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Mitsubishi Electric R32MTCPU Programming Manual

Advanced synchronous control.
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MELSEC iQ-R Motion Controller
Programming Manual
(Advanced Synchronous Control)
-R16MTCPU
-R32MTCPU

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Table of Contents

   Also See for Mitsubishi Electric R32MTCPU

   Summary of Contents for Mitsubishi Electric R32MTCPU

  • Page 1 MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control) -R16MTCPU -R32MTCPU...
  • 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 [Design Precautions] 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] CAUTION ● Use the programmable controller in an environment that meets the general specifications in the manual "Safety Guidelines" included in the base unit. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. ●...
  • 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 [Startup and Maintenance Precautions] 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. ●...
  • 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

    When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it will not cause system control problems. Please make sure that the end users read this manual. Relevant products R16MTCPU, R32MTCPU...
  • 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 Cam data operation by Motion SFC program ........... 81 Cam data operation by file transmission function .
  • Page 15 Selection of slave CPU input axis type ............164 Multiple CPU advanced synchronous control monitor device .
  • Page 16: Relevant Manuals

    RELEVANT MANUALS Manual Name [Manual Number] Description Available form MELSEC iQ-R Motion Controller Programming Manual This manual explains the dedicated instructions to use Print book (Advanced Synchronous Control) synchronous control by synchronous control parameters, device e-Manual [IB-0300243] (This manual) lists and others. EPUB MELSEC iQ-R Motion Controller User's Manual This manual explains specifications of the Motion CPU modules,...
  • Page 17: Terms

    TERMS Unless otherwise specified, this manual uses the following terms. Term Description R32MTCPU/R16MTCPU or Motion Abbreviation for MELSEC iQ-R series Motion controller CPU (module) MR-J4(W)-B Servo amplifier model MR-J4-B/MR-J4W-B MR-J3(W)-B Servo amplifier model MR-J3-B/MR-J3W-B AMP or Servo amplifier General name for "Servo amplifier model MR-J4-B/MR-J4W-B/MR-J3-B/MR-J3W-B"...
  • Page 18: Manual Page Organization

    MANUAL PAGE ORGANIZATION Representation of numerical values used in this manual In the positioning dedicated signals, "n" in "M3200+20n", etc. indicates a value corresponding to axis No. as shown in the following table. Axis No. Axis No. Axis No. Axis No. •...
  • Page 19: Chapter 1 Overview

    OVERVIEW Overview of 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, command generation axis, synchronous encoder axis), by setting "the parameters for synchronous control"...
  • Page 20: Performance Specifications

    Performance Specifications Synchronous control specifications Item Number of settable axes R32MTCPU R16MTCPU Input axis Servo input axis 32 axes/module 16 axes/module Command generation axis 32 axes/module 16 axes/module Synchronous encoder axis 12 axes/module Composite main shaft gear 1/output axis Main shaft main input axis...
  • Page 21 • Coordinate data format Coordinate number Maximum number of cam registration 1024 1024 1024 2048 1024 4096 8192 16384 32768 65535 Cam operation specifications Item Specification Operation method of cam data • MT Developer2 Write/read/verify to cam file • Motion SFC program (Advanced synchronous control instruction) Write/read to cam file and cam open area Cam auto-generation function Automatically generate the following cam data...
  • Page 22: Chapter 2 Starting Up The System

    STARTING UP THE SYSTEM The procedure for synchronous control positioning control is shown below. Starting Up the Advanced Control System The procedure to start up for synchronous control system is shown below. Preparation • ¢ MELSEC iQ-R Motion controller STEP 1 Set the following common parameter.
  • Page 23: Starting/ending For Synchronous Control

    Starting/Ending for Synchronous Control Set the parameters for synchronous control for each output axis to start synchronous control. The status changes to synchronous control after the parameters are analyzed at the start of synchronous control, and the output axes synchronize with input axis operations. The advanced synchronous control is started/ended by the operation of "[Rq.380] Synchronous control start (M12000+n)"...
  • Page 24 Starting method for synchronous control Synchronous control can be started by turning "[Rq.380] Synchronous control start (M12000+n)" from OFF to ON after setting the parameters for synchronous control. "[St.1040] Start accept flag (M2001+n)" turns ON at the synchronous control start, and the parameters for synchronous control are analyzed.
  • Page 25 Restrictions • If "[Rq.380] Synchronous control start (M12000+n)" is turned ON simultaneously in multiple axes, control is not started simultaneously since the analysis is processed for each axis in numerical order. When the multiple axes must be started simultaneously, start the input axis operation after confirming that all axes are configured for the synchronous control. •...
  • Page 26: Stop Operation Of Output Axis

    Stop Operation of Output Axis If the following causes occur in stopping the output axis during synchronous control, "[St.380] Synchronous control (M10880+n)" turns OFF, and stops processing for the output axis is completed. After that, the "[St.1040] Start accept flag (M2001+n)"...
  • Page 27 Deceleration stop/rapid stop The output axis stops with deceleration according to the stop and rapid stop conditions. The deceleration time and deceleration time for rapid stop are according to the parameter block conditions specified by "[Pr.448] Synchronous control deceleration time parameter block No. (D15069+150n)". When the synchronous control ends as the deceleration stop begins, the output axis monitor device is not updated, and only the monitor device for each axis is updated.
  • Page 28: Chapter 3 Synchronous Control Module

    SYNCHRONOUS CONTROL MODULE List of Synchronous Control Module The module is used in synchronous control as follows. Input axis module Synchronous encoder axis parameter Synchronous encoder axis Synchronous parameter Command generation axis parameter Main shaft module Command generation Main shaft Composite main Main shaft axis...
  • Page 29 Input axis Servo input Used to drive the input axis with the module axis position of the servomotor controlled by Servo Input the R32MTCPU/ R16MTCPU. Axis   Page 35 Command Used to drive the input axis with the generation...
  • Page 30 Classification Name Parts Function description Maximum number of usable Reference Number per module Number per axis R32MTCPU R16MTCPU Page 113 Output axis Output axis The cam conversion is processed module based on the input travel value and the Output Axis setting cam data.
  • Page 31: Chapter 4 Input Axis Module

    INPUT AXIS MODULE Servo Input Axis Overview of servo input axis The servo input axis is used to drive the input axis based on the position of the servomotor that is being controlled by the Motion CPU. The status of a servo input axis can be monitored even before the synchronous control start since the setting of a servo input axis is valid after Multiple CPU system's power supply ON.
  • Page 32 Restrictions • If "1: Current feed value" or "2: Real current value" is set in "[Pr.300] Servo input axis type", turn ON the "[Rq.1152] Feed current value update command (M3212+20n)" to start the speed/position switching control. If the "[Rq.1152] Feed current value update command (M3212+20n)"...
  • Page 33: Servo Input Axis Parameters

    Servo input axis parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value  Pr.300 Servo input axis type Set the current value type to be 0: Invalid At power generated of the input value for the 1: Current feed value supply ON servo input axis.
  • Page 34 [Pr.302] Servo input axis phase compensation advance time (D14600+2n, D14601+2n) Set the time to advance or delay the phase (input response) of the servo input axis. Refer to delay time peculiar to the system for a servo input axis for the peculiar time delay of the system using the servo input axis.(Delay time peculiar to the system for a servo input axis) Setting value Description...
  • Page 35 [Pr.304] Servo input axis rotation direction restriction Set this parameter to restrict the input travel value for the servo input axis to one direction. This helps to avoid reverse operation caused by machine vibration, etc. when "Real current value" or "Feedback value" is used as input values.
  • Page 36: Servo Input Axis Monitor Data

    Servo input axis monitor data Symbol Monitor item Storage details Monitor value Refresh cycle Device No. Md.300 Servo input axis current The current value for the servo input axis -2147483648 to 2147483647 Operation cycle D12280+10n value is stored. [Servo input axis position units] D12281+10n Md.301 Servo input axis speed...
  • Page 37: Command Generation Axis

    Command Generation Axis Overview of command generation axis Command generation axis is the axis that performs only the command generation. It can be controlled independently with the axis to which the servo amplifier is connected. It is used to drive the input axis by the servo program or JOG operation. The command generation axis can be controlled or the state of command generation axis can be monitored after Multiple CPU system's power ON.
  • Page 38 The command generation axis start accept flag for 32 axes are stored corresponding to each bit. Bits are actually 20FH(527) set as the following. • R32MTCPU: J1 to J32 • R16MTCPU: J1 to J16 OFF: Start accept enable ON: Start accept disable...
  • Page 39 Units for the command generation axis The position units and speed units for the command generation axis are shown below for the setting "[Pr.341] Command generation axis type". ■Command generation axis position units Setting value of "[Pr.341] Command Command generation axis position unit Range generation axis type"...
  • Page 40 • Speed change can be executed any number of times by the speed change request (CHGVS) instruction during operation. • Deceleration speed by the "[Rq.341] Command generation axis stop command (M10960+20n)"/"[Rq.342] Command generation axis rapid stop command (M10961+20n)" is controlled with fixed inclination (deceleration speed). Deceleration processing is executed using the speed limit value or deceleration/rapid stop deceleration time set in the parameter block.
  • Page 41: Command Generation Axis Parameters

    Command generation axis parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value  Pr.340 Command generation Set the invalid/valid of command 0: Invalid At power axis valid setting generation to be used. 1: Valid supply ON Pr.341 Command generation Set the unit of command generation...
  • Page 42 [Pr.340] Command generation axis valid setting Set the invalid/valid of command generation axis. Setting value Description 0: Invalid Command generation axis is invalid. 1: Valid Command generation axis is valid. [Pr.341] Command generation axis unit setting Set the unit of command generation axis. (Page 37 Units for the command generation axis) [Pr.342] Command generation axis upper stroke limit Set the upper limit for the command generation axis travel range.
  • Page 43 [Pr.349] Command generation axis acceleration/deceleration time change enable device Set the device to enable the change of acceleration/deceleration time at a command generation axis speed change request (CHGVS, M(P).CHGVS/D(P).CHGVS). This setting can be omitted. The following describes the operation for ON and OFF of the acceleration/deceleration time change enable device. Setting value Description Speed change is executed at a speed change request by changing the acceleration/deceleration time values of "[Pr.350] Command...
  • Page 44 [Pr.352] Command generation axis ABS direction in degrees device By setting the positioning direction, positioning control can be performed in a specified direction. Refer to the following for details on ABS direction in degrees device. MELSEC iQ-R Motion Controller Programming Manual (Positioning Control) [Pr.353] Command generation axis override ratio setting device Set the device to set the override ratio for the override function.
  • Page 45: Command Generation Axis Control Data (word Device)

    Command generation axis control data (Word device) Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value Cd.340 Command generation Set the JOG speed of command 1 to 2147483647 At JOG D14680+4n axis JOG speed generation axis. [Command generation axis speed operation D14681+4n...
  • Page 46 [Rq.343] Command generation axis forward rotation JOG start command (M10962+20n) JOG operation to the address increase direction is executed while "[Rq.343] Command generation axis forward rotation JOG start command (M10962+20n)" is turning on. When "[Rq.343] Command generation axis forward rotation JOG start command (M10962+20n)"...
  • Page 47: Command Generation Axis Monitor Data (word Device)

    Command generation axis monitor data (Word device) Symbol Monitor item Storage details Monitor value Refresh Device No. cycle Md.340 Command generation axis feed The feed current value for the command -2147483648 to 2147483647 Operation D12600+20n current value generation axis is stored. [Command generation axis cycle D12601+20n...
  • Page 48 [Md.342] Command generation axis error code (D12603+20n) • This register stores the corresponding error code at the error occurrence of command generation axis. If another error occurs after error code storing, the previous error code is overwritten by the new error code. •...
  • Page 49: Command Generation Axis Monitor Data (bit Device)

    Command generation axis monitor data (Bit device) Symbol Monitor item Storage details Monitor value Refresh Device No. cycle St.340 Command generation axis The positioning start complete signal for ON: Positioning start complete Operation M9800+20n positioning start complete the command generation axis is stored. OFF: Positioning start incomplete cycle St.341...
  • Page 50 [St.342] Command generation axis command in-position (M9803+20n) This signal turns on when the absolute value of difference between the command position and feed current value becomes below the "[Pr.344] Command generation axis command in-position range". This signal turns off in the following cases. •...
  • Page 51 [St.348] Command generation axis automatic decelerating flag (M9813+20n) This signal turns on while automatic deceleration processing is performed during the positioning control or position follow-up control of command generation axis. The details operation is the same as "[St.1048] Automatic decelerating flag (M2128+n)" of each axis. Refer to the following for details of "[St.1048] Automatic decelerating flag (M2128+n)".
  • Page 52: Synchronous Encoder Axis

    Synchronous Encoder Axis Overview of synchronous encoder axis The synchronous encoder is used to drive the input axis based on input pulse from a synchronous encoder that is connected externally. The status of a synchronous encoder axis can also be monitored after the Multiple CPU system power supply turns ON. Input pulse [Pr.320] Synchronous encoder axis of synchronous...
  • Page 53 Synchronous encoder axis type The following 6 types of synchronous encoders can be used for the synchronous encoder axis. Refer to setting method for synchronous encoder for the setting method for each synchronous encoder axis. (Page 53 Setting method for synchronous encoder) Synchronous encoder axis type Details Via module...
  • Page 54 ■Synchronous encoder axis speed units Setting value of "[Pr.321] Synchronous encoder axis Synchronous encoder axis Range unit setting" speed unit Control unit Speed time unit Number of decimal places for speed 0: mm 0: s mm/s -2147483648 to 2147483647[mm/s]  ...
  • Page 55: Setting Method For Synchronous Encoder

    Setting method for synchronous encoder Via module ■Setting method Used to operate an encoder that is connected to a high-speed counter module, etc. controlled by Motion CPU as the synchronous encoder axis. By setting "1: Via module" in "[Pr.320] Synchronous encoder axis type", and setting "[Pr.331] I/O number" and "[Pr.332] Channel number"...
  • Page 56 ■Setting example The following shows an example for setting an incremental synchronous encoder via a high-speed counter module (I/O number: 0040, channel number:1) as synchronous encoder axis 2. High-speed R32MTCPU counter module Incremental synchronous encoder (Resolution 1024) Synchronous encoder axis 2...
  • Page 57 Via servo amplifier ■Setting method The serial absolute synchronous encoder (Q171ENC-W8) and absolute/incremental scale connected to CN2L of the servo amplifier (MR-J4-B-RJ) is used as the synchronous encoder axis. Setting "101: Via servo amplifier" in "[Pr.320] Synchronous encoder axis type" and "ABS" or "INC" in the "External synchronous encoder input" of amplifier setting enables the serial absolute synchronous encoder connected to the specified servo amplifier axis to be used.
  • Page 58 ■Setting example The following shows an example for setting a serial absolute synchronous encoder Q171ENC-W8 (servo amplifier axis 3) via servo amplifier (MR-J4-B-RJ) as synchronous encoder axis 2. R32MTCPU Servo amplifier MR-J4- B-RJ Q171ENC-W8 Axis 1 Axis 2 Axis 3...
  • Page 59 • Set the following in synchronous encoder axis setting for the synchronous encoder axis 1 on the synchronous encoder axis parameter screen. Setting item Setting value [Pr.320] Synchronous encoder axis type 101: Via Servo Amplifier Connected Servo Amplifier Axis No. [Motion Control Parameter] ...
  • Page 60 The synchronous encoder axis is controlled based on the amount of change of "[Cd.325] Input value for synchronous encoder via device (D14826+10n, D14827+10n)" while it is connecting. ■Setting example The following shows an example for setting a synchronous encoder via device as synchronous encoder axis 4. R32MTCPU Input module Gray code encoder (Resolution 4096)
  • Page 61 Read the encoder value of the gray code encoder with a sequence program, and update "[Cd.325] Input value for synchronous encoder via device (D14826+10n, D14827+10n)" of the synchronous encoder axis 4 at every time. [Motion Control Parameter]  [Synchronous Control Parameter]  [Input Axis Parameter]  [Synchronous Encoder Axis Parameter] Window ■Restrictions...
  • Page 62: Synchronous Encoder Axis Parameters

    Synchronous encoder axis parameters Symbol Setting item Setting details Setting value Setting Default Device No. value value  Pr.320 Synchronous encoder • Set the synchronous encoder axis Invalid At power axis type type to be used. Via module supply ON •...
  • Page 63 Symbol Setting item Setting details Setting value Setting Default Device No. value value Pr.327 Synchronous encoder Set the time constant to affect the phase 0 to 65535[ms] At power 10[ms]  axis phase compensation. supply ON compensation time constant  Pr.328 Synchronous encoder Set this parameter to restrict the input...
  • Page 64 [Pr.322] Synchronous encoder axis unit conversion: Numerator The input travel value of synchronous encoder is configured in encoder pulse units. The units can be arbitrarily converted through unit conversation with setting "[Pr.322] Synchronous encoder axis unit conversion: Numerator". Set "[Pr.322] Synchronous encoder axis unit conversion: Numerator" according to the controlled machine. [Pr.322] Synchronous encoder axis Synchronous encoder axis Synchronous encoder input...
  • Page 65 [Pr.324] Synchronous encoder axis length per cycle Set the length per cycle for the synchronous encoder axis current value per cycle. The current value of synchronous encoder axis is stored in "[Md.321] Synchronous encoder axis current value per cycle (D13242+20n, D13243+20n)" at ring counter based on the setting value. The unit settings are in synchronous encoder axis position units.
  • Page 66 [Pr.325] Synchronous encoder axis smoothing time constant Set the averaging time to execute a smoothing process for the input travel value from synchronous encoder.The smoothing process can moderate speed fluctuation of the synchronous encoder input.The input response is delayed depending on the time corresponding to the setting by smoothing process setting.
  • Page 67 [Pr.328] Synchronous encoder axis rotation direction restriction Set this parameter to restrict the input travel value for the synchronous encoder axis to one direction.This helps to avoid reverse operation caused by machine vibration, etc. when "Real current value" or "Feedback value" is used as input values. Setting value Description 0: Without rotation direction...
  • Page 68: Synchronous Encoder Axis Control Data (word Device)

    Synchronous encoder axis control data (Word device) Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value Cd.320 Synchronous encoder • If set to "101 to 164", the synchronous Other than below: Start without D14822+10n axis control start encoder axis control starts based on any condition synchronous...
  • Page 69: Synchronous Encoder Axis Control Data (bit Device)

    Synchronous encoder axis control data (Bit device) Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value Rq.323 Synchronous encoder If turns ON for resetting warning and ON: Error reset request Main cycle M11600+4n axis error reset error for the synchronous encoder axis, the warning code and error code are cleared, and the error detection and...
  • Page 70 • When this signal is ON, if "101 to 164" is set to "[Cd.320] Synchronous encoder axis control start condition (D14822+10n)", the synchronous encoder axis control starts based on the corresponding high-speed input request signal. [Md.320] Synchronous encoder axis current value (D13240+20n, D13241+20n) High-speed input request signal 3 [Rq.320] Synchronous encoder axis...
  • Page 71: Synchronous Encoder Axis Monitor Data (word Device)

    Synchronous encoder axis monitor data (Word device) Symbol Monitor item Storage details Monitor value Refresh Device No. cycle Md.320 Synchronous encoder axis The current value for the synchronous -2147483648 to 2147483647 Operation D13240+20n current value encoder axis is stored. [Synchronous encoder axis position cycle D13241+20n units]...
  • Page 72 [Md.323] Synchronous encoder axis phase compensation amount (D13246+20n, D13247+20n) The phase compensation amount for a synchronous encoder axis is stored in the synchronous encoder axis position units. (Page 51 Synchronous encoder axis position units) The phase compensation amount for a synchronous encoder axis is the value after smoothing processing and phase compensation processing.
  • Page 73: Synchronous Encoder Axis Monitor Data (bit Device)

    Synchronous encoder axis monitor data (Bit device) Symbol Monitor item Storage details Monitor value Refresh Device No. cycle St.320 Synchronous encoder axis This flag turns ON when the setting of the ON: Setting valid At power M10440+10n setting valid flag synchronous encoder axis is valid.
  • Page 74 [St.324] Synchronous encoder axis error detection flag (M10444+10n) • This signal turns ON with detection of a warning or error of synchronous encoder axis, and can be used to judge whether there is a warning or error or not. The applicable warning code is stored in the "[Md.327] Synchronous encoder axis warning code (M13250+20n)"...
  • Page 75: Chapter 5 Cam Function

    CAM FUNCTION Control Details for Cam Function The output axis for synchronous control is operated with a cam. The following operations can be performed with cam functions. • Two-way operation: Reciprocating operation with a constant cam strokes range. • Feed operation: Cam reference position is updated every cycle. •...
  • Page 76: Type Of Cam Data

    Type of cam data The cam data methods used in the cam function are linear cam, stroke ratio data format, coordinate data format, and auto- generation data format. Cam data is arranged in the "Cam storage area" and "Cam open area". Refer to memory operation of cam data for details of each area.
  • Page 77 Coordinate data format The coordinate data format is defined in coordinates of more than 2 points for one cam cycle. The coordinate data is represented as input value and output value, with "input value = cam axis current value per cycle", and "output value = stroke position from cam reference position".
  • Page 78 Auto-generation data format A cam pattern is created using the CAMMK instruction of Motion SFC program based on the specified parameter (data for auto-generation). Control cam data is created in the stroke ratio data format in the cam open area. Therefore, the operation during the control conforms to the cam operation in the stroke ratio data format.
  • Page 79: Overview Of Cam Operation

    Overview of cam operation Current feed value of cam axis The current feed value is calculated as shown below. ■Stroke ratio data format Current feed value=Cam reference position + (Cam stroke amount  Stroke ratio corresponding to cam axis current value per cycle) ■Coordinate data format Current feed value = Cam reference position + Output value corresponding to cam axis current value per cycle...
  • Page 80 Create cam data for two-way cam operation as shown below. ■Stroke ratio data format Create cam data so that the stroke ratio is 0% at the last point. ■Coordinate data format Create cam data with the same output value for the point where the input value is 0 and the input value is equal to the cam axis length per cycle.
  • Page 81: Create Cam Data

    Create Cam Data Memory operation of cam data Cam data is arranged in the following 2 areas. Area Storage item Details Remark Cam storage area Cam storage data Data is written by the following operations. Data is preserved even when turning the Multiple (Standard ROM/ (Cam file) •...
  • Page 82 Cam data operation with MT Developer2 Cam data can be modified while viewing the waveform with MT Developer2. The cam data is written/read to the cam file with MT Developer2, however it cannot be executed to the cam open area. The waveform generated by the cam auto-generation function can be confirmed on the "Cam graph"...
  • Page 83: Cam Data Operation By Motion Sfc Program

    Cam data operation by Motion SFC program Cam data read/write operation and cam auto-generation can be executed with the synchronous control dedicated function of Motion SFC program. Refer to the following for details. MELSEC iQ-R Motion controller Programming Manual (Program Design) Classification Symbol Instruction...
  • Page 84: Chapter 6 Synchronous Control

    SYNCHRONOUS CONTROL Main Shaft Module Overview of main shaft module For the main shaft module, the input value is generated as a composite value from two input axes (the main and sub input axis) through the composite main shaft gear. The composite input value can be converted by the main shaft gear that provides the deceleration ratio and the rotation direction for the machine system, etc.
  • Page 85: Main Shaft Parameters

    Main shaft parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value Pr.400 Main input axis No. Set the input axis No. on the 0: Invalid At start of D15000+150n main input side for the main 1 to 32: Servo input axis synchronous shaft.
  • Page 86 [Pr.403] Main shaft gear: Numerator (D15004+150n, D15005+150n) Set the numerator for the main shaft gear to convert the input value. The input value is converted as follows. Main shaft gear: Numerator Input value after conversion = Input value before conversion × Main shaft gear: Denominator The input value direction can be reversed by setting a negative value in the numerator of the main shaft gear.
  • Page 87: Main Shaft Clutch Parameters

    Main shaft clutch parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value Pr.405 Main shaft clutch Set the control method for the • Set in hexadecimal. Operation 0000h D15008+150n control setting clutch. cycle H ON control mode 0: No clutch 1: Clutch command ON/OFF...
  • Page 88 Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value Pr.410 Travel value before • Set the travel value for the -2147483648 to 2147483647 D15016+150n main shaft clutch OFF distance between the clutch [Main input axis position units , or cam completing D15017+150n...
  • Page 89 ■OFF control mode Setting value Description 0: OFF control invalid Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control. 1: One-shot OFF The clutch is turned OFF after moving the distance "[Pr.410] Travel value before main shaft clutch OFF (D15016+150n, D15107+150n)"...
  • Page 90 [Pr.407] Main shaft clutch ON address (D15010+150n, D15011+150n) Set the clutch ON address when address mode is configured for the ON control mode of the main shaft clutch. When the reference address is the current value per cycle after main shaft gear, the setting address is converted for control within the range from 0 to (Cam axis length per cycle-1).
  • Page 91 [Pr.410] Travel value before main shaft clutch OFF (D15016+150n, D15017+150n) Set the travel value for the reference address with a signed number for the distance between the clutch OFF condition completing and the clutch opening. Setting value Description 1 to 2147483647(Positive value) Used when the reference address is increasing in direction.
  • Page 92: Main Shaft Clutch Control Data

    Main shaft clutch control data Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value Rq.400 Main shaft clutch Set the clutch command ON/OFF. OFF: Main shaft clutch command Operation M11680+10n command cycle ON: Main shaft clutch command Rq.401 Main shaft clutch Set the command disable the clutch...
  • Page 93: Auxiliary Shaft Module

    Auxiliary Shaft Module Overview of auxiliary shaft module For the auxiliary shaft module, the input value is generated from the auxiliary shaft.The input value can be converted by the auxiliary shaft gear that provides the deceleration ratio and the rotation direction for the machine system etc. Refer to the following for details on setting for the auxiliary shaft module.
  • Page 94 [Pr.418] Auxiliary shaft axis No. (D15024+150n) Set the input axis No. for the auxiliary shaft. Setting value Description 0: Invalid The input value is always 0. 1 to 32: Servo input axis Set the servo input axis (axis 1 to 32). When the servo input axis is not set in the servo network setting, the input value is always 0.
  • Page 95: Auxiliary Shaft Clutch Parameters

    Auxiliary shaft clutch parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value Pr.422 Auxiliary shaft clutch Set the control method for the • Set in hexadecimal. Operation 0000h D15030+150n control setting clutch. cycle ON control mode 0: No clutch 1: Clutch command ON/OFF...
  • Page 96 Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value Pr.427 Travel value before • Set the travel value for the -2147483648 to 2147483647 D15038+150n auxiliary shaft clutch distance between the clutch [Auxiliary shaft position units , or cam completing D15039+150n OFF condition completing...
  • Page 97 ■OFF control mode Setting value Description 0: OFF control invalid Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control. 1: One-shot OFF The clutch is turned OFF after moving the distance "[Pr.427] Travel value before auxiliary shaft clutch OFF (D15038+150n, D15039+150n)"...
  • Page 98 [Pr.424] Auxiliary shaft clutch ON address (D15032+150n, D15033+150n) Set the clutch ON address when address mode is configured for the ON control mode of the auxiliary shaft clutch. When the reference address is the current value per cycle after auxiliary shaft gear, the setting address is converted for control within the range from 0 to (Cam axis length per cycle - 1).
  • Page 99 [Pr.427] Travel value before auxiliary shaft clutch OFF (D15038+150n, D15039+150n) Set the travel value for the reference address with a signed numbers for the distance between the clutch OFF condition completing and the clutch opening. Setting value Description 1 to 2147483647(Positive value) Used when the reference address is increasing in direction.
  • Page 100: Auxiliary Shaft Clutch Control Data

    Auxiliary shaft clutch control data Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value Rq.403 Auxiliary shaft clutch Set the clutch command ON/OFF. OFF: Auxiliary shaft clutch Operation M11684+10n command command OFF cycle ON: Auxiliary shaft clutch command ON Rq.404 Auxiliary shaft clutch...
  • Page 101: Clutch

    Clutch Overview of clutch The clutch is used to transmit/disengage command pulses from the main/auxiliary shaft input side to the output module side through turning the clutch ON/OFF, which controls the operation/stop of the servomotor. A clutch can be configured for the main and auxiliary shafts. Control method for clutch Set the ON and OFF control methods separately in "[Pr.405] Main shaft clutch control setting (D15008+150n)"...
  • Page 102 ON control mode ■No clutch (Direct coupled operation) Execute direct coupled operation without clutch control. Other clutch parameters are not applicable during direct coupled operation by setting "0: No clutch". "Clutch forced OFF command" and the change of the clutch control setting are ignored during direct coupled operation.
  • Page 103 ■Address mode The clutch is turned ON when the reference address reaches "Clutch ON address". The travel value after passing through the ON address is calculated as the output travel value of the clutch based on the reference address passing through, thereby controlling the clutch with an accurate travel value. Clutch ON/OFF status Clutch ON address Current value specified in clutch...
  • Page 104 OFF control mode ■ OFF control invalid Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control. ■One-shot OFF The clutch is turned OFF after moving the distance "Travel value before clutch OFF" (One-shot operation) after the clutch command turn ON.
  • Page 105 ■Address mode The clutch is turned OFF when the reference address reaches "Clutch OFF address". The travel value before passing through the OFF address is calculated as the output travel value of the clutch based on the reference address passing through, thereby controlling the clutch with an accurate travel value. Clutch ON/OFF status Clutch OFF address Current value specified in clutch...
  • Page 106: Smoothing Method For Clutch

    Smoothing method for clutch Set the clutch smoothing method in "[Pr.411] Main shaft clutch smoothing method (D15018+150n)" and "[Pr.428] Auxiliary shaft clutch smoothing method (D15040+150n)". The 2 types of clutch smoothing include the following. • Time constant method smoothing • Slippage method smoothing When not using clutch smoothing, set "0: Direct"...
  • Page 107 ■Time constant method linear acceleration/deceleration smoothing Set "2: Time constant method (Linear)" in the clutch smoothing method. Clutch ON/OFF status Clutch smoothing status Speed before clutch processing Speed after clutch smoothing Clutch smoothing time constant Slippage method smoothing Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON, and with slippage at clutch OFF when the clutch turns OFF.
  • Page 108 ■Slippage method linear acceleration/deceleration smoothing Set "4: Slippage method (Linear)", or "5: Slippage method (Linear: Input value follow up)" in the clutch smoothing method. The difference between "4: Slippage method (Linear)" and "5: Slippage method (Linear: Input value follow up)" is shown below.
  • Page 109 • When "5: Slippage method (Linear: Input value follow up)" is set The clutch smoothing status ON section is fixed. Clutch ON/OFF status ON section is fixed Clutch smoothing status Input speed (Speed before clutch processing) Output speed (Speed after clutch processing) Slippage amount at clutch ON Slippage amount at clutch OFF •...
  • Page 110 ■Operation at input speed deceleration during slippage method smoothing When the speed before clutch processing decreases, the speed after clutch smoothing is controlled without exceeding the speed before clutch processing. If slippage amount remains when the speed before clutch processing becomes 0, the smoothing process will be continued. And when the speed before clutch processing gets faster than the speed after clutch smoothing, clutch smoothing takes place for the remainder slippage amount.
  • Page 111: Use Example Of Clutch

    Use example of clutch The following machine shows an example using clutch control for a flying shear cutting system that synchronizes off a start signal from a sensor input. Sensor input (High speed input request signal) Main shaft gear Main shaft Main shaft main input axis clutch...
  • Page 112: Speed Change Gear Module

    Speed Change Gear Module Overview of speed change gear module A speed change gear module is used to change the input speed from the main shaft/auxiliary shaft/composite auxiliary shaft gear during operation. When not using a speed change gear module, set "0: No speed change gear" in "[Pr.434] Speed change gear1 (D15046+150n)"...
  • Page 113: Speed Change Gear Parameters

    Speed change gear parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value Pr.434 Speed change gear 1 Set the arrangement for the speed 0: No speed change gear At start of D15046+150n change gear 1. 1: Main shaft side synchronous 2: Auxiliary shaft side...
  • Page 114 [Pr.437] Speed change ratio 1: Denominator (D15050+150n, D15051+150n) Set the denominator for the speed change ratio 1. Speed change ratio 1: Denominator can be changed during synchronous control. Set together with the speed change ratio 1: Numerator. (Page 111 [Pr.436] Speed change ratio 1: Numerator (D15048+150n, D15049+150n)) [Pr.490] Speed change gear 2 (D15052+150n) Set the arrangement for the speed change gear 2.
  • Page 115: Output Axis Module

    Output Axis Module Overview of output axis module For the output axis module, the cam axis current value per cycle is calculated based on the input value (the output value from a speed change gear), and is converted based on the cam data settings as output commands to the servo amplifier. Input value [Pr.438] Cam axis cycle unit setting (D15058+150n)
  • Page 116 Units for the output axis ■Output axis position units The position units for the output axis are shown below based on the setting "Unit setting" of fixed parameter. Setting value of Unit setting Output axis position unit Range 10 m 0: mm -214748364.8 to 214748364.7[m] 10...
  • Page 117: Output Axis Parameters

    Output axis parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value Pr.438 Cam axis cycle unit • Set the units for the cam axis • Set in hexadecimal. At start of 0000h D15058+150n setting length per cycle. synchronous •...
  • Page 118 [Pr.439] Cam axis length per cycle (D15060+150n, D15061+150n) Set the length per cycle of the cam axis to generate the cam axis current value per cycle. The unit settings are in the cam axis cycle units. (Page 114 Cam axis cycle units) Set a value within the range from 1 to 2147483647.
  • Page 119 [Pr.442] Cam axis length per cycle change setting (D15059+150n) Set when changing "[Pr.439] Cam axis length per cycle (D15060+150n, D15061+150n)" during synchronous control. Can change in cam No.0 (linear cam), stroke ratio data format, or coordinate data format. However, this cannot change [Pr.439] Cam axis length per cycle (D15060+150n, D15061+150n) in stroke ratio data format, when using cam data with starting point other than 0.
  • Page 120 [Pr.448] Synchronous control parameter block No. (D15069+150n) Set the parameter block number to be used by output axis of during synchronous control. Used item for the parameter block is shown below. : Valid, : Invalid Item Valid/invalid of setting Remarks value Interpolation control unit ...
  • Page 121 [Pr.447] Output axis smoothing time constant (D15070+150n) Set the averaging time to execute a smoothing process for the travel value of the output axis after cam data conversion. The smoothing process can moderate sudden speed fluctuation for cams using the coordinate data format, etc. The input response is delayed depending on the time corresponding to the setting by smoothing process setting.
  • Page 122: Synchronous Control Change Function

    Synchronous Control Change Function Overview of synchronous control change function This function can be used to change the cam reference position, the cam axis current value per cycle and the current value per cycle after the main/auxiliary shaft gear during the synchronous control. The following 5 methods exist for the synchronous control change function.
  • Page 123: Synchronous Control Change Control Data (word Device)

    Synchronous control change control data (Word device) Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value Cd.407 Synchronous control Set the synchronous control change 0: Cam reference position D15130+150n change command command. movement requesting 1: Change cam axis current synchronous value per cycle control...
  • Page 124 ■Change cam axis current value per cycle The cam axis current value per cycle is changed to "[Cd.408] Synchronous control change value (D15132+20n, D15133+150n)". The cam reference position will be also changed to correspond to the changed cam axis current value per cycle.
  • Page 125 When "[Rq.406] Control change request command (M11688+10n)" is reset to OFF while executing the cam axis current value per cycle movement, operation is stopped midway. If the cam axis current value per cycle movement is executed again, the remainder travel value is not reflected, and the operation starts with "[Cd.408] Synchronous control change value (D15132+150n, D15133+150n)"...
  • Page 126: Synchronous Control Monitor Data

    Synchronous Control Monitor Data Synchronous control monitor data is updated only during synchronous control. The monitor values ("[Md.400] Current value after composite main shaft gear (D13600+30n, D13601+30n)", "[Md.401] Current value per cycle after main shaft gear (D13602+30n, D13603+30n)", "[Md.402] Current value per cycle after auxiliary shaft gear (D13604+30n, D13605+30n)", "[Md.407] Cam axis current value per cycle (D13612+30n, D13613+30n)", "[Md.408] Cam reference position (D13614+30n, D13615+30n)", and "[Md.409] Cam axis current feed value (D13616+30n, D13617+30n)") from the last synchronous control session are restored the next time the Multiple CPU system power supply...
  • Page 127: Synchronous Control Monitor Data (word Device)

    Synchronous Control Monitor Data (Word device) Symbol Monitor item Storage details Monitor value Refresh cycle Device No. Md.400 Current value after • The current value after combining the -2147483648 to 2147483647 Operation cycle D13600+30n composite main main input and sub input values from the [Main input axis position units] (During synchronous D13601+30n...
  • Page 128 [Md.400] Current value after composite main shaft gear (D13600+30n, D13601+30n) The current value after combining the main input and the sub input values going into the composite main shaft gear is stored as an accumulative value. Units are in position units of the main input axis. The unit is pulse if the main input axis is invalid. (Page 30 Servo input axis position units, Page 37 Command generation axis position units, Page 51 Synchronous encoder axis position units) The current value after composite main shaft gear will be changed when the following operations are executed in the main...
  • Page 129 [Md.402] Current value per cycle after auxiliary shaft gear (D13604+30n, D13605+30n) The input travel value after the auxiliary shaft gear is stored within the range from 0 to (Cam axis length per cycle - 1). The unit is in cam axis cycle units. (Page 114 Cam axis cycle units) The value is restored according to "[Pr.461] Setting method of current value per cycle after auxiliary shaft gear (D15101+150n)"...
  • Page 130: Synchronous Control Monitor Data (bit Device)

    [Md.425] Auxiliary shaft clutch slippage (accumulative) (D13608+30n, D13609+30n) The accumulative slippage amount with the slippage method is stored as a signed value. The absolute value of the accumulative slippage increases to reach the slippage at clutch ON during clutch ON. The absolute value of the accumulative slippage decreases to reach 0 during clutch OFF.
  • Page 131: Chapter 7 Auxiliary And Applied Functions

    AUXILIARY AND APPLIED FUNCTIONS Phase Compensation Function In synchronous control, delays in progresses, etc. cause the phase to deviate at the output axis motor shaft end with respect to the input axis (servo input axis or synchronous encoder axis). The phase compensation function compensates in this case so that the phase does not deviate.
  • Page 132 The model loop gain will change when the gain adjustment method is auto tuning mode 1 or 2. The model loop gain must not be changed on the axis executing phase compensation through preventing change with the manual mode or interpolation mode setting.
  • Page 133: Relationship Between The Output Axis And Each Function

    Relationship between the Output Axis and Each Function The relationship between the output axis of synchronous control and each function is shown below. : Valid, : Invalid Function Output Details axis  Fixed parameter Unit setting The same control as other methods. Number of pulses per rotation (AP) ...
  • Page 134: Speed-torque Control

    Speed-Torque Control Control mode can be switched for output axis during synchronous control. The control is performed with "speed-torque control data". Data that is needed to be set with speed-torque control during synchronous control is shown in the table below. Setting item Setting necessity During control other than...
  • Page 135 • Turn OFF to ON the control mode switching request device after setting the control mode (10: Speed control mode, 20: Torque control mode, 30: Continuous operation to torque control mode) in the control mode setting device to switch the control mode.
  • Page 136 • Command torque at torque control and continuous operation to torque control are set in the "torque command device" of "speed-torque control data". The command torque is limited with "Torque limit value at speed-torque control". If the torque exceeds torque limit value is set, a warning (error code: 09E4H) will occur, the operation is controlled with torque limit value at speed-torque control.
  • Page 137 Stop cause ■Stop cause during speed control mode The operation for stop cause during speed control mode is shown below. The synchronous control ends by the stop cause occurrence. Item Operation during speed control mode The "[Rq.380] Synchronous control start (M12000+n)" turned OFF. The motor decelerates to speed "0"...
  • Page 138 ■Stop cause during continuous operation to torque control mode The operation for stop cause during continuous operation to torque control mode is shown below. The synchronous control ends by the stop cause occurrence. Item Operation during continuous operation to torque control mode The "[Rq.380] Synchronous control start (M12000+n)"...
  • Page 139: Synchronous Control Initial Position

    Synchronous Control Initial Position The following synchronous control monitor data can be aligned to a set position when starting synchronous control, as the initial position for synchronous control. The alignment to a synchronous control initial position is useful for restoring a system based on the last control status along with restarting synchronous control after cancelling midway.
  • Page 140 Current value after composite main shaft gear when starting synchronous control The current value after composite main shaft gear is restored as follows according to the main input axis operation executed before starting synchronous control. Operation of main Servo input axis Command Synchronous encoder axis input axis (Before...
  • Page 141 Current value per cycle after main shaft gear, current value per cycle after auxiliary shaft gear when starting synchronous control The current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear is restored as follows according to the main input axis/auxiliary shaft operation executed before starting synchronous control.
  • Page 142 Cam axis position at synchronous control start The cam axis position is composed of the relationship of 3 positions "Cam axis current value per cycle", "Cam reference position" and "Cam axis current feed value". One of positions can be restored by defining 2 positions when starting synchronous control.
  • Page 143: Synchronous Control Initial Position Parameters

    Synchronous Control Initial Position Parameters Symbol Setting item Setting details Setting value Fetch Default Device No. cycle value Pr.460 Setting method of Select the setting method for the 0: Previous value At start of D15100+150n current value per current value per cycle after main shaft 1: Initial setting value of current synchronous cycle after main shaft...
  • Page 144 [Pr.461] Setting method of current value per cycle after auxiliary shaft gear (D15101+150n) Select the setting method of "[Md.402] Current value per cycle after auxiliary shaft gear (D13604+30n, D13605+30n)" when starting synchronous control. Setting value Description 0: Previous value The current value per cycle after auxiliary shaft gear from the last synchronous control session is stored. 1: Initial setting value of current value per cycle The value set in "[Pr.466] Current value per cycle after auxiliary shaft gear (Initial setting) (D15108+150n, after auxiliary shaft gear...
  • Page 145 [Pr.466] Current value per cycle after auxiliary shaft gear (Initial setting) (D15108+150n, D15109+150n) Set the initial setting value of the current value per cycle after auxiliary shaft gear when "[Pr.461] Setting method of current value per cycle after auxiliary shaft gear (D15101+150n)" is set to "1: Current value per cycle after auxiliary shaft gear (Initial setting)".
  • Page 146: Cam Axis Position Restoration Method

    Cam Axis Position Restoration Method Cam axis current value per cycle restoration If "[Pr.462] Cam axis position restoration object (D15102+150n)" is set to "0: Cam axis current value per cycle restoration" when starting synchronous control, the cam axis current value per cycle is restored based on the cam reference position and the cam axis current feed value.
  • Page 147 Cam axis current value per cycle restoration operation ■With a two-way cam pattern operation • Search from "Cam axis current value per cycle = 0". (Cam data starting point = 0) Cam axis current value per cycle Search from "Cam axis current value per cycle=0".
  • Page 148 • Search from a value in the middle of the cam axis current value per cycle. (Cam data starting point = 0) [Pr.468] Cam axis current value per cycle (Initial setting) (D15112+150n, D15113+150n) Cam axis current value per cycle Cam axis current feed value (Current feed value) New cam reference position Cam reference position...
  • Page 149: Cam Reference Position Restoration

    Cam reference position restoration If "[Pr.462] Cam axis position restoration object (D15102+150n)" is set to "1: cam reference position restoration" when starting synchronous control, the cam reference position is restored based on the cam axis current value per cycle and the cam axis current feed value.
  • Page 150: Cam Axis Current Feed Value Restoration

    Cam axis current feed value restoration If "[Pr.462] Cam axis position restoration object (D15102+150n)" is set to "2: cam current feed value restoration" when starting synchronous control, the cam axis current feed value is restored based on the cam axis current value per cycle and the cam reference position.
  • Page 151: Synchronous Control Analysis Mode

    Synchronous Control Analysis Mode With synchronous control analysis mode, parameters are only analyzed for synchronous control when there is a command to start synchronous control. This mode is used to confirm the synchronous positions of the output axes in order to align axes with position control before starting synchronous control.
  • Page 152: Cam Position Calculation Function

    Cam Position Calculation Function The cam position is calculated by the CAMPSCL instruction (Cam position calculation) of Motion SFC program with this function. This function can be used to calculate the cam position for the synchronous control initial position before starting synchronous control.
  • Page 153: Method To Restart Synchronous Control

    Method to Restart Synchronous Control The relationship of the synchronous position for synchronous control is always saved in the Motion CPU module. Synchronous control can be restarted without returning all axes to their starting points by restoring the synchronized relationship through the synchronous control initial position parameters. (Page 141 Synchronous Control Initial Position Parameters) The reference axis used to restart synchronous control is different for each system.
  • Page 154: Multiple Cpu Advanced Synchronous Control

    SSCNET(/H) MR-J3(W)-B/MR-J4(W)-B model servo amplifier Up to 96 axes (32 axes 3 CPU)/system R32MTCPU: 2 lines (Up to 32 axes) R16MTCPU: 1 line (Up to 16 axes) Features of Multiple CPU advanced synchronous control The features of Multiple CPU advanced synchronous control are shown below.
  • Page 155 Setting example The following shows an example for synchronizing the output axis of the slave CPU (CPU No.3, CPU No.4) with the command generation axis (Axis 1) of the master CPU (CPU No.2). Setting item CPU No. CPU No.2 (Master CPU) CPU No.3 (Slave CPU) CPU No.4 (Slave CPU) Multiple CPU synchronous control CPU...
  • Page 156 • It takes two operation cycles until the slave CPU processes the command value sent from the master CPU. For this reason, the processing software in the Motion CPU, compensates for this by delaying the output axis of the master CPU side by two operation cycles. By doing this, the timing of commands to the output axes of the master CPU and slave CPU do not deviate largely.
  • Page 157: Setting For Multiple Cpu Advanced Synchronous Control

    Setting for Multiple CPU advanced synchronous control The setting of the master CPU and slave CPU are necessary for Multiple CPU advanced synchronous control. Also, in order to monitor the information of other CPUs that constitute the Multiple CPU advanced synchronous control, setting of the status device of each CPU is executed.
  • Page 158 Status device setting Refer to the following for the setting range of usable word devices and bit devices.  MELSEC iQ-R Motion Controller Programming Manual (Common) ■Synchronous controlling (2 words) Set the start number of the device to monitor the status of CPU No.2 to 4 synchronous control for each Motion CPU. This setting can be omitted.
  • Page 159 ■Master CPU input axis transfer information (6 words) Set the start number of the device to monitor the connection status for each input axis type of the master CPU. Only set this when set as "Slave CPU". This setting can be omitted. Master CPU input axis Description Servo input axis...
  • Page 160 • Bit device setting Set a number in a unit of 32 points at the start of the device. The connection status for each input axis type is stored in the set devices as follows. Offset Item Servo input axis connecting information Axis 1 Servo input axis connecting information Axis 2 Servo input axis connecting information Axis 32 Command generation axis connecting information Axis 1...
  • Page 161 ■Master CPU input axis error information (6 words) Set the start number of the device to monitor the error detection information of each input axis type of the master CPU. Only set this when set as "Slave CPU". This setting can be omitted. Master CPU input axis Description Servo input axis error detection...
  • Page 162 • Bit device setting Set a number in a unit of 32 points at the start of the device. The error detection information for each input axis type is stored in the set devices as follows. Offset Item Device Servo input axis error detection Axis 1 M2407, M2408 Servo input axis error detection Axis 2 M2427, M2428...
  • Page 163 ■Status for each CPU (1 word) Set the start number of the device to monitor the information of the "PLC ready flag", "PCPU READY complete flag" and other devices in CPU No.2 to 4 below for each Motion CPU. This setting can be omitted. •...
  • Page 164 ■Error status for each CPU and axis (4 words) Set the start number of the device to monitor the error information of each axis in CPU No. 2 to 4 for each Motion CPU. This setting can be omitted. • Word device setting Set an even number at the start of the device.
  • Page 165: Fixed Scan Communication Setting/inter-module Synchronization Setting

    Fixed scan communication setting/inter-module synchronization setting For Motion CPUs that constitute Multiple CPU advanced synchronous control, fixed scan communication function, or inter- module synchronization function between CPUs must be enabled. If neither fixed scan communication function nor inter- module synchronization function are set, a moderate error (error code: 30F5H) occurs after the Multiple CPU system power supply is turned ON.
  • Page 166: Selection Of Slave Cpu Input Axis Type

    Selection of slave CPU input axis type In the slave CPU side, by setting the input axis type of the master CPU from the input axis parameter "[Pr.320] Synchronous encoder axis type", the change amount from the master CPU becomes the input value, and is controlled as a synchronous encoder axis.
  • Page 167 • If "501: Master CPU synchronous encoder axis" in "[Pr.320] Synchronous encoder axis type" is selected. The change amount of the input pulse to the synchronous encoder on the master CPU is transmitted to the slave CPU. Also, control by a current value change by "[Rq.320] Synchronous encoder axis control request (D14823+20n)", counter enable, and counter disable, are not reflected in the change amount that is transmitted.
  • Page 168 Setting example The following shows an example for setting the input from axis 8 of the master CPU servo input axis to the synchronous encoder axis 2 of the slave CPU. ■Master CPU side Set the following in the Multiple CPU advanced synchronous control setting. Setting item Setting value Multiple CPU advanced synchronous control CPU setting...
  • Page 169 Set the following in synchronous encoder axis setting of synchronous encoder axis 2 on the synchronous encoder axis parameter screen. Item Setting value Type 301: Master CPU servo input axis Synchronous encoder No. (Pn) [Motion Control Parameter]  [Synchronous Control Parameter]  [Input Axis Parameter]  [Synchronous Encoder Axis Parameter] When confirming the status of other CPUs, in the status device setting, set the device for each item.
  • Page 170: Multiple Cpu Advanced Synchronous Control Monitor Device

    Multiple CPU advanced synchronous control monitor device The status of initial processing and CPU setting in Multiple CPU advanced synchronous control can be confirmed with the following monitor devices. Device No. Monitor item Storage details Monitor value Refresh cycle SD561 Multiple CPU advanced The CPU setting status of Multiple CPU 0: Independent CPU...
  • Page 171: Example Programs

    Example programs In order to maintain synchronizing between master CPU and slave CPU, start synchronizing by the following procedure. Match the relationship of the controlling position of the master CPU and slave CPU. Set the "[Rq.324] Connection command of synchronous encoder via device/master CPU (M11602+4n)" in the slave CPU ON, and confirm the connection is valid in "[St.321] Synchronous encoder axis connecting valid flag (M10441+10n)".
  • Page 172 ■Synchronous control start program <Master CPU> <Slave CPU> After completing alignment, confirm that the output axis of the slave CPU is in After completing alignment, connect the synchronous encoder and then after synchronous control and turn ON synchronous control start. executing a current value change, turn ON synchronous control start.
  • Page 173 ■Error detection program <Master CPU> <Slave CPU> If each error detection signal of the master CPU and slave CPU, or servo error If the input axis error information of the master CPU, error detection signals of detection signals turn ON, synchronous control start turns OFF. the slave CPU, or servo error detection signals turn ON, synchronous control start turns OFF.
  • Page 174: Appendices

    APPENDICES Appendix 1 Sample Program of Synchronous Control The following shows a sample program of executing synchronous control on the axis 1 with the command generation axis 4 of R16MTCPU as an input axis. Set MR-J4(W)-B on the axis 1 in the servo network setting. Item Setting value Amplifier information...
  • Page 175 Create the cam data (cam No.1). Section No. Start angle [degree] End angle [degree] Stroke [%] Cam curve 0.00000 90.00000 100.0000000 Constant speed 90.00000 270.00000 -60.0000000 Constant speed 270.00000 0.00000 50.0000000 Constant speed Set the synchronous parameter of the axis 1. Item Setting value Synchronous control...
  • Page 176 Create the Motion SFC program to start synchronous control. (Executed after home position return completion) sync_ax1 [F0] SET M2042 //All axes servo ON [G0] M2415*!M2001 //Axis 1 servo ready ON, start accept flag OFF? [F1] SET M12000 //Axis 1 Synchronous control start [G1] M100*M10880 //M100 ON and axis 1 during synchronous control?
  • Page 177: Appendix 2 Advanced Synchronous Control Device List

    Appendix 2 Advanced Synchronous Control Device List Synchronous control system control data Symbol Setting item Device No. Reference Page 21 Synchronous control system control data Rq.380 Synchronous control start M12000+n Rq.381 Synchronous analysis request M12032+n Synchronous control system monitor data Symbol Setting item Device No.
  • Page 178 Command generation axis control data ■Word device Symbol Setting item Device No. Reference Page 43 Command generation axis control data (Word Cd.340 Command generation axis JOG speed setting D14680+4n D14681+4n device) ■Bit device Symbol Setting item Device No. Reference Page 43 Command generation axis control data (Bit Rq.341 Command generation axis stop command M10960+20n...
  • Page 179 Synchronous encoder axis parameters Symbol Setting item Device No. Reference Pr.320 Synchronous encoder axis type  Page 60 Synchronous encoder axis parameters  Pr.321 Synchronous encoder axis unit setting Pr.322 Synchronous encoder axis unit conversion: Numerator   Pr.323 Synchronous encoder axis unit conversion: Denominator ...
  • Page 180 ■Bit device Symbol Setting item Device No. Reference Page 71 Synchronous encoder axis monitor data (Bit St.320 Synchronous encoder axis setting valid flag M10440+10n device) St.321 Synchronous encoder axis connecting valid flag M10441+10n St.322 Synchronous encoder axis counter enable flag M10442+10n St.323 Synchronous encoder axis current value setting request flag...
  • Page 181 Symbol Setting item Device No. Reference Page 111 Speed change gear parameters Pr.434 Speed Speed change gear 1 D15046+150n change gear Pr.435 Speed change gear 1 smoothing time constant D15047+150n Pr.436 Speed change ratio 1: Numerator D15048+150n D15049+150n Pr.437 Speed change ratio 1: Denominator D15050+150n D15051+150n Pr.490...
  • Page 182 ■Word device Symbol Setting item Device No. Reference Page 121 Synchronous control change control data Cd.407 Synchronous Synchronous control change command D15130+150n control (Word device) Cd.408 Synchronous control change value D15132+150n change D15133+150n Cd.409 Synchronous control reflection time D15131+150n Synchronous Control Monitor Data ■Word device Symbol Setting item...
  • Page 183 MEMO APPENDICES APPENDIX Appendix 2 Advanced Synchronous Control Device List...
  • Page 184: Revisions

    Japanese manual number: IB-0300242-C This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 185: Warranty

    WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
  • Page 186: Trademarks

    TRADEMARKS Microsoft, Windows, Windows Vista, Windows NT, Windows XP, Windows Server, Visio, Excel, PowerPoint, Visual Basic, Visual C++, and Access are either registered trademarks or trademarks of Microsoft Corporation in the United States, Japan, and other countries. Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and other countries. Ethernet is a registered trademark of Xerox Corp.
  • Page 188 IB(NA)-0300243-C(1506)MEE MODEL: RMT-P-ADV-E MODEL CODE: 1XB010 HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

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