■Position-speed switching control • Set the amount of movement before the switching from position control to speed control. ● When "[Pr.1] Unit setting" is "mm" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges.
  • Page 453 ● When "[Pr.1] Unit setting" is "degree" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) ( ...
  • Page 454 ● When "[Pr.1] Unit setting" is "pulse" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) [Da.2] setting value Value set with the engineering tool (pulse)
  • Page 455 ● When "[Pr.1] Unit setting" is "inch" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) ( ...
  • Page 456 ■When "[Pr.1] Unit setting" is "mm" The table below lists the control methods that require the setting of the arc address and shows the setting range. (With any control method excluded from the table below, the arc address does not need to be set.) ( ...
  • Page 457 ■When "[Pr.1] Unit setting" is "inch" The table below lists the control methods that require the setting of the arc address and shows the setting range. (With any control method excluded from the table below, the arc address does not need to be set.) ( ...
  • Page 458 [Da.9] Dwell time/JUMP destination positioning data No. Set the "dwell time" or "positioning data No." corresponding to the "[Da.2] Control method". • When a method other than "JUMP instruction" is set for "[Da.2] Control method": Set the "dwell time". • When "JUMP instruction" is set for "[Da.2] Control method": Set the "positioning data No." for the JUMP destination. When the "dwell time"...
  • Page 459 [Da.10] M code/Condition data No./No. of LOOP to LEND repetitions/No. of pitches Set an "M code", a "condition data No.", the "Number of LOOP to LEND repetitions" or the "Number of pitches" depending on how the "[Da.2] Control method" is set. *1 The condition data specifies the condition for the JUMP instruction to be executed.
  • Page 460 [Da.20] Axis to be interpolated No.1 to [Da.22] Axis to be interpolated No.3 Set the axis to be interpolated to execute the 2 to 4-axis interpolation operation. Set the circular interpolation axis and the linear interpolation axis to execute the 3-axis helical interpolation control. 2-axis interpolation Set the target axis number in "[Da.20] Axis to be interpolated No.1".
  • Page 461 [Da.29] Interpolation speed designation method Set the interpolation speed designation method to each positioning data. Refer to the following for setting details. Page 422 [Pr.20] Interpolation speed designation method 0: Uses the setting value of "[Pr.20] Interpolation speed designation method". 1: Composite speed 2: Reference axis speed 12 DATA USED FOR POSITIONING CONTROL...
  • Page 462: Block Start Data

    12.5 Block Start Data Before explaining the block start data setting items [Da.11] to [Da.14], the configuration of the block start data is shown below. The block start data stored in the buffer memory of the Simple Motion module is the following configuration. 50th point Buffer memory Setting item...
  • Page 463 n: Axis No. - 1 Item Setting value Default Buffer memory value address Value set with the engineering tool Value set with a program [Da.11] 0: End 0000H 22000+400n Shape 1: Continue [Da.12] Positioning data No: 1 to 600 Start data No. (01H to 258H) 258H [Da.11]...
  • Page 464 [Da.14] Parameter Set the value as required for "[Da.13] Special start instruction". [Da.13] Special start Setting Setting details instruction value  Block start (Normal start) Not used. (There is no need to set.) Condition start 1 to 10 Set the condition data No. (Data No. of "condition data" is set up for the condition judgment.) (Refer to Page 463 Condition Data for details on the condition data.) Wait start Simultaneous start...
  • Page 465: Condition Data

    12.6 Condition Data Before explaining the condition data setting items [Da.15] to [Da.19] and [Da.23] to [Da.26], the configuration of the condition data is shown below. The condition data stored in the buffer memory of the Simple Motion module is the following configuration. No.10 Buffer memory Setting item...
  • Page 466 The following explains the condition data setting items [Da.15] to [Da.19] and [Da.23] to [Da.26]. (The buffer memory addresses shown are those of the "condition data No.1 (block No.7000)".) • To perform a high-level positioning control using block start data, set a number between 7000 and 7004 to the "[Cd.3] Positioning start No."...
  • Page 467 n: Axis No. - 1 Item Setting value Default Buffer memory value address Value set with the Value set with a program engineering tool Condition [Da.15] 01: Device X 0000H 22100+400n [Da.15] Condition target identifier Condition 02: Device Y [Da.16] Condition operator target 03: Buffer memory (1-word) 04: Buffer memory (2-word)
  • Page 468 [Da.15] Condition target Set the condition target as required for each control. Setting value Setting details 01H: Device X Set the state (ON/OFF) of an I/O signal as a condition. 02H: Device Y 03H: Buffer memory (1-word) Set the value stored in the buffer memory as a condition. 03H: The target buffer memory is "1-word (16 bits)"...
  • Page 469 [Da.19] Parameter 2 Set the parameters as required for the "[Da.16] Condition operator" and "[Da.23] Number of simultaneously starting axes". [Da.16] Condition [Da.23] Number of Setting value Setting details operator simultaneously starting axes   01H: ** = P1 Not used. (No need to be set.) 02H: ** ...
  • Page 470: Monitor Data

    [Md.19] Number of write accesses to flash ROM [Md.50] Forced stop input [Md.51] Amplifier-less operation mode status [Md.52] Communication between amplifiers axes searching flag [Md.53] SSCNET control status [Md.59] Module information RD77MS2: 4000H RD77MS4: 4001H RD77MS8: 4002H RD77MS16: 4003H [Md.130] F/W version Factory-set product information [Md.131] Digital oscilloscope running flag...
  • Page 471 Restart flag OFF Restart flag ON * Valid for the range from axis 1 to axis 2 in the RD77MS2, from axis 1 to axis 4 in the RD77MS4, and from axis 1 to axis 8 in the RD77MS8. *1 If a start signal is issued against an operating axis, a record relating to this event may be output before a record relating to an earlier start signal is output.
  • Page 472 [Md.4] Start No. The start No. is stored. Refresh cycle: At start ■Reading the monitor value • Monitoring is carried out with a hexadecimal display. Monitor value Buffer memory Start No. Storage value Reference Stored contents (Decimal) 7000 Positioning operation 7001 7002 7003...
  • Page 473 [Md.54] Start (Year: month) The starting time (Year: month) is stored. Refresh cycle: At start ■Reading the monitor value • Monitoring is carried out with a hexadecimal display. Buffer memory (stored with BCD code) Monitor value 0 0 1 0 1 0 0 0 0 0 0 0 1 1 0 0 to 9 0 to 9 0 to 1...
  • Page 474 [Md.60] Start (ms) The starting time (ms) is stored. 000 (ms) to 999 (ms) Refresh cycle: At start ■Reading the monitor value • Monitoring is carried out with a hexadecimal display. Buffer memory (stored with BCD code) Monitor value 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 to 9 0 to 9 0 to 9...
  • Page 475 [Md.8] Start history pointer Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing start history records. Refresh cycle: At start ■Reading the monitor value • Monitoring is carried out with a decimal display. Monitor Storage value (Pointer number) 0 to 63...
  • Page 476 [Md.52] Communication between amplifiers axes searching flag Stores the detection status of axis that set communication between amplifiers. Refresh cycle: Immediate ■Reading the monitor value • Monitoring is carried out with a decimal display. Monitor Storage value value 0: Search end 1: Searching •...
  • Page 477 [Md.130] F/W version Stores the first two digits of the module product information. Refresh cycle: At power supply ON ■Reading the monitor value • Monitoring is carried out with a hexadecimal display. Buffer memory Monitor value • Buffer memory address Refer to the following for the buffer memory address in this area.
  • Page 478 [Md.133] Operation cycle over flag This flag turns ON when the operation cycle time exceeds operation cycle. Refresh cycle: Immediate ■Reading the monitor value • Monitoring is carried out with a decimal display. Monitor Storage value value 0: OFF 1: ON (Operation cycle over