Page 1 MELSEC iQ-R Positioning Module User's Manual (Application) -RD75P2 -RD75P4 -RD75D2 -RD75D4...
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. For the safety precautions of the programmable controller system, refer to the MELSEC iQ-R Module Configuration Manual.
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 100mm or more between them. Failure to do so may result in malfunction due to noise. ●...
Page 6: Wiring Precautions
[Installation Precautions] CAUTION ● Use the programmable controller in an environment that meets the general specifications in the Safety Guidelines included with 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 ohms 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 will cause the battery to produce heat, explode, ignite, or leak, resulting in injury and fire.
Page 9 [Startup and Maintenance Precautions] CAUTION ● 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 10 [Operating Precautions] CAUTION ● When changing data and operating status, and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or modification may cause system malfunction, damage to the machines, or accidents.
Page 11: Conditions Of Use For The Product
Mitsubishi representative in your region. INTRODUCTION Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers. This manual describes the functions, programming, and troubleshooting of the relevant products listed below. Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly.
Page 12 Relevant products RD75P2, RD75P4, RD75D2, RD75D4 In this manual, buffer memory areas are classified into four groups using the following symbols. Each area name is common to axis 1 to 4. • [Pr.**]: Positioning parameter and OPR parameter • [Da.**]: Positioning data and block start data •...
Page 13 MEMO...
Page 14: Table Of Contents
CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
Page 15 3-axis helical interpolation control with center point specified ........115 Speed control .
Page 16 Parameters required for the manual pulse generator operation ........198 Creating a program to enable or disable the manual pulse generator operation .
Page 17 During uncompleted OPR operation setting function ..........296 Interrupt function .
Page 18 12.6 Condition Data ............... . . 439 12.7 Monitor Data.
Page 19 INDEX REVISIONS ................592 WARRANTY .
Page 20: Relevant Manuals
This manual does not include information on the module function blocks. For details, refer to the Function Block Reference for the module used. e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool.
Page 21: Chapter 1 Starting And Stopping
STARTING AND STOPPING This chapter describes how to start and stop positioning control operations with the RD75. Starting The RD75 starts the positioning control when a start trigger, specific to the control, is turned on. The following table lists the start signals by control type.
Page 22 Starting with Positioning start signal [Y10, Y11, Y12, Y13] This section describes operations started with Positioning start signal [Y10, Y11, Y12, Y13]. • When Positioning start signal [Y10, Y11, Y12, Y13] is turned on, Start complete signal [X10, X11, X12, X13] and BUSY signal [XC, XD, XE, XF] turn on, and the positioning operation starts.
Page 23 Starting by inputting an external command signal (CHG) When the positioning control is started by inputting an external command signal (CHG), the start command can be directly input to the RD75. This method eliminates the variation time equivalent to one scan time of the CPU module. Use the start command when an operation is required to be started as soon as possible, or when the starting variation time is to be suppressed.
Page 24: Normal Start
Normal start Positioning controls can be started by the simplest procedure in this mode. Major positioning controls and advanced positioning controls can be started in this mode. The following positioning data is used. • Positioning data (No.1 to No.600) • Block start data (No.7000 to No.7004) •...
Page 25 Program example This section shows program examples of the normal start for each command trigger. ■For module FB For the program example using the module FB, refer to the following. Page 505 Positioning start program ■For Positioning start signal [Y10, Y11, Y12, Y13] Classification Label Name Description...
Page 26: Quick Start
Quick start Positioning controls can be started quickly by analyzing in advance the positioning data executed immediately after the current operation to prevent the analysis time affecting the start. Positioning data for the major positioning controls can be started in this mode. By using an external command signal as a start trigger, positioning controls can be started bypassing a program, which means that the operation is quickly started without being affected by the execution time of the program.
Page 27 Control details ■Length of time before the positioning starts While [Cd.43] Analysis mode setting is 1: Pre-analysis mode, the positioning data specified in [Cd.3] Positioning start No. is analyzed. The following shows the start timing of positioning data analysis. • When the analysis mode is changed to the pre-analysis mode (Timing when the setting of [Cd.43] Analysis mode setting is changed to 1: Pre-analysis mode) •...
Page 28 ■Executing the quick start repeatedly The quick start can be executed repeatedly by remaining [Cd.43] Analysis mode setting to 1: Pre-analysis mode. When [Cd.3] Positioning start No. is set to the positioning data No. used for the positioning control 2 during the operation of the positioning control 1, the operation is performed as follows.
Page 29 Restrictions • The range of the positioning data Nos. used for the quick start is between 1 and 600. If a number other than 1 to 600 is set for [Cd.3] Positioning start No., Pre-analysis not possible (Warning code: 09A8H) occurs and the pre-analysis of positioning data is not performed.
Page 30 • When [Pr.42] External command function selection is set to 0: Start with external command and [Cd.8] External command valid is set to 1: External command valid in the pre-analysis mode, do not turn off and on Positioning start signal [Y10, Y11, Y12, Y13].
Page 31: Multiple Axes Simultaneous Start
Multiple axes simultaneous start In this starting mode, the simultaneous starting axis and the started axis start outputting pulses at the same timing. Up to four axes can be started simultaneously. Control details Perform the multiple axes simultaneous start by setting the following buffer memory areas and turning on a start trigger. •...
Page 32 Procedure The following figure shows the procedure for the multiple axes simultaneous start control. Set Cd.30 to Cd.33 Simultaneous starting axis start data No. Write "9004" in Cd.3 Positioning start No. Turn on Positioning start signal of the axis to be started. Setting method The following table lists the data settings to perform the multiple axes simultaneous start using Positioning start signal.
Page 33 Setting example The following table shows the setting example in which the axis 1 is used as the starting axis and the axis 2 and axis 4 is used as the simultaneous starting axis. Setting item Setting Setting detail Buffer memory value address (Axis 1) [Cd.3]...
Page 34: Stopping
Stopping This section describes the stop control of the positioning. The following events may stop each positioning control by the RD75. • When each control ends normally • When Drive unit READY signal (READY) is turned off • When an error occurred in the CPU module •...
Page 35: Deceleration Stop
*1 When multiple positioning data is executed by the continuous positioning control or continuous path control and there is an invalid setting value in a positioning data, an error occurs and automatic deceleration is performed at the previous positioning data. In this case, the sudden stop is not performed even if sudden stop is selected for the stop group 3.
Page 36 Order of priority for the stop processing The order of priority for the RD75 stop processing is as follows. (Deceleration stop) < (Sudden stop) < (Immediate stop) • If the deceleration stop command is on (stop signal is on) or a deceleration stop cause occurs during the deceleration to speed 0 (including automatic deceleration), the operation changes depending on the setting in [Cd.42] Stop command processing for deceleration stop selection.
Page 37 Stop signal input during deceleration • Even if a stop signal is input during deceleration (including automatic deceleration), the positioning will stop with the current deceleration speed kept until it completely stops. • When a stop signal is input during deceleration in the OPR control, the positioning will stop with the current deceleration speed kept until it completely stops.
Page 38: Restarting
Restarting If the positioning control is stopped by a stop command (Axis stop signal [Y4, Y5, Y6, Y7] or a stop signal from an external device), the positioning can be restarted from the stopped position to the end point of the position control by using [Cd.6] Restart command.
Page 39 Setting method Set the following data to restart the positioning. Setting item Setting Setting detail Buffer memory address value Axis 1 Axis 2 Axis 3 Axis 4 [Cd.6] Restart command Set 1: Restart. 1503 1603 1703 1803 For details on the settings, refer to the following. Page 471 [Cd.6] Restart command Restart time chart Dwell time...
Page 40: Chapter 2 Opr Control
OPR CONTROL This chapter describes the details and usage of the OPR control. Overview of the OPR Control Two types of OPR controls The OPR control establishes a start point (= OP) for performing the positioning control, and performs positioning toward that start point.
Page 41 When no OPR is required In a system that does not need any OPR operation, OPR request flag ([Md.31] Status: b3) can be ignored to perform the positioning. In this case, set all the OPR parameter areas ([Pr.43] to [Pr.57]) to their initial values or values that do not cause errors. OPR using an engineering tool Machine OPR and Fast OPR can be executed using the positioning test of the engineering tool.
Page 42: Machine Opr
Machine OPR Operation overview of the machine OPR Use the OPR retry function when the OP position is not always in the same direction from the workpiece operation area (when the OP is not set near the upper or lower limit of the machine). The machine OPR may not be completed unless the OPR retry function is used.
Page 43: Machine Opr Method
Machine OPR method In the machine OPR, the method by which the machine OP is established (method for judging the position of the OP and the completion of the machine OPR) is specified according to the configuration and application of the positioning system. The following table shows the seven methods provided as the OPR methods.
Page 44: Near-Point Dog Method
Near-point dog method The following shows an operation overview of the near-point dog method, one of the OPR methods. Operation chart Pr.46 OPR speed Deceleration at the near-point dog ON Pr.47 Creep speed (2) (3) (4)(5) Md.34 Movement amount after near-point dog ON Adjust so that the near-point dog OFF position is as close as possible to the center of the zero Near-point dog...
Page 45 Precautions during the operation • Start at OP (Error code: 1940H) will occur if another machine OPR is attempted after the completion of the machine OPR when the OPR retry function has not been set ([Pr.48] OPR retry is 0). •...
Page 46: Stopper Method 1
Stopper method 1 The following shows an operation overview of the stopper method 1, one of the OPR methods. Operation chart Pr.46 OPR speed Pr.47 Creep speed Stops with a stopper. (5)(6) Range in which the servomotor rotation is forcibly stopped with a stopper Torque limit valid range Torque limit Near-point dog...
Page 47 Precautions during the operation • Set [Pr.49] OPR dwell time to the time that is equal to or longer than the movement time taken from when the near-point dog turns on to when the workpiece hits to the stopper. • The machine will continue decelerating and stop if the time set in [Pr.49] OPR dwell time elapses during the deceleration from the speed set in [Pr.46] OPR speed, and Dwell time fault (Error code: 1943H) occurs.
Page 48 • If the time set in [Pr.49] OPR dwell time elapses before stopping at the stopper, the workpiece will stop at that position, and the position will be set as an OP. In this case, no error will occur. Pr.46 OPR speed Pr.47 Creep speed...
Page 49: Stopper Method 2
Stopper method 2 The following shows an operation overview of the stopper method 2, one of the OPR methods. Operation chart Pr.47 Creep speed Pr.46 OPR speed Stops with a stopper. (2) (3) (4) (5)(6) Zero signal Torque limit valid range Torque limit Near-point dog Machine OPR start...
Page 50 Restrictions • Always limit the servomotor torque after the speed reaches the speed set in [Pr.47] Creep speed. Otherwise the servomotor may be damaged when the workpiece hits to the stopper. (Page 232 Torque limit function) • Use an external input signal as a zero signal. Precautions during the operation •...
Page 51 • If a zero signal is input before the workpiece stops at the stopper, the workpiece stops at that position and the position is set as an OP. In this case, no error will occur. Pr.46 OPR speed Creep speed Pr.47 Stopper Zero signal...
Page 52: Stopper Method 3
Stopper method 3 The following shows an operation overview of the stopper method 3, one of the OPR methods. Stopper method 3 is useful for a system in which a near-point dog cannot be installed. (Note that the workpiece starts traveling at the speed set in [Pr.47] Creep speed, which means that it takes some time until the machine OPR is completed.) Operation chart Pr.47...
Page 53 Restrictions • Always limit the servomotor torque after the speed reaches the speed set in [Pr.47] Creep speed. Otherwise the servomotor may be damaged when the workpiece hits to the stopper. (Page 232 Torque limit function) • Use an external input signal as a zero signal. •...
Page 54: Count Method 1
Count method 1 The following shows an operation overview of Count method 1, one of the OPR methods. If a machine OPR operation is started using Count method 1 from a point where the near-point dog is on, the machine moves in the direction reverse to the OPR direction to go back to a point where the near-point dog turns off, and a normal machine OPR operation is performed.
Page 55 Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, produce a zero signal using an external signal. Precautions during the operation • If the distance set in [Pr.50] Setting for the movement amount after near-point dog ON is shorter than the deceleration distance from [Pr.46] OPR speed to deceleration stop, Count method movement amount fault (Error code: 1944H) occurs and the operation does not start.
Page 56: Count Method 2
Count method 2 The following shows an operation overview of Count method 2, one of the OPR methods. If a machine OPR operation is started using Count method 2 from a point where the near-point dog is on, the machine moves in the direction reverse to the OPR direction to go back to a point where the near-point dog turns off, and a normal machine OPR operation is performed.
Page 57 Precautions during the operation • If the distance set in [Pr.50] Setting for the movement amount after near-point dog ON is shorter than the deceleration distance from [Pr.46] OPR speed to deceleration stop, Count method movement amount fault (Error code: 1944H) occurs and the operation does not start.
Page 58: Data Setting Method
Data setting method Data setting method is used to set a point at which the workpiece is positioned by a manual feed such as JOG operation as an When the machine OPR is performed using the data setting method, Deviation counter clear signal is output to the drive unit and the current feed value and machine feed value are overwritten with the OP address.
Page 59: Fast Opr
Fast OPR Operation overview of the fast OPR Fast OPR operation After the OP position is established by performing a machine OPR, the positioning control to the OP position is executed without using a near-point dog or zero signal. The following shows the operation after the fast OPR is started. The fast OPR is started.
Page 60 Operation timing and the processing time The following shows the details on the operation timing and processing time in the fast OPR. Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] Start complete signal [X10, X11, X12, X13] Standby Position control Standby...
Page 61: Chapter 3 Major Positioning Control
MAJOR POSITIONING CONTROL This chapter describes the details and usage of the major positioning control (the control function using Positioning data). As the major positioning control, Position control (positioning to the specified position using address information), Speed control (controlling a rotating body at a fixed speed), Speed-position switching control (switching the control type from Speed control to Position control), Position-speed switching control (switching the control type from Position control to Speed control), and others are provided.
Page 62 Major positioning control [Da.2] Control Description method Speed control 1-axis speed control Forward run speed 1 Performs the speed control of the specified one axis. Reverse run speed 1 2-axis speed control Forward run speed 2 Performs the speed control of the specified two axes. Reverse run speed 2 3-axis speed control Forward run speed 3...
Page 63: Data Required For Major Positioning Control
Data required for major positioning control The following table lists Positioning data required for performing Major positioning control. Setting item Setting detail Positioning [Da.1] Operation pattern Set an operation pattern for the continuous positioning data (example: Positioning data No.1 to 3). data (Page 62 Operation pattern of major positioning control) [Da.2]...
Page 64: Operation Pattern Of Major Positioning Control
Operation pattern of major positioning control In Major positioning control (Advanced positioning control), [Da.1] Operation pattern can be set to specify whether to continue executing positioning data after the started positioning data. Operation pattern can be classified into the following three patterns.
Page 65 Independent positioning control (positioning complete) Set this pattern when executing the positioning of only one specified data. If a dwell time is specified, the positioning will be completed when the specified time elapses. For the block positioning, this data (operation pattern: 00) is the end of the data. (The positioning stops after this data is executed.) Positioning complete (00) Dwell time...
Page 66 Continuous path control ■ Continuous path control • The speed changes without the deceleration stop from the command speed of the positioning data No. currently being executed to the speed of the next positioning data No. When the current speed is equal to the next speed, the speed does not change.
Page 67 • In the continuous path control, the positioning may be completed before the set address/movement amount by the distance d, and the data to be controlled may be switched to the next positioning data No. The range of the value of the distance d is as follows.
Page 68 ■Conditions of deceleration stop during the continuous path control The deceleration stop is not performed in the continuous path control. However, in the following three cases, the deceleration stop is performed and the speed becomes 0 once. • 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 69 • When the interpolation axis suddenly reverses its direction, the command pulses from the RD75 are output as follows. Forward run command Reverse run command When a command frequency is f (pulse/s), t1 and t2 are determined using the following calculation formulas. t1 = 1/2f [s] t2 = 1/f [s] A time of t1 must be ensured by the drive unit for a specified time T [s] or longer.
Page 70 • In the continuous path control, the speed is not changed when the positioning data No. is switched by the near pass function. (Page 226 Near pass function) • The RD75 holds the command speed set with the positioning data and the latest speed value set with the speed change request as [Md.27] Current speed to control with the current speed when -1 is set for the command speed.
Page 71 ■Switching speed (Refer to [Pr.19] Speed switching mode.) The following two modes are provided to change the speed. Speed switching mode Description Standard switching Switches the speed when executing the next positioning data. Front-loading switching Switches the speed at the end of the positioning data currently being executed.
Page 72 [When the speed cannot be changed in P2] [When the movement amount is small during the automatic deceleration] When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2 Since the movement amount required to perform the automatic deceleration cannot be secured, the machine immediately stops in the status of the speed ...
Page 73: Specifying The Positioning Address
Specifying the positioning address One of the following two methods can be used for commanding the position in the control using positioning data. Absolute system The positioning is performed to a specified position (absolute address) having the OP as a reference. This address is regarded as the positioning address.
Page 74: Checking The Current Value
Checking the current value Values indicating the current values In the RD75, the following two types of address are used as values to indicate the position. These addresses (Current feed value and Machine feed value) are stored in the monitor data area, and used for monitoring the current value display.
Page 75 Monitoring the current value Current feed value and Machine feed value are stored in the following buffer memory areas, and can be read using a DFROM (P) instruction or DMOV (P) instruction from the CPU module. Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4...
Page 76: Handling Degree (Control Unit)
Handling degree (control unit) If degree is set as the control unit, the following items differ from the ones for when other control units are set. Addresses of Current feed value and Machine feed value The address of [Md.20] Current feed value is a ring address from 0 to 359.99999. However, the address of [Md.21] Machine feed value does not become a ring address.
Page 77 Positioning control method when degree is set as the control unit ■When the absolute system is used • When the software stroke limit is invalid The positioning is performed in the direction nearest to the specified address, using the current value as a reference. (This control is called shortcut control.) Example (1) Positioning is carried out in a clockwise direction when the current value is moved from 315°...
Page 78 • To specify the rotation direction in degrees for each positioning data, especially for the continuous positioning control and continuous path control, use "[Da.28] ABS direction in degrees". • To set the same rotation direction for all positioning data, use "[Cd.40] ABS direction in degrees". The same rotation direction can be set for each positioning data in a batch.
Page 79: Interpolation Control
Interpolation control Meaning of the interpolation control For 2-axis linear interpolation control, 3-axis linear interpolation control, 4-axis linear interpolation control, 2-axis fixed-feed control, 3-axis fixed-feed control, 4-axis fixed-feed control, 2-axis speed control, 3-axis speed control, 4-axis speed control, 2- axis circular interpolation control, and 3-axis helical interpolation control, each control is performed so that linear and arc paths are drawn using motors set in the directions of two to four axes.
Page 80 Positioning data setting When the interpolation control is performed, the same positioning data No. are set for the reference axis and interpolation axis. The following table shows the setting items of Positioning data of the reference axis and interpolation axis. : Always set, : Set as required, : Setting restricted : Setting not required (Because this item is an irrelevant item, the set value is ignored.
Page 81 Starting the interpolation control To start the interpolation control, the positioning data Nos. of the reference axis (the axis for which the interpolation control was set in [Da.2] Control method) are started. (Starting of the interpolation axis is not required.) If both the reference axis and interpolation axis are started, the following errors or warning will occur and the positioning will not start.
Page 82 Interpolation speed specification method For the interpolation control, set the composite speed or reference axis speed with "[Pr.20] Interpolation speed specification method" or "[Da.29] Interpolation speed specification method" of the reference axis. • Composite speed: The movement speed for the control target is specified, and the speed for each axis is calculated by the RD75.
Page 83 Limits of the interpolation control Limits are provided on the interpolation control that can be executed and speed ([Pr.20] Interpolation speed specification method) that can be set, depending on the settings in [Pr.1] Unit setting of the reference axis and interpolation axis. (For example, the circular interpolation control cannot be performed if the unit of the reference axis and that of the interpolation axis differ.) The following table shows the limits of the interpolation control and speed specification.
Page 84: Positioning Data Setting
Positioning Data Setting Relation between each control and positioning data The setting requirements and details on the setting items of the positioning data differ according to the setting in [Da.2] Control method. The following table shows the setting items of positioning data prepared for various control systems. (The settings of positioning data in this section are assumed to be performed using an engineering tool.) : Always set, : Set as required : Setting not possible (If these items are set, Continuous path control not possible (Error code: 1A1EH, 1A1FH) occurs at...
Page 85 Setting Positioning data using an engineering tool is recommended. To perform the setting using programs, many programs and devices are required. The execution becomes complicated, and the scan times will increase. : Always set, : Set as required : Setting not possible (If these items are set, New current value not possible (Error code: 1A1CH) or Continuous path control not possible (Error code: 1A1EH, 1A1FH) occurs at the start.) : Setting not required (The set value is ignored.
Page 86: 1-Axis Linear Control
1-axis linear control In the 1-axis linear control ([Da.2] Control method = ABS linear 1, INC linear 1), one motor is used to perform the position control in the set axis direction. 1-axis linear control (ABS linear 1) ■Operation chart In the 1-axis linear control of the absolute system, the positioning is performed from the current stop position (start point address) to the address set in [Da.6] Positioning address/movement amount (end point address).
Page 87 1-axis linear control (INC linear 1) ■Operation chart In the 1-axis linear control of the incremental system, the positioning for the movement amount set in [Da.6] Positioning address/movement amount is performed from the current stop position (start point address). The movement direction is determined by the sign of the movement amount.
Page 88: 2-Axis Linear Interpolation Control
2-axis linear interpolation control In the 2-axis linear interpolation control ([Da.2] Control method = ABS linear 2, INC linear 2), two motors are used to perform the position control in a linear path while the interpolation is performed for the axis directions set in each axis. For details on the interpolation control, refer to the following.
Page 89 ■Positioning data to be set To use the 2-axis linear interpolation control (ABS linear 2), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting requirement of Setting requirement of reference axis interpolation axis ...
Page 90 2-axis linear interpolation control (INC linear 2) ■Operation chart In the 2-axis linear interpolation control of the incremental system, specified two axes are used to perform the linear interpolation positioning for the movement amount set in [Da.6] Positioning address/movement amount from the current stop position (start point address).
Page 91 ■Positioning data to be set To use the 2-axis linear interpolation control (INC linear 2), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting requirement of Setting requirement of reference axis interpolation axis ...
Page 92: 3-Axis Linear Interpolation Control
3-axis linear interpolation control In the 3-axis linear interpolation control ([Da.2] Control method = ABS linear 3, INC linear 3), three motors are used to perform the position control in a linear path while the interpolation is performed for the axis directions set in each axis. For details on the interpolation control, refer to the following.
Page 93 ■Restrictions In the following case, an error occurs and the positioning will not start. During the positioning control, the operation stops immediately at the detection of the error. • If the movement amount of each axis exceeds 1073741824 (= 2 ) when 0: Composite speed is set in [Pr.20] Interpolation speed specification method, Outside linear movement amount range (Error code: 1A15H) occurs at the start of the positioning.
Page 94 3-axis linear interpolation control (INC linear 3) ■Operation chart In the 3-axis linear interpolation control of the incremental system, three axes are used to perform the linear interpolation positioning for the movement amount set in [Da.6] Positioning address/movement amount from the current stop position (start point address).
Page 95 ■Restrictions In the following case, an error occurs and the positioning will not start. During the positioning control, the operation stops immediately at the detection of the error. • If the movement amount of each axis exceeds 1073741824 (= 2 ) when 0: Composite speed is set in [Pr.20] Interpolation speed specification method, Outside linear movement amount range (Error code: 1A15H) occurs at the start of the positioning.
Page 96: 4-Axis Linear Interpolation Control
4-axis linear interpolation control In the 4-axis linear interpolation control ([Da.2] Control method = ABS linear 4, INC linear 4), four motors are used to perform the position control in a linear path while the interpolation is performed for the axis directions set in each axis. For details on the interpolation control, refer to the following.
Page 97 4-axis linear interpolation control (INC linear 4) In the 4-axis linear interpolation control of the incremental system, four axes are used to perform the linear interpolation positioning of the movement amount set in [Da.6] Positioning address/movement amount from the current stop position (start point address).
Page 98: Fixed-Feed Control
Fixed-feed control In the fixed-feed control ([Da.2] Control method = Fixed-feed 1, 2, 3, or 4), motors for the number of specified axes are used to perform the fixed-feed control in the set axis direction. In the fixed-feed control, any reminder of the movement amount specified in the positioning data is rounded down to output the same amount of pulses if it is less than that required for control accuracy.
Page 99 Restrictions • If Continuous path control is set in [Da.1] Operation pattern, Continuous path control not possible (Error code: 1A1FH) occurs and the control will not start. (In the fixed-feed control, Continuous path control cannot be set.) • Fixed-feed cannot be set in [Da.2] Control method in the positioning data when Continuous path control is set in [Da.1] Operation pattern of the immediately previous positioning data.
Page 100 • When the movement amount is converted to the actual number of output pulses, a fraction after the decimal point appears according to the movement amount per pulse. This fraction is usually retained in the RD75 and will be reflected at the next positioning. For the fixed-feed control, since the movement amount is maintained constant (= the number of output pulses is maintained constant), the control is performed after the fractional pulses are cleared to 0 at the start.
Page 101: 2-Axis Circular Interpolation Control With The Sub Point Specified
2-axis circular interpolation control with the sub point specified In the 2-axis circular interpolation control ([Da.2] Control method = ABS circular sub, INC circular sub), two motors are used to perform the position control in an arc path passing through specified sub points, while the interpolation is performed for the axis directions set in each axis.
Page 102 ■Positioning data to be set To use the 2-axis circular interpolation control with sub point specified (ABS circular sub), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting requirement of Setting requirement of reference axis interpolation axis...
Page 103 2-axis circular interpolation control with sub point specified (INC circular sub) ■Operation chart In the incremental system and 2-axis circular interpolation control with sub point specified, the positioning is performed from the current stop position (start point address) to the position of the movement amount set in [Da.6] Positioning address/ movement amount in an arc path passing through the sub point address (sub point address) set in [Da.7] Arc address.
Page 104 ■Positioning data to be set To use the 2-axis circular interpolation control with sub point specified (INC circular sub), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting requirement of Setting requirement of reference axis interpolation axis...
Page 105: 2-Axis Circular Interpolation Control With The Center Point Specified
2-axis circular interpolation control with the center point specified In 2-axis circular interpolation control ([Da.2] Control method = ABS circular right, INC circular right, ABS circular left, and INC circular left), two motors are used to perform the position control in an arc path centered at the arc address while the interpolation is performed for the axis directions set in each axis.
Page 106 ■Calculated error  [Pr.41] Allowable circular interpolation error width The circular interpolation control to the set end point address is performed, while the error compensation is performed. (This operation is called Spiral interpolation.) Path with spiral interpolation Error End point address with calculation End point address Start point address...
Page 107 ABS circular right, ABS circular left ■Operation chart In the absolute system and 2-axis circular interpolation control with center point specified, the positioning is performed 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 whose center is the center point address (arc address) set in [Da.7] Arc address.
Page 108 ■Restrictions In the following cases, the 2-axis circular interpolation control cannot be set. • When Degree is set in [Pr.1] Unit setting • When the units set in [Pr.1] Unit setting are different between the reference axis and interpolation axis (The combination of mm and inch is possible.) •...
Page 109 INC circular right, INC circular left ■Operation chart In the incremental system and 2-axis circular interpolation control with center point specified, the positioning is performed from the current stop position (start point address) to the position of the movement amount set in [Da.6] Positioning address/ movement amount in an arc path whose center is the center point address (arc address) set in [Da.7] Arc address.
Page 110 ■Restrictions In the following cases, the 2-axis circular interpolation control cannot be set. • When Degree is set in [Pr.1] Unit setting • When the units set in [Pr.1] Unit setting are different between the reference axis and interpolation axis (The combination of mm and inch is possible.) •...
Page 111: 3-Axis Helical Interpolation Control With Sub Point Specified
3-axis helical interpolation control with sub point specified In the 3-axis helical interpolation control, the circular interpolation control is performed using two axes of the three axes. The remaining axis is used for Helical control or Tangent control. For details on the interpolation control, refer to the following. Page 77 Interpolation control X axis: Reference axis, Y axis: Circular interpolation axis, Z axis: Linear interpolation axis Control...
Page 112 When 0: Composite speed is set in [Pr.20] Interpolation speed specification method, the command speed of ABS3/INC3 is the composite speed of the three axes (x axisy axisz axis). The command speed of the 3- axis helical interpolation control is the composite speed of the circular interpolation axis (x axisy axis). When the continuous path control is performed using ABS3/INC3 and the 3-axis helical interpolation control, the movement speed of the workpiece may change at the positioning data switching;...
Page 113 3-axis helical interpolation control with sub point specified (ABS helical sub) ■Operation chart In this control, 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 line axis end point address (Z1) set in [Da.6] Positioning address/movement amount. As the positioning to the commanded position, the linear interpolation with the other line axes is performed and the positioning target is rotated helically for the number of pitches set in [Da.10] M code of the line axis while the circular interpolation through the sub point address (sub point address) set in [Da.7] Arc address is performed.
Page 114 ■Positioning data to be set To use the 3-axis helical interpolation control with sub point specified (ABS helical sub), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting requirement of Setting requirement of Setting requirement of reference axis...
Page 115 3-axis helical interpolation control with sub point specified (INC helical sub) ■Operation chart In this control, 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. As the positioning to the commanded position, the linear interpolation with the other line axes is performed and the positioning target is rotated helically for the number of pitches set in [Da.10] M code of the line axis while the circular interpolation through the sub point address (sub point address) set in [Da.7] Arc address is performed.
Page 116 ■Positioning data to be set To use the 3-axis helical interpolation control with sub point specified (INC helical sub), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting requirement of Setting requirement of Setting requirement of reference axis...
Page 117: 3-Axis Helical Interpolation Control With Center Point Specified
3-axis helical interpolation control with center point specified In the 3-axis helical interpolation control, the circular interpolation control is performed using two axes of the three axes. The remaining axis is used for Helical control or Tangent control. For details on the interpolation control, refer to the following. Page 77 Interpolation control X axis: Reference axis, Y axis: Circular interpolation axis, Z axis: Linear interpolation axis Control...
Page 118 Speed of the helical interpolation control The circular interpolation control (Reference axisComposite speed of the circular interpolation axis) is the target of the command speed of the 3-axis helical interpolation control. End point A linear interpolation axis tracks the movement of circular interpolation control.
Page 119 When the unit is set to Degree, the positioning range of the absolute system is 0 to 359.99999. If the rotation angle is 360 or larger in the circular interpolation control (x axisy axis), the tangent control and normal line control cannot be performed because 360...
Page 120 ABS helical right, ABS helical left ■Operation chart In this control, 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 line axis end point address (Z1) set in [Da.6] Positioning address/movement amount. As the positioning to the commanded position, the linear interpolation with the other line axes is performed and the positioning target is rotated helically for the number of pitches set in [Da.10] M code of the line axis while the circular interpolation of the circle whose center is the center point address (arc address) set in [Da.7] Arc address is performed.
Page 121 ■Positioning data to be set To use the 3-axis helical interpolation control with center point specified (ABS helical right, ABS helical left), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting requirement of Setting requirement of Setting requirement of...
Page 122 INC helical right, INC helical left ■Operation chart In this control, 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. As the positioning to the commanded position, the linear interpolation with the other line axes is performed and the positioning target is rotated helically for the number of pitches set in [Da.10] M code of the line axis while the circular interpolation of the circle whose center is the center point address (arc address) set in [Da.7] Arc address is performed.
Page 123 ■Positioning data to be set To use the 3-axis helical interpolation control with center point specified (INC helical right, INC helical left), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting requirement of Setting requirement of Setting requirement of...
Page 124: Speed Control
Speed control In the speed control ([Da.2] Control method = Forward run speed 1 to 4, Reverse run speed 1 to 4), pulses are output continuously at the speed set in [Da.8] Command speed until a stop command is input in the axis 1 to 4 directions set to the positioning data.
Page 125 • 2-axis speed control Interpolation axis (axis 2) Da. 8 Command speed Reference axis (axis 1) Da. 8 Command speed Positioning start signal [Y10] BUSY signal [XC, XD] Does not turn on even when the control is stopped Positioning complete signal by stop command.
Page 126 Restrictions • Set Positioning complete to [Da.1] Operation pattern. If Continuous positioning control or Continuous path control is set, Continuous path control not possible (Error code: 1A1EH, 1A1FH) occurs and the control will not start. (Continuous positioning control and Continuous path control cannot be set for the speed control.) •...
Page 127: Speed-Position Switching Control (Inc Mode)
Speed-position switching control (INC mode) In the speed-position switching control (INC mode) ([Da.2] Control method = Forward run speed-position, Reverse run speed- position), pulses are output continuously at the speed set in [Da.8] Command speed in the axis direction set to the positioning data.
Page 128 Speed-position switching signal setting ■When External command signal (CHG) is used To use External command signal (CHG) as Speed-position switching signal, set the following items. Setting item Setting Setting detail Buffer memory address value Axis 1 Axis 2 Axis 3 Axis 4 [Pr.42] External command...
Page 129 Operation chart The following shows the operation timing of the speed-position switching control (INC mode). During the speed control with the speed-position switching control (INC mode), In speed control flag ([Md.31] Status: b0) is Da. 8 Command speed Movement amount set in Da.
Page 130 Operation timing and the processing time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal [X4, X5, X6, X7] (WITH mode) Cd.7 M code ON signal OFF request Start complete signal [X10, X11, X12, X13] Axis operation status Standby Speed control...
Page 131 Current feed value [Md.20] Current feed value during the speed-position switching control (INC mode) depends on the setting of [Pr.21] Current feed value during speed control as follows. Setting of [Pr.21] Current feed value [Md.20] Current feed value during speed control 0: Current feed value is not updated During the speed control, the current feed value at the start of the control is kept.
Page 132 Movement amount change of the position control In Speed-position switching control (INC mode), the movement amount of the position control can be changed during the speed control. • During the speed control, New movement amount is stored in [Cd.23] Speed-position switching control movement amount change register using a program.
Page 133 Restrictions • If Continuous path control is set in [Da.1] Operation pattern, Continuous path control not possible (Error code: 1A1FH) occurs and the control will not start. • Speed-position switching control cannot be set in [Da.2] Control method in the positioning data when Continuous path control is set in [Da.1] Operation pattern of the immediately previous positioning data.
Page 134: Speed-Position Switching Control (Abs Mode)
Speed-position switching control (ABS mode) In the speed-position switching control (ABS mode) ([Da.2] Control method = Forward run speed-position, Reverse run speed-position), pulses are output continuously at the speed set in [Da.8] Command speed in the axis direction set to the positioning data.
Page 135 Speed-position switching signal setting ■When External command signal (CHG) is used To use External command signal (CHG) as Speed-position switching signal, set the following items. Setting item Setting Setting detail Buffer memory address value Axis 1 Axis 2 Axis 3 Axis 4 [Pr.42] External command...
Page 136 Operation chart The following shows the operation timing of the speed-position switching control (ABS mode). During the speed control with the speed-position switching control (ABS mode), In speed control flag ([Md.31] Status: b0) is Da. 8 Command speed Da. 6 Address set in Positioning address/movement amount...
Page 137 Operation timing and the processing time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal [X4, X5, X6, X7] (WITH mode) Cd.7 M code ON signal OFF request Start complete signal [X10, X11, X12, X13] Md.26 Axis operation status Standby...
Page 138 Current feed value [Md.20] Current feed value during the speed-position switching control (ABS mode) depends on the setting of [Pr.21] Current feed value during speed control as follows. Setting of [Pr.21] Current feed value [Md.20] Current feed value during speed control 1: Current feed value is updated The current feed value is updated during both speed control and position control.
Page 139 Restrictions • If Continuous path control is set in [Da.1] Operation pattern, Continuous path control not possible (Error code: 1A1FH) occurs and the control will not start. • Speed-position switching control cannot be set in [Da.2] Control method in the positioning data when Continuous path control is set in [Da.1] Operation pattern of the immediately previous positioning data.
Page 140 Positioning data to be set To use the speed-position switching control (ABS mode), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting requirement  [Da.1] Operation pattern  (Set Forward run speed-position or Reverse run speed-position.) [Da.2] Control method ...
Page 141: Position-Speed Switching Control
Position-speed switching control In Position-speed switching signal ([Da.2] Control method = Forward run speed-position, Reverse run speed-position), the positioning control for the amount set in [Da.6] Positioning address/movement amount is performed in the axis direction set to the positioning data before Position-speed switching signal is input. If Position-speed switching signal is input before the positioning is completed, pulses are continuously output at the speed set in [Da.8] Command speed until a stop command is input.
Page 142 ■When Near-point dog signal (DOG) is used To use Near-point dog signal (DOG) as Position-speed switching signal, set the following items. Setting item Setting Setting detail Buffer memory address value Axis 1 Axis 2 Axis 3 Axis 4 [Cd.45] Speed-position Set 1: Use Near-point dog signal.
Page 143 Operation timing and the processing time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] M code ON signal [X4, X5, X6, X7] (WITH mode) Cd. 7 M code ON signal OFF request Start complete signal [X10, X11, X12, X13] Md.26 Axis operation status...
Page 144 Current feed value [Md.20] Current feed value during the position-speed switching control depends on the setting of [Pr.21] Current feed value during speed control as follows. Setting of [Pr.21] Current feed value [Md.20] Current feed value during speed control 0: Current feed value is not updated The current feed value is updated during the position control.
Page 145 Changing the command speed of the speed control In Position-speed switching control, the command speed of the speed control can be changed during the position control. • When the command speed change is requested during the control other than the position control of the position-speed switching control, the change request is ignored.
Page 146 Restrictions • If Continuous positioning control or Continuous path control is set in [Da.1] Operation pattern, Continuous path control not possible (Error code: 1A1EH, 1A1FH) occurs and the control will not start. • Position-speed switching control cannot be set to [Da.2] Control method of the positioning data when Continuous path control is set to [Da.1] Operation pattern of the previous positioning data.
Page 147: Current Value Change
Current value change In the current value change, the value in [Md.20] Current feed value of the stopping axis is changed to an address. (The value in [Md.21] Machine feed value is not changed even if the current value is changed.) One of the following two methods can be used for changing the current value.
Page 148 ■Positioning data to be set To use the current value change, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting requirement  [Da.1] Operation pattern  (Set Current value change.) [Da.2] Control method ...
Page 149 ■Procedure The following shows the procedure for executing the current value change. Write the current value to Cd.9 New current value. Write "9003" in Cd.3 Positioning start No. Turn on Positioning start signal. ■Setting method The following shows the data setting and a program example for executing the current value change using Positioning start signal.
Page 150 • Add the following program to the control program, and write it to the CPU module. Classification Label Name Description Module label RD75_1.bnErrorDetection_Axis[0] Axis 1 Error detection signal [X8] RD75_1.bnBusy_Axis_D[0] Axis 1 BUSY signal [XC] RD75_1.bnStartComplete_Axis[0] Axis 1 Start complete signal [X10] RD75_1.bnPositioningStart_Axis[0] Axis 1 Positioning start signal [Y10] RD75_1.stnAxisControlData_Axis_D[0].uPositioningStartNo_D...
Page 151: Nop Instruction
NOP instruction The NOP instruction is a control method that is not executed. Operation The positioning data No. to which the NOP instruction is set is not processed and the operation is shifted to the one of the next positioning data No. Positioning data to be set To use the NOP instruction, set the following positioning data.
Page 152: Jump Instruction
JUMP instruction The JUMP instruction is used to jump to the positioning data No. set in the positioning data during Continuous positioning control or Continuous path control. The following two JUMP instructions can be used. JUMP instruction Description Unconditional JUMP When no execution condition is set for the JUMP instruction (when 0 is set as the condition data No.) Conditional JUMP When execution conditions are set for the JUMP instruction (The conditions are set in the condition data...
Page 153 Positioning data to be set To use the JUMP instruction, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting requirement  [Da.1] Operation pattern  (Set the JUMP instruction.) [Da.2] Control method ...
Page 154: Loop
LOOP The loop control with repetition of the LOOP to LEND instructions is performed. Operation The loop of LOOP to LEND is repeated for the set number of the repetition. Positioning data to be set To use the LOOP instruction, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting requirement...
Page 155: Lend
LEND The operation is returned to the head of the repeating loop (LOOP to LEND). Operation The loop is completed when the number of repetition specified in LOOP is 0 and the processing of the next positioning data No. is executed. (Even if the operation pattern is set to Positioning complete, the setting is ignored.) To stop the operation after the execution for the specified number of repetition, set a dummy positioning data (for example, the positioning in the incremental system whose movement amount is 0).
Page 156: Chapter 4 Advanced Positioning Control
ADVANCED POSITIONING CONTROL This chapter describes the details and usage of the advanced positioning control (the control function using Block start data). The advanced positioning control is used to perform applied controls using Positioning data. Examples of the applied controls use the condition judgment to control the positioning data set with the major positioning control, or start Positioning data for multiple axes simultaneously.
Page 157: Data Required For Advanced Positioning Control
Data required for advanced positioning control Advanced positioning control is performed by setting the required items in Block start data and Condition data, and starting the block start data. Whether or not the operations can be executed is judged at the execution of the control according to the condition data specified in the block start data.
Page 158: Block Start Data And Condition Data Configurations
Block start data and Condition data configurations Block start data and Condition data corresponding to Block No.7000 to 7004 can be stored in the buffer memory. (The following table shows an example for Axis 1.) 50th point Buffer memory Setting item address 2nd point 1st point...
Page 159: Execution Procedure For Advanced Positioning Control
Execution Procedure for Advanced Positioning Control The advanced positioning control is performed using the following procedure. First prepare to execute the major Preparation STEP 1 positioning control because the advanced Set for the major positioning control. positioning control is the control to execute each control (major positioning control) set in the positioning data on the specified conditions.
Page 160: Setting The Block Start Data
Setting the Block Start Data Relation between various controls and block start data Block start data must be set to perform Advanced positioning control. The setting requirements and details of each block start data item to be set differ according to the setting of [Da.13] Special start instruction.
Page 161: Block Start (Normal Start)
Block start (normal start) In Block start (normal start), the positioning data groups of a block are continuously executed in a set sequence starting from the positioning data set in [Da.12] Start data No. by one start. The following shows setting examples and a control example in which Block start data and Positioning data are set as shown in the setting examples.
Page 162 Control example The following describes the control to be executed when the operation using the 1st point block start data of the axis 1 is started. • The positioning data is executed in the following order and the operation will be stopped: Axis 1 positioning data No.1  2 ...
Page 163: Condition Start
Condition start In Condition start, the condition judgment of the condition data specified in [Da.14] Parameter is performed for the positioning data set in [Da.12] Start data No. If the conditions have been established, the block start data set as 1: Condition start is executed.
Page 164: Wait Start
Wait start In Wait start, the condition judgment of the condition data specified in [Da.14] Parameter is performed 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 165: Simultaneous Start
Simultaneous start In Simultaneous start, the positioning data set in [Da.12] Start data No. and positioning data of other axes set in the condition data are simultaneously executed. (Pulses are output at the same timing.) (Specify Condition data with [Da.14] Parameter.) The following shows setting examples and a control example in which Block start data and Positioning data are set as shown in the setting examples.
Page 166: Repeated Start (For Loop)
Repeated start (FOR loop) In 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 dat0 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 167: Repeated Start (For Condition)
Repeated start (FOR condition) In 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 conditions set in the condition data are established.
Page 168: Restrictions When The Next Start Is Used
Restrictions when the NEXT start is used NEXT start instruction shows the end of the repetition when the repeated start (FOR loop) and repeated start (FOR condition) are executed. (Page 164 Repeated start (FOR loop), Page 165 Repeated start (FOR condition)) This section describes the restrictions when 6: NEXT start is set in Block start data.
Page 169: Setting The Condition Data
Setting the Condition Data Relation between various controls and condition data Set Condition data in the following cases. • When conditions are set during the execution of the JUMP instruction (Major positioning control) • When conditions are set during the execution of Advanced positioning control Condition data includes the five setting items from [Da.15] to [Da.19].
Page 170 The setting requirements and details of the setting items of the condition data [Da.16] to [Da.19] differ depending on the setting in [Da.15] Condition target. The following table lists the setting items of [Da.16] to [Da.19] corresponding to [Da.15] Condition target. : Setting not required (The set value is ignored.
Page 171: Setting Examples Of The Condition Data
Setting examples of the condition data The following shows setting examples of Condition data. Example 1 This example uses the on/off state of a device as a condition. • [Condition] Device XC (= Axis 1 BUSY signal) is off. [Da.15] Condition target [Da.16] Condition [Da.17] Address [Da.18] Parameter 1...
Page 172: Start Program For The Advanced Positioning Control
Start Program for the Advanced Positioning Control Starting the advanced positioning control To execute the advanced positioning control, a program must be created to start the control in the same method as for the major positioning control. The following shows the procedure for starting the 1st point block start data (Regarded as block No.7000) set in the axis 1. RD75 Buffer memory Drive unit...
Page 173: Start Program Example For The Advanced Positioning Control
Start program example for the advanced positioning control The following shows a start program example for the advanced positioning control in which the 1st point block start data of the axis 1 is started. (The block No. is regarded as 7000.) Control data requiring settings The following control data must be set to execute the advanced positioning control.
Page 174 Start time chart The following figure shows a time chart in a case when the positioning data No.1, 2, 10, 11, and 12 of Axis 1 are continuously executed as an example. ■Block start data settings Axis 1 block start data [Da.11] Shape [Da.12] Start data No.
Page 175 Program example Classification Label Name Description Module label RD75_1.bnBusy_Axis[0] Axis 1 BUSY signal [XC] RD75_1.bnStartComplete_Axis[0] Axis 1 Start complete signal [X10] RD75_1.bnPositioningStart_Axis[0] Axis 1 Positioning start signal [Y10] RD75_1.stnAxisControlData_Axis_D[0].uPositioningStartNo_D Axis 1 [Cd.3] Positioning start No. RD75_1.stnAxisControlData_Axis_D[0].uPositioningStartingPointNo_D Axis 1 [Cd.4] Positioning starting point Global label, local label Define the global label or local label as follows.
Page 176: Chapter 5 Manual Control
MANUAL CONTROL This chapter describes the details and usage of the manual control. In the manual control, pulse output commands are issued during the JOG operation and inching operation executed by turning on JOG start signal, or from the manual pulse generator connected to the RD75. The chapter describes the manual control using a program from the CPU module.
Page 177 Manual pulse generator operation In the manual pulse generator operation, the positioning is performed depending on the number of pulses input from the manual pulse generator. (Pulses for the number of input pulses are output.) This method is used to perform the fine adjustment manually for the precise positioning and to obtain a positioning address.
Page 178: Jog Operation
JOG Operation Overview of the JOG operation Use the hardware stroke limit function when performing the JOG operation at a position close to the upper or lower limit. (Page 241 Hardware stroke limit function) When the hardware stroke limit function is not used, the workpiece moves beyond the movement range, resulting in an accident.
Page 179 Precautions during the operation • For the safety operation, set a small value in [Cd.17] JOG speed to check the operation, and increase the value gradually. • If the set JOG speed is out of the setting range or 0 when the JOG operation is started, Outside JOG speed range (Error code: 1980H) occurs and the operation will not start.
Page 180: Operation Procedure Of The Jog Operation
Operation procedure of the JOG operation The JOG operation is performed in the following procedure. One of the following two methods can be used. STEP 1 Preparation Set parameters. Pr.1 Pr.39 Method 1 Directly set (write) the parameters to the RD75 using an engineering tool.
Page 181: Parameters Required For The Jog Operation
Parameters required for the JOG operation To perform the JOG operation, parameters must be set. The following table shows the required parameters for performing the JOG operation. When only the JOG operation is performed, parameters not described below are not required. (Set the value within the setting range, such as the initial value.) : Always set : Set as required (set a value within the setting range such as the initial value when the item is not used.)
Page 182: Creating A Start Program For The Jog Operation
Creating a start program for the JOG operation To perform the JOG operation, create a program. When creating a program, consider Control data requiring settings, Start condition, and Start time chart. The following shows an example when the JOG operation is started for the axis 1. ([Cd.17] JOG speed is set to 100.00mm/min.) Control data requiring settings The following control data must be set to execute the JOG operation.
Page 183 Start time chart Forward run JOG operation Reverse run JOG operation Forward run JOG [Y8] start signal Reverse run JOG [Y9] start signal PLC READY signal [Y0] RD75 READY signal [X0] BUSY signal [XC] Error detection signal [X8] Program example For the program example of the JOG operation, refer to the following.
Page 184: Operation Example Of The Jog Operation
Operation example of the JOG operation Example 1 When Stop signal is turned on during the JOG operation, the deceleration stop is executed and the JOG operation will stops. When JOG start signal is turned on while Stop signal is turned on, Stop signal ON at start (Error code: 1908H) occurs. The operation can be started when Stop signal is turned off and JOG start signal is off and on again.
Page 185 Example 2 When both Forward run JOG start signal and Reverse run JOG start signal are turned on simultaneously for one axis, Forward run JOG start signal is given priority. In this case, Reverse run JOG start signal is validated when BUSY signal of the RD75 turns off.
Page 186 Example 4 If JOG start signal is turned on during the test mode of the engineering tool, JOG start signal is ignored and the JOG operation is not performed. Forward run JOG operation execution The JOG operation is not possible because this is not The JOG operation is not possible because the test the rising edge of the JOG...
Page 187: Inching Operation
Inching Operation Operation overview of the inching operation Use the hardware stroke limit function when performing the inching operation at a position close to the upper or lower limit. (Page 241 Hardware stroke limit function) When the hardware stroke limit function is not used, the workpiece moves beyond the movement range, resulting in an accident.
Page 188 Precautions during the operation • The inching operation does not perform acceleration/deceleration processing. (Pulses for the specified inching movement amount are output at 1.77ms. The direction of the inching operation is reversed. When the backlash compensation is performed, pulses for the backlash are output at 1.77ms and pulses for the specified inching movement amount are output at the next 1.77ms.) [Cd.17] JOG speed is ignored even if it is set.
Page 189 Operation timing and the processing time The following shows the details on the operation timing and processing time in the inching operation. Forward run JOG start signal [Y8, YA, YC, YE] Reverse run JOG start signal [Y9, YB, YD, YF] BUSY signal [XC, XD, XE, XF] Axis operation...
Page 190: Operation Procedure Of The Inching Operation
Operation procedure of the inching operation The inching operation is performed in the following procedure. One of the following two methods can be used. STEP 1 Preparation Set parameters. Pr.1 Pr.31 Method 1 Directly set (write) the parameters to the RD75 using an engineering tool.
Page 191: Parameters Required For The Inching Operation
Parameters required for the inching operation To perform the inching operation, parameters must be set. The following table shows the required parameters for performing the inching operation. When only the inching operation is performed, parameters not described below are not required. (Set the value within the setting range, such as the initial value.) : Always set : Set as required (set a value within the setting range such as the initial value when the item is not used.)
Page 192: Creating A Start Program For The Inching Operation
Creating a start program for the inching operation To perform the inching operation, create a program. When creating a program, consider Control data requiring settings, Start condition, and Start time chart. The following shows an example when the inching operation is started for the axis 1. ([Cd.16] Inching movement amount is set to 10.0m.) Control data requiring settings The following control data must be set to execute the inching operation.
Page 193 Start time chart Forward run inching operation Reverse run inching operation Forward run JOG [Y8] start signal Reverse run JOG [Y9] start signal PLC READY signal [Y0] RD75 READY signal [X0] BUSY signal [XC] Error detection signal [X8] Positioning complete [X14] signal Program example...
Page 194: Operation Example Of The Inching Operation
Operation example of the inching operation Example 1 When JOG start signal is turned on while Stop signal is turned on, Stop signal ON at start (Error code: 1908H) occurs. The operation can be started when Stop signal is turned off and JOG start signal is off and on again. Turning on of the JOG start signal while Axis stop signal is on causes the error (Stop signal ON at start).
Page 195: Manual Pulse Generator Operation
Manual Pulse Generator Operation Operation overview of the manual pulse generator operation When the manual pulse generator operation is not performed, create a program in which [Cd.21] Manual pulse generator enable flag is always 0: Disable. Touching the manual pulse generator when [Cd.21] Manual pulse generator enable flag is 1: Enable may cause an accident or incorrect positioning.
Page 196 Restrictions A manual pulse generator is required to perform the manual pulse generator operation. Precautions during the operation The following details must be understood before performing the manual pulse generator operation. • The speed during the manual pulse generator operation is not limited with [Pr.8] Speed limit value. •...
Page 197 Operation timing and the processing time The following shows the details on the operation timing and processing time in the manual pulse generator operation. Manual pulse generator Cd.21 enable flag Manual pulse generator input pulse BUSY signal [XC, XD, XE, XF] Start complete signal Start complete signal does not turn on in the manual pulse generator operation.
Page 198 Speed control by the manual pulse generator operation The speed during the positioning control by the manual pulse generator operation depends on the number of input pulses per unit time, and can be calculated using the following calculation formula. Output command frequency = Input frequency  [Cd.20] Manual pulse generator 1 pulse input magnification 5 MANUAL CONTROL 5.4 Manual Pulse Generator Operation...
Page 199: Operation Procedure Of The Manual Pulse Generator Operation
Operation procedure of the manual pulse generator operation The manual pulse generator operation is performed in the following procedure. One of the following two methods can be used. Preparation STEP 1 Set parameters. Method 1 Pr.1 Pr.24 Directly set (write) the parameters to the RD75 using an engineering tool.
Page 200: Parameters Required For The Manual Pulse Generator Operation
Parameters required for the manual pulse generator operation To perform the manual pulse generator operation, parameters must be set. The following table shows the required parameters for performing the manual pulse generator operation. When only the manual pulse generator operation is performed, parameters not described below are not required.
Page 201: Creating A Program To Enable Or Disable The Manual Pulse Generator Operation
Creating a program to enable or disable the manual pulse generator operation To perform the manual pulse generator operation, create a program. When creating a program, consider Control data requiring settings, Start condition, and Start time chart. The following shows an example when the manual pulse generator operation is started for the axis 1.
Page 202 Start time chart Forward run Reverse run Pulse input A phase Pulse input B phase PLC READY signal [Y0] RD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC] Error detection signal [X8] Manual pulse generator Cd.21 enable flag Manual pulse generator 1 pulse Cd.20 input magnification...
Page 203: Chapter 6 Inter-Module Synchronization Function
INTER-MODULE SYNCHRONIZATION FUNCTION (SIMULTANEOUS START OF MULTIPLE MODULES) This function starts pulse output at the same timing of inter-module synchronization cycle after the acceptance of a positioning start trigger. With this function, positioning controls excluding the manual control start pulse output at the same timing of inter- module synchronization cycle.
Page 204: Control In Pre-Analysis Mode
Control in Pre-analysis Mode This section describes the control of the inter-module synchronization function in the pre-analysis mode. In the pre-analysis mode, positioning data can be analyzed in advance. Thus, pulse output can be started at the same timing of an inter-module synchronization cycle immediately after a positioning start trigger is input without any regard to the analysis time of the positioning data.
Page 205 Start control example The following figure shows a control example in the pre-analysis mode. Inter-module Inter-module Inter-module Inter-module Inter-module Inter-module synchronization synchronization synchronization synchronization synchronization synchronization cycle cycle cycle cycle cycle cycle Positioning control RD75 The first module Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF]...
Page 206 The following table lists the time of t1 and t2 described in the control example. 0.88 to 1.77ms 0.1ms or more and within the inter-module synchronization cycle t1 indicates the analysis time of the positioning data. t2 indicates the positioning start setup time to start pulse output at the same timing of the inter-module synchronization cycle.
Page 207 Restrictions When including the RD75 in the synchronization target module, set the value 0.88ms or more in "Synchronous Fixed Scan Interval Setting within the Modules" of "System Parameter". The other restrictions are the same as those of the quick start. For the restrictions, refer to the description of the quick start.
Page 208: Control In Normal Analysis Mode
Control in Normal Analysis Mode This section describes the control of the inter-module synchronization function in the normal analysis mode. In the normal analysis mode, all the positioning data can be used. However, the analysis time of positioning data must be considered. By setting the inter-module synchronization cycle to the positioning start time of the control method or more, the start timings of pulse output among multiple modules can be synchronized.
Page 209 Start control example The following figure shows a control example in the normal analysis mode. Inter-module Inter-module Inter-module synchronization cycle synchronization cycle synchronization cycle Positioning control RD75 The first module Positioning start trigger BUSY signal [XC, XD, XE, XF] Standby Analyzing Position control Md.26...
Page 210 Example of automatic deceleration and stop control The automatic deceleration and stop control in the normal analysis mode is the same as those in the pre-analysis mode. For a control example, refer to the following. Page 204 Example of automatic deceleration and stop control Restrictions When including the RD75 in the synchronization target module, set the value 0.88ms or more in "Synchronous Fixed Scan Interval Setting within the Modules"...
Page 211: Chapter 7 Control Sub Functions
CONTROL SUB FUNCTIONS This chapter describes the details and usage of Sub function added and used in combination with the main functions. A variety of sub functions, including sub functions specific to machine OPR and generally related functions such as control compensation, are available.
Page 212 Sub function Description Function related to Stop command Selects a deceleration curve when a stop cause occurs during the deceleration stop processing to speed 0. positioning stop processing for deceleration stop function Continuous operation Interrupts the continuous operation. When this request is accepted, the operation will stop at the completion interrupt function of the positioning data being executed.
Page 213: Sub Functions Specific To Machine Opr
Sub Functions Specific to Machine OPR The sub functions specific to machine OPR include OPR retry function and OP shift function. Each function is executed based on the parameter setting. OPR retry function If a workpiece passes over the OP without stopping during the position control, the workpiece may not move back in the direction of the OP although the machine OPR is commanded, depending on the workpiece position.
Page 214 ■OPR retry operation when the workpiece is outside the range between the upper/lower limits • When the direction from the workpiece to the OP is the same as the direction set in [Pr.44] OPR direction, the normal machine OPR is performed. The following is an example of when [Pr.44] OPR direction is set to 0: Forward direction. Machine OPR start Pr.
Page 215 ■Setting the dwell time during OPR retry The OPR retry function can perform such a function as the dwell time using [Pr.57] Dwell time during OPR retry when the reverse run operation is performed due to the detection of Upper limit signal or Lower limit signal or when the machine OPR is executed after Near-point dog signal is turned off to stop the operation.
Page 216 Setting method To use the OPR retry function, configure the required settings in the parameters shown in the following table, and write them to the RD75. When the parameters are set, the OPR retry function will be added to the machine OPR control. The settings are validated at the rising edge (when turned off and on) of PLC READY signal [Y0].
Page 217: Op Shift Function
OP shift function When the machine OPR is performed, the OP is normally established using a near-point dog, stopper, and Zero signal. However, by using the OP shift function, the machine can be moved for a specified movement amount from the position where Zero signal was detected.
Page 218 Movement speed during the OP shift When the OP shift function is used, set the movement speed during the OP shift in [Pr.56] Speed specification during OP shift. Select the movement speed during the OP shift from [Pr.46] OPR speed or [Pr.47] Creep speed. Set the speed in [Pr.56] Speed specification during OP shift.
Page 219 Setting method To use the OP shift function, configure the required settings in the parameters shown in the following table, and write them to the RD75. When the parameters are set, the OP shift function will be added to the machine OPR control. The settings are validated at the rising edge (when turned off and on) of PLC READY signal [Y0].
Page 220: Function To Compensate Control
Function to Compensate Control The functions to compensate the control include Backlash compensation function, Electronic gear function, Near pass function, and Output timing selection of near pass control. Each function is executed by setting parameters or creating and writing a program. Backlash compensation function This function compensates the backlash amount in the machine system.
Page 221 Control precautions • The feed pulses of the backlash compensation amount are not added to [Md.20] Current feed value or [Md.21] Machine feed value. • Always perform the machine OPR before starting the control when using the backlash compensation function (when [Pr.11] Backlash compensation amount is set).
Page 222: Electronic Gear Function
Electronic gear function This function adjusts the pulses calculated and output according to the parameters set in the RD75 with the actual machine movement amount. Electronic gear function is classified into the following four functions. • The function converts the command value (speed, movement amount from the start point to the end point) set in mm units into pulse units and determines the pulse frequency and number of the command pulses.
Page 223 Movement amount per pulse [Pr.2] No. of pulses per rotation (Ap), [Pr.3] Movement amount per rotation (Al), and [Pr.4] Unit magnification (Am) are the items for determining how many rotations (equivalent to how many pulses) a motor should operate to move a machine for the movement amount set in the program.
Page 224 ■Setting range of Ap, Al, and Am The 16-bit mode and 32-bit mode are provided for each Ap, Al, and Am, and they can be switched by setting a value in [Pr.62] Electronic gear selection. When the resolution of the servo amplifier is high, values of Ap and Al can be set without reducing the values by using an electronic gear with 32 bits.
Page 225 Error compensation method When the position control is performed using the movement amount per pulse set in the RD75 parameters, an error sometimes occurs between the command movement amount (L) and actual movement amount (L'). That error is compensated in the RD75 by adjusting the values in [Pr.2] No. of pulses per rotation, [Pr.3] Movement amount per rotation, and [Pr.4] Unit magnification (when [Pr.1] Unit setting is 0: mm).
Page 226 • Set the post-compensation [Pr.2] No. of pulses per rotation (Ap'), [Pr.3] Movement amount per rotation (Al'), and [Pr.4] Unit magnification (Am') in the parameters, and write them to the RD75. The settings are validated at the rising edge (when turned off and on) of PLC READY signal [Y0].
Page 227 Control precautions If values less than one pulse are generated by converting the movement amount from the start point to the end point into units of pulses with the electronic gear function, values less than one pulse are not output and the machine stops at the front side of the positioning direction.
Page 228: Near Pass Function
Near pass function When the continuous pass control is performed using the interpolation control, the near pass function is performed. This function suppresses the machine vibration occurring at the time of switching the positioning data when the continuous path control is performed using the interpolation control. [Near pass function] The extra movement amount occurring at the end of each positioning data being continuously executed is carried over to the next positioning data.
Page 229 Control precautions • If the movement amount specified by the positioning data is small during the execution of the continuous path control, the output speed may not reach the command speed. • The movement direction is not checked during the interpolation control. Thus, the deceleration stop is not performed even if the movement direction is changed.
Page 230: Output Timing Selection Of Near Pass Control
Output timing selection of near pass control This function allows the user to select the timing to output the difference (d) between the actual and the set positioning end addresses in the continuous path control, in which the difference (d) is output during the execution of the next positioning data.
Page 231 Control precautions When the relation of command speed V1 and V2 is one of the following, the same command output as the one for At constant speed is executed even if the near pass output timing is set to At deceleration. •...
Page 232: Function To Limit Control
Function to Limit Control Functions to limit the control include Speed limit function, Torque limit function, Software stroke limit function, and Hardware stroke limit function. Each function is executed by setting parameters or creating and writing a program. Speed limit function Speed limit function limits the command speed to a value within the setting range of Speed limit value when the command speed during the control exceeds Speed limit value.
Page 233 Setting method To use the speed limit function, configure the required settings in the parameters shown in the following table, and write them to the RD75. The set data is validated when the data is written into the RD75. Setting item Setting Setting detail Initial value at the...
Page 234: Torque Limit Function
Torque limit function If the torque generated in the servo motor exceeds Torque limit value, this function limits the generated torque to a value within the setting range of Torque limit value. This function protects the reducer and limits the power of the pressing operation against the stopper. This function controls the operation so that an excessive load or excessive force is not applied to the machine.
Page 235 Relation between the torque limit function and various controls The following table shows the relation between Torque limit function and various controls. : Set as required : Setting not required (The set value is ignored. Set the value within the setting range, such as the initial value.) Control type Torque limit Torque limit value...
Page 236 Control precautions • To limit the torque with the value set in [Pr.17] Torque limit setting value, check that [Cd.22] New torque value is set to 0. If a value other than 0 is set for [Cd.22] New torque value, the value is validated and used to the torque limit. (Refer to Page 254 Torque change function.) •...
Page 237: Software Stroke Limit Function
Software stroke limit function In this function, the address established by the machine OPR is used to set the upper/lower limits of the movable range of the workpiece. If a movement command is issued to an address outside the set range, the command is not performed. In the RD75, Current feed value and Machine feed value are used as the addresses indicating the current value.
Page 238 ■Current value change When the current value is changed from 2000 to 1000, the current feed value changes to 1000, but the machine feed value remains 2000. • When the machine feed value is set as a limit, the machine feed value of 5000 (current feed value: 4000) becomes the upper stroke limit.
Page 239 Relation between the software stroke limit function and various controls : Check valid : Check is not performed when the current feed value is not updated at the setting of Current feed value in [Pr.14] Software stroke limit selection during the speed control. (Page 398 [Pr.21] Current feed value during speed control) -: Check is not performed (check invalid).
Page 240 Precautions for the software stroke limit check • To execute Software stroke limit function properly, the machine OPR must be performed beforehand. • During the interpolation control, the stroke limit check is performed for every current value of both the reference axis and interpolation axes.
Page 241 Setting method To use the software stroke limit function, set the required values in the parameters shown in the following table, and write them to the RD75. The settings are validated at the rising edge (when turned off and on) of PLC READY signal [Y0]. Setting item Setting Setting detail...
Page 242 Invalidating the software stroke limit To invalidate the software stroke limit, set a single value in both [Pr.12] Software stroke limit upper limit value and [Pr.13] Software stroke limit lower limit value and write them to the RD75. (Set a value within the setting range.) (To invalidate only the manual operation, set 0: Software stroke limit invalid in [Pr.15] Software stroke limit valid/invalid setting.) The settings are validated at the rising edge (when turned off and on) of PLC READY signal [Y0].
Page 243: 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 a normally closed contact. If it is set in the positive logic using a normally open contact, the operation cannot be stopped and a collision occurs when a failure such as a disconnection occurs, resulting in the damage of the machine.
Page 244 Wiring the hardware stroke limit When the hardware stroke limit function is used, wire the terminal of the FLS (Upper limit signal) and RLS (Lower limit signal) of the RD75 as shown in the following figure. (when the initial value is set in [Pr.22] Input signal logic selection) RD75 24VDC •...
Page 245: Functions That Change Control Details
Functions that Change Control Details Functions that change the control details include Speed change function, Override function, Acceleration/deceleration time change function, and Torque change function. Each function is executed by setting parameters or creating and writing a program. Both Speed change function and Override function change the speed. The following shows the differences between these functions.
Page 246 Control precautions • When the speed is changed during the continuous path control, the next positioning data is controlled with [Cd.14] New speed value if no speed is specified (current speed) in the next positioning data. When a speed is specified in the next positioning data, the next positioning data is controlled at the speed of [Da.8] Command speed.
Page 247 • If the speed is changed during the deceleration by a stop command or during the automatic deceleration in the positioning control, Deceleration/stop speed change (Warning code: 0990H) occurs and the speed cannot be changed. • When the value set in [Cd.14] New speed value exceeds the one in [Pr.8] Speed limit value, Speed limit value over (Warning code: 0991H) occurs and the speed is controlled with [Pr.8] Speed limit value.
Page 248 Setting the function using an external command signal The speed can also be changed using an external command signal. The following shows the data setting and a program example for changing the control speed of the axis 1 using an external command signal.
Page 249 • Add the following program to the control program, and write it to the CPU module. Classification Label Name Description Module label RD75_1.stnParameter_Axis_D[0].uExternalCommandFunctionSelection_D Axis 1 [Pr.42] External command function selection RD75_1.stnAxisControlData_Axis_D[0].uExternalCommandValid_D Axis 1 [Cd.8] External command valid RD75_1.stnAxisControlData_Axis_D[0].udNewSpeedValue_D Axis 1 [Cd.14] New speed value Global label, local label Define the global label or local label as follows.
Page 250: Override Function
Override function Override function changes the command speed by a specified percentage (0 to 300%) for all controls 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 251 Control precautions • When the speed is changed using Override function during the continuous path control, the speed change is ignored and Insufficient remaining distance (Warning code: 0995H) occurs if a distance enough to perform the speed change cannot be ensured.
Page 252 Setting method The following shows the data setting and a program example for setting the override value of the axis 1 to 200%. • Set the following data. Setting item Setting Setting detail Buffer memory address value Axis 1 Axis 2 Axis 3 Axis 4 [Cd.13]...
Page 253: Acceleration/Deceleration Time Change Function
Acceleration/deceleration time change function Acceleration/deceleration time change function is used to change the acceleration/deceleration time during the speed change to an arbitrary value when the speed change is performed using 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 (values in [Pr.9], [Pr.10], and [Pr.25] to [Pr.30]) is set in [Da.3] and [Da.4] of the positioning data, and the control is performed with that acceleration/deceleration time.
Page 254 Control precautions • When 0 is set in [Cd.10] New acceleration time value and [Cd.11] New deceleration time value, the acceleration/ deceleration time is not changed even if the speed change is performed. In this case, the operation is controlled at the acceleration/deceleration time previously set in the parameters.
Page 255 If the speed change is performed when the acceleration/deceleration time change is enabled, New acceleration/deceleration time becomes the acceleration/deceleration time for the positioning data being executed. New acceleration/deceleration time remains valid until switching to the next positioning data is performed. (The automatic deceleration processing at the completion of the positioning is also controlled at the new deceleration time.) Setting method To use the acceleration/deceleration time change function, write the following data into the RD75 using a program.
Page 256: Torque Change Function
Torque change function Torque change function changes the torque limit value during the control. The torque limit value during the control is normally the value in [Pr.17] Torque limit setting value that was previously set in the parameters. However, by setting a new torque limit value in [Cd.22] New torque value, the axis control data, and writing it to the RD75, the torque generated in the servomotor during the control can be limited with the new torque value.
Page 257 Setting method To use the torque change function, write the following data into the RD75 using a program. The set data is validated when the data is written into the RD75. Setting item Setting Setting detail Buffer memory address value Axis 1 Axis 2 Axis 3...
Page 258: Target Position Change Function
Target position change function Target position change function changes a target position to a newly specified target position at a specified timing during the position control (1-axis linear control). The command speed can also be changed simultaneously with the target position change.
Page 259 Control precautions • If the positioning movement direction from the stop position to a new target position is reversed, the operation stops once and the positioning to the new target position is performed. • If a command speed exceeding the speed limit value is set to change the command speed, Speed limit value over (Warning code: 0991H) occurs, and the new command speed becomes the speed limit value.
Page 260 Setting the function from the CPU module The following shows the data setting and a program example for changing the target position of the axis 1 by the command sent from the CPU module. (In this example, the target position is changed to 300.0m and the command speed is changed to 10000.00mm/min.) •...
Page 261: Function Related To Start
Function Related to Start As the functions related to start, Pre-reading start function and Start time adjustment function are provided. Each function is executed by setting parameters or creating and writing a program. Pre-reading start function This function is provided to ensure the compatibility with the QD75N and LD75. Pre-reading start function does not output pulses while Execution prohibition flag is on if a positioning start request is given with the Execution prohibition flag on, and starts outputting pulses within 0.88ms after the off state of Execution prohibition flag is detected.
Page 262 Program example The following shows a program example of the pre-reading start function. • When Positioning start signal [Y10, Y11, Y12, Y13] is used Classification Label Name Description Module label RD75_1.bnErrorDetection_Axis[0] Error detection signal [X8] RD75_1.bnBusy_Axis_D[0] Axis 1 BUSY signal [XC] RD75_1.bnStartComplete_Axis[0] Axis 1 Start complete signal [X10] RD75_1.bnPositioningStart_Axis[0]...
Page 263 • When the dedicated instruction (GP.PSTRT) is used Classification Label Name Description Module label RD75_1.bnStartComplete_Axis[0] Axis 1 Start complete signal [X10] RD75_1.bnPositioningStart_Axis[0] Axis 1 Positioning start signal [Y10] RD75_1.bnExecutionProhibitionFlag_Axis_D[0] Axis 1 Execution prohibition flag [Y14] Global label, local label Define the global label or local label as follows. Setting Assign (Device/Label) for labels is not necessary because the unused internal relay and data device are automatically assigned to the labels.
Page 264: Start Time Adjustment Function
Start time adjustment function Start time adjustment function is used together with Quick start function to adjust the time from when a positioning start trigger is input to when the RD75 starts outputting pulses. This function allows users to make a fine adjustment in the start timing without repositioning a sensor. Control details The start time adjustment function starts the positioning after a positioning start trigger is input and the time set in [Pr.82] Start adjustment time elapses, as shown in the following figure.
Page 265 Restrictions • The start time adjustment function is valid only for Quick start. • For [Pr.82] Start adjustment time, the setting at the analysis of the positioning data is valid. • Turn on a start trigger after the analysis of the positioning data is completed. If a start trigger is turned on before the analysis is completed, Pre-analysis incomplete start (Warning code: 09A2H) occurs and the RD75 starts outputting pulses immediately after the analysis is completed.
Page 266: Absolute Position Restoration Function
Absolute Position Restoration Function CAUTION An absolute position restoration by the positioning function may turn off Servo ON signal (servo off) for approximately 60ms + scan time, and the motor may run unexpectedly. If this causes a problem, provide an electromagnetic brake to lock the motor during absolute position restoration.
Page 267: Overview Of The Absolute Position Detection System
Overview of the absolute position detection system The detector comprises an encoder for the detection of position in one rotation in addition to the A, B, and Z phase signals for the position control in normal operation and an accumulative revolution counter for the detection of the number of rotations. The absolute position detection system detects the absolute position of the machine constantly and stores it with the backup of the battery irrespective of the state of the power supply to the programmable controller system.
Page 268 Connection example The following figure shows an example of the connection between the programmable controller system and the Mitsubishi Electric servo amplifier (MR-J3-A). Programmable controller system Servo amplifier CPU module MR-J3-A RD75 ABS transmission data bit 0 16 points input module 22(ABSB0) 0(X47) ABS transmission data bit 1...
Page 269: Control Precautions
Control precautions • When an absolute position detection system is constructed, absolute position restoration must be performed at least once after the power supply is turned on or reset. Also, the servo amplifier does not servo on unless the absolute position restoration is completed.
Page 270 Condition 2: Positioning address The following positioning addresses can be specified for the RD75: Unit setting Range of positioning addresses -214748364.8 to 214748364.7m inch -21474.83648 to 21474.83647 inches pulse -2147483648 to 2147483647 pulses degree 0 to 359.99999 ■Example 1 Using the formula 1, this example calculates the positioning address which can be specified in the system with the OP address 214740000.0 (m).
Page 271: Function Related To Stop
Function Related to Stop As the functions related to stop, Stop command processing for deceleration stop function, Continuous operation interrupt function, and Step function are provided. Each function is executed by setting parameters or creating and writing a program. Stop command processing for deceleration stop function Stop command processing for deceleration stop function is provided to set the deceleration curve if a stop cause occurs during the deceleration stop processing (including automatic deceleration).
Page 272 Control precautions • In the manual control (JOG operation, inching operation, and manual pulse generator operation), 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 to [Pr.39] Stop group 3 sudden stop selection as the stopping method for the stop cause occurrence.
Page 273: Continuous Operation Interrupt Function
Continuous operation interrupt function Continuous operation interrupt function can interrupt the positioning operations in the continuous positioning control and continuous path control. When the continuous operation is interrupted, the control will stop when the operation of the positioning data being executed is completed. To interrupt the continuous operation, set 1: Continuous operation interrupt request for [Cd.18] Continuous operation interrupt request.
Page 274 • If the operation cannot be decelerated to a stop because the remaining distance is insufficient when Continuous operation interrupt request is executed with the continuous path control, the interruption of the continuous operation will be postponed. The interruption is executed until the positioning data No. that secures a sufficient remaining distance, the positioning data No.
Page 275: Step Function
Step function Step function is used to check each operation of the positioning control. This function is used in debugging work for the major positioning controls. The positioning operation in which the 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 The control stopped by a step operation can be continued by using Step start request. (Step start request is set in the control data [Cd.36] Step start request.) Once accepted, the setting of [Cd.36] Step start request is automatically cleared. The following table shows the results of starts using the step start request during the step operation.
Page 277 Control details • The following figure shows a step operation during Deceleration unit step. Cd.35 Step valid flag Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] Positioning complete signal [X14, X15, X16, X17] Dwell time Positioning No.10 No.11...
Page 278 Setting the step function To use the step function, set the following data into the RD75 using a program. For the setting timing, refer to Page 274 Using the step operation. The set data is validated when the data is written into the RD75. Setting item Setting Setting detail...
Page 279: Other Functions
Other Functions As other functions, Skip function, M code output function, Teaching function, Command in-position function, Acceleration/ deceleration processing function, Deceleration start flag function, During uncompleted OPR operation setting function, and Interrupt function. Each function is executed by setting parameters or creating and writing a program. Skip function Skip function is used to perform the deceleration stop on the positioning data No.
Page 280: Setting Data
Control precautions • When Skip signal is turned on during positioning of the positioning data for which Positioning complete is set in [Da.1] Operation pattern, the operation is completed after the deceleration stop. • When the control is skipped (when Skip signal is turned on during the control), Positioning complete signal [X14, X15, X16, X17] will not turn on.
Page 281 Setting the function using an external command signal The skip function can also be executed using an external command signal. The section shows a setting example and program example for skipping the control being executed in the axis 1 using an external command signal.
Page 282: M Code Output Function
M code output function M code output function is used to command a subsidiary work (such as clamping, drilling, and tool replacement) related to the positioning data being executed. When M code ON signal [X4, X5, X6, X7] turns on during positioning, a number called an M code is stored in [Md.25] Valid M code.
Page 283 M code ON signal OFF request When M code ON signal [X4, X5, X6, X7] turns on, the signal must be turned off by a program. To turn off M code ON signal, set 1 (M code ON signal is turned OFF) in [Cd.7] M code ON signal OFF request. Setting item Setting Setting detail...
Page 284 Control precautions • During the interpolation control, M code ON signal of the reference axis is turned on. • M code ON signal will not turn on if 0 is set in [Da.10] M code. The M code will not be output, and the previously output value will be held in [Md.25] Valid M code.) •...
Page 285 Reading M codes An M code is stored in the following buffer memory address when M code ON signal turns on. Monitor item Monitor Monitor details Buffer memory address value Axis 1 Axis 2 Axis 3 Axis 4  [Md.25] Valid M code Stores the M code number ([Da.10] M code) set in the positioning 1008...
Page 286: Teaching Function
Teaching function Teaching function is used to set the address where the target is positioned using the manual control operation (JOG operation, inching operation, or manual pulse generator operation) in the positioning addresses ([Da.6] Positioning address/ movement amount, [Da.7] Arc address). Control details ■Teaching timing Teaching is executed using a program while BUSY signal [XC, XD, XE, XF] is off.
Page 287 Data used in teaching The following control data is used in teaching. Setting item Setting Setting detail Buffer memory address value Axis 1 Axis 2 Axis 3 Axis 4 [Cd.1] Module data backup Write the data in the buffer memory to a storage destination 1900 request specified by the extension parameter storage setting.
Page 288 Teaching procedure The following figure shows the procedure for the teaching operation. ■When the teaching to [Da.6] Positioning address/movement amount is performed (example with the axis 1) Start Perform machine OPR on axis 1. Move the object to the target Using a JOG operation, inching operation, or manual pulse generator position with a manual operation.
Page 289 ■When the teaching is first performed for [Da.7] Arc address and successively performed for [Da.6] Positioning address/movement amount (example for the 2-axis circular interpolation control with a sub point specified on the axis 1 and 2) Start Use the buffer memory addresses [1648] and Carry out the teaching of arc sub [1649], and follow...
Page 290 ■Operation chart (axis 2) Forward direction Movement by circular interpolation *1 Sub point address *2 End point address (arc address) (positioning address) Start point address Arc center point (current stop position) Reverse direction Forward direction (axis 1) Reverse direction *1 The sub point address is stored in [Da.7] Arc address. *2 The end point address is stored in [Da.6] Positioning address/movement amount.
Page 291: Command In-Position Function
Command in-position function Command in-position function checks the remaining distance to the stop position during the automatic deceleration of the positioning control, and sets a flag to 1. This flag is called 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 292 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 RD75. The settings are validated at the rising edge (when turned off and on) of PLC READY signal [Y0]. Setting item Setting Setting detail...
Page 293: Acceleration/Deceleration Processing Function
Acceleration/deceleration processing function Acceleration/deceleration processing function adjusts the acceleration/deceleration of each control to the acceleration/ deceleration curve suited for the target device. Setting the acceleration/deceleration time changes the slope of the acceleration/deceleration curve. One of the following two methods can be selected for the acceleration/deceleration curve: •...
Page 294 ■S-curve acceleration/deceleration processing method In this method, the motor burden at the start and stop is reduced. The acceleration/deceleration is reduced gradually, based on the acceleration time, deceleration time, speed limit value, and the value set in [Pr.35] S-curve ratio (1 to 100%) set by users. When a stepping motor is used, the acceleration increases around the inflection point in the S-shaped curved line compared with the trapezoidal acceleration/deceleration.
Page 295: Deceleration Start Flag Function
Deceleration start flag function Deceleration start flag function turns on a flag when the speed is switched from the constant speed or acceleration to the deceleration during the position control whose operation pattern is Positioning complete. The flag can be used as a signal to start the operation to be performed by another device at every completion of the position control or to perform preparatory operation for the next position control.
Page 296 Control precautions • The deceleration start flag function is valid for the control methods of 1-axis linear control, 2-axis linear interpolation control, 3-axis linear interpolation control, 4-axis linear interpolation control, speed-position switching control, and position-speed switching control. For the linear interpolation control, this function is valid only for the reference axis. ( MELSEC iQ-R Positioning Module User's Manual (Startup)) •...
Page 297 Checking Deceleration start flag The status of Deceleration start flag is stored in the following buffer memory address. Monitor item Monitor Monitor details Buffer memory address value Axis 1 Axis 2 Axis 3 Axis 4  [Md.48] Deceleration start flag 0: Status other than below 1099 1199...
Page 298: During Uncompleted Opr Operation Setting Function
During uncompleted OPR operation setting function During uncompleted OPR operation setting function is used to select the positioning control performed when OPR request flag is on. Control details The following table shows the correspondence between positioning controls and the setting of [Pr.58] Setting of operation during uncompleted OPR to show whether the positioning start can be performed or not for each control.
Page 299: Interrupt Function
Interrupt function The interrupt function sends an interrupt request to the CPU module when an interrupt factor is detected. By using this function, an interrupt program can be started by detecting the occurrence of an interrupt factor such as the completion of the positioning.
Page 300 Interrupt factor setting To use the interrupt function, set the interrupt parameter. For the interrupt parameter, the setting value when PLC READY signal [Y0] is turned off and on is valid. After the power is switched on or the CPU module is reset, turn off and on PLC READY signal [Y0].
Page 301 Detecting interrupt factors To send an interrupt request to the CPU module when an interrupt factor is detected, clear the interrupt mask by setting [Cd.50] Interrupt factor mask beforehand. Setting item Setting Setting detail Buffer memory address value [Cd.50] Interrupt factor mask 0, 1 Set the mask for the interrupt factor used.
Page 302 Control precautions • Even if the same interrupt factor occurs again while [Md.65] Interrupt factor detection flag is 1: Interrupt factor detected, no interrupt request is sent to the CPU module. • While [Cd.50] Interrupt factor mask is 0: Mask, no interrupt request is sent to the CPU module. •...
Page 303 Interrupt program example The following figure shows a program example for the interrupt processing with Axis 1 command in-position shown in the operation example. (Page 300 Operation example) ■Interrupt setting program This program configures the following interrupt setting for the interrupt setting 1. •...
Page 304 ■Interrupt program This program executes the processing for when an interrupt factor is detected, and resets the cause of the interrupt setting 1. Classification Label Name Description Module label RD75_1.stInterruptSettingData_D.unInterruptCauseResetRequest_No_D[0] Interrupt setting No.1 [Cd.51] Interrupt factor reset request Global label, local label Define the global label or local label as follows.
Page 305: Chapter 8 Common Functions
COMMON FUNCTIONS This chapter describes the details and usage of the common functions executed according to the user's requirements. Common functions include the functions required for using the RD75 such as the module data initialization function and module data backup function. Check the setting and execution procedures for each common function, and execute an appropriate function as required.
Page 306: Module Data Initialization Function
Module Data Initialization Function This function sets module parameters and module extension parameters (positioning data and block start data) in the buffer memory of the RD75 and setting values in the module extension parameter file to their factory default settings. Module data initialization means This function is executed with a program.
Page 307 Module initialization method • The parameter initialization can be performed by writing the data shown in the table below into the RD75 buffer memory using the MOV instruction. The parameter initialization is executed at the timing when the data is written into the RD75 buffer memory.
Page 308: Module Data Backup Function
Module Data Backup Function When buffer memory data is rewritten with programs or others, the setting values in the module extension parameter file and the execution data being used in control (buffer memory data) may differ. In cases like this, the execution data will be lost if the CPU module is powered off.
Page 309 Module backing up method • The module backing up operation can be performed by writing the data shown in the table below into the RD75 buffer memory using the TO instruction. The module data backup operation is executed at the timing when the data is written into the RD75.
Page 310: External I/O Signal Logic Switching Function
External I/O Signal Logic Switching Function This function switches the signal logics according to the external device connected to the RD75. For the system in which Drive unit READY signal handled as a normally closed contact, upper limit switch, and lower limit switch are not used, controlling can be performed by this function without wiring if the parameter logic setting is changed to Positive logic.
Page 311: External I/O Signal Monitor Function
External I/O Signal Monitor Function External I/O signal monitor function monitors the module information on the engineering tool. The following shows the information that can be monitored. • RUN LED, ERR LED • No. of write accesses to flash ROM (the same information as [Md.19] No. of write accesses to flash ROM) •...
Page 312: History Monitor Function
History Monitor Function This function monitors the start history, error history, and warning history stored in the buffer memory of RD75 during the operation monitoring. Start history The start history of past 16 records of operations such as the positioning operation, JOG operation, and manual pulse generator operation can be monitored.
Page 313 Error history and warning history The error history and warning history of past 16 records can be monitored. Once 16 records are stored, the oldest record is overwritten with the latest record. Therefore, the latest 16 history records are stored at all times. The error history and warning history can be checked using the intelligent function module monitor window.
Page 314: Amplifier-Less Operation Function
Amplifier-less Operation Function With this function, user programs can be debugged at a start-up or positioning operations can be simulated by inputting a false external input signal from the buffer memory. External wiring with a drive unit or a limit switch is not required. Control details To use this function, switch the operation mode from the normal operation mode to the amplifier-less operation mode.
Page 315 Restrictions • In the amplifier-less operation mode, the following monitor data operations differ from those in the normal operation mode. Monitor item Monitor details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 [Md.30] External I/O The ON or OFF state of External I/O signal is stored. 1016 1116 signal...
Page 316 Operation mode switching procedure ■Switching from the normal operation mode to the amplifier-less operation mode Stop all operating axes, and check that BUSY signals of all axes are off. Turn off PLC READY signal [Y0]. Check that RD75 READY signal [X0] is off. Set "ABCDH"...
Page 317: Chapter 9 Parameter Setting
PARAMETER SETTING This chapter describes the parameter setting of the RD75. By setting parameters, the parameter setting by program is not needed. The parameter setting has two types including the module parameter and module extension parameter. Parameter Setting Procedure Add the RD75 to the engineering tool. [Navigation] ...
Page 318: Module Parameters
Module Parameters Set the module parameter. The module parameter has the basic setting, application setting, interrupt setting, and refresh setting. Select the module parameter from the tree on the following window. [Navigation]  [Parameter]  [Module Information]  Target module  [Module Parameter] Basic setting Set the parameter required to use the RD75.
Page 319 Item Setting range Reference Basic parameter 2 Speed limit value Refer to the right item. (default value: 200000) Page 389 [Pr.8] Speed limit value Acceleration time 0 1 to 8388608 ms (default value: 1000) Page 390 [Pr.9] Acceleration time 0, [Pr.10] Deceleration time 0 Deceleration time 0 Detailed parameter...
Page 320 Item Setting range Reference Detailed parameter Acceleration time 1 1 to 8388608 ms (default value: 1000) Page 400 [Pr.25] Acceleration time 1 to [Pr.27] Acceleration time 3 Acceleration time 2 Acceleration time 3 Deceleration time 1 Page 400 [Pr.28] Deceleration time 1 to [Pr.30] Deceleration time 3 Deceleration time 2 Deceleration time 3...
Page 321: Application Setting
Item Setting range Reference OPR detailed OPR dwell time 0 to 65535 ms (default value: 0) Page 414 [Pr.49] OPR dwell time parameter Setting for the movement amount after Refer to the right item. (default value: 0) Page 415 [Pr.50] Setting for the movement near-point dog ON amount after near-point dog ON OPR acceleration time selection...
Page 322: Interrupt Setting
Interrupt setting Set the interrupt function of the RD75. Item Setting range Reference Interrupt factor setting • 0: Do not detect (default value) Page 485 [Pr.900] Interrupt factor setting • 1: M code ON • 3: BUSY • 2: Error detection •...
Page 323: Refresh Settings
Refresh settings Configure the setting to transfer the values in the buffer memory of the RD75 to devices or module labels in the CPU module. By configuring these refresh settings, reading the data by program is not needed. Select the transfer destination from the following at "Target". •...
Page 324 Setting item The refresh setting has the following items. Item Reference Refresh at the set timing. Transfer to the Current feed value Page 453 [Md.20] Current feed value CPU. Machine feed value Page 453 [Md.21] Machine feed value Feedrate Page 454 [Md.22] Feedrate Error No.
Page 325 Item Reference Refresh at the set timing. Transfer to the Start data pointer being executed Page 464 [Md.43] Start data pointer being executed CPU. Positioning data No. being executed Page 464 [Md.44] Positioning data No. being executed Block No. being executed Page 464 [Md.45] Block No.
Page 326 Refresh processing time A refresh processing time [s] is a constituent of the scan time of the CPU module. For details on the scan time, refer to the following.  MELSEC iQ-R CPU Module User's Manual (Application) The refresh processing time [s], which is taken for refresh processing, is given by: •...
Page 327: Module Extension Parameter
Module Extension Parameter Set the module extension parameter. The module extension parameter has positioning data and block start data number 0 to 4 for each axis. Select the module extension parameter from the tree on the following window. [Navigation]  [Parameter]  [Module Information]  Target module  [Module Extended Parameter] Positioning data Set the positioning data for each axis.
Page 328 Item Setting range Reference Control method • 01H: ABS1 1-axis linear control (ABS) Page 422 [Da.2] Control method • 02H: INC1 1-axis linear control (INC) • 03H: FEED1 1-axis fixed-feed control • 04H: VF1 1-axis speed control (forward run) • 05H: VR1 1-axis speed control (reverse run) •...
Page 329 Item Setting range Reference Deceleration time No. • 0: Deceleration time 0 Page 423 [Da.4] Deceleration time No. • 1: Deceleration time 1 • 2: Deceleration time 2 • 3: Deceleration time 3 Positioning address Refer to the right item. Page 425 [Da.6] Positioning address/movement amount Arc address Refer to the right item.
Page 330: Block Start Data
Block start data Set the block start data number 0 to 4 for each axis. Item Setting range Reference Shape • 0: Termination Page 436 [Da.11] Shape • 1: Continue Start data No. 1 to 600 Page 436 [Da.12] Start data No. Special start instruction •...
Page 331 ■Setting item Item Setting range Reference Condition Operator Refer to the right item. Page 440 [Da.16] Condition operator Condition Identifier Refer to the right item. Page 439 [Da.15] Condition target Condition Data Buffer Address Refer to the right item. Page 441 [Da.17] Address Parameter Refer to the right item.
Page 332: Chapter 10 Monitoring/Test
MONITORING/TEST 10.1 Positioning Monitor With the positioning monitor function, the RD75 operating status can be checked for each axis. The following monitors are available in this function. Monitor type Description Operation monitor The status of positioning control being performed such as the current feed value and axis feedrate can be checked. Operation monitor (Axis control) The status related to axis control can be checked.
Page 333 "Module Information List" is always displayed on the right of the "Positioning Monitor" window. In "Module Information List", the on state is indicated in color (green) for each axis. When an error occurs, the axis in which the error occurs is indicated in orange in "Error Detection". When a warning occurs, the axis in which the warning occurs is indicated in orange in "Status Axis warning detection".
Page 334: Positioning Test
10.2 Positioning Test This function allows users to perform the following tests while the users monitor the current status of the RD75. • Positioning control test • JOG/manual pulse generator/OPR test • Speed change test • Other tests Precautions Before the positioning test is started, necessary parameters and positioning data must be set and written to the RD75. Starting method Start "Positioning test"...
Page 335 ■Starting window The following figure and table show the configuration of the "Positioning Test" window. (1) Monitor part (2) Test part Button name Description Starting Starts positioning control. Skip Performs the skip function to skip the control of the positioning data being performed. Stop Target Axis Stops the positioning control of the axis set as the target axis.
Page 336 Positioning control test Specify a positioning data No. or point No. of block start data to perform the test operation. Select a target axis to be tested from the pull-down menu of "Target Axis". Select "Positioning control" from the pull-down menu of "Select Function". Select a control method from "Start Type".
Page 337 ■Performing the positioning control test with the step operation In the positioning control test, positioning control can be performed with the step operation. Before clicking the [Starting] button, select "Start step". Select a step mode from the pull-down menu of "Step Mode". Click the [Starting] button to start the test operation.
Page 338 JOG/manual pulse generator/OPR test The following tests can be performed with the JOG operation or manual pulse generator operation when the positioning control is debugged. • Checking the forward run/reverse run direction • Checking the on/off state of external input signals such as an upper/lower limit switch, Zero signal, and Near-point dog signal •...
Page 339 ■Manual pulse generator operation Select a target axis to be tested from the pull-down menu of "Target Axis". Select "JOG/Manual Pulse Generator/OPR" from the pull-down menu of "Select Function". Set "Manual Pulse 1 Pulse Generator Input Magnification". Select "Manual pulse generator enable flag". The test for manual pulse generator operation starts using the manual pulse generator connected to the RD75.
Page 340 ■OPR control Select a target axis to be tested from the pull-down menu of "Target Axis". Select "JOG/Manual Pulse Generator/OPR" from the pull-down menu of "Select Function". Select "Machine OPR" or "Fast OPR" from the pull-down menu of "OPR Method". Click the [OPR] button.
Page 341 Speed change test For the axes started with the positioning start test, OPR test, and JOG operation test, perform the speed change function, acceleration/deceleration time change function, or override function to check the proper speed or acceleration/deceleration time. ■Speed change Select a target axis to be tested from the pull-down menu of "Target Axis".
Page 342 Set "Speed Override". Click the [Speed Override Change] button. The set value of "Speed Override" is reflected to the positioning control being performed. ■Acceleration/deceleration time change Select a target axis to be tested from the pull-down menu of "Target Axis". Select "New Speed"...
Page 343 Other controls Change the current feed value of the RD75 to a specified address. Select a target axis to be tested from the pull-down menu of "Target Axis". Select "Other control" from the pull-down menu of "Select Function". Set "New Current Value". Click the [Current Value Changing] button.
Page 344: Chapter 11 Specifications Of I/O Signals With Cpu Module
SPECIFICATIONS OF I/O SIGNALS WITH CPU MODULE 11.1 List of I/O Signals with CPU Module The RD75 uses 32 input points and 32 output points for the data communication with the CPU module. The following shows the list of I/O signals for RD75. •...
Page 345 Output signal Device No. Signal name PLC READY Y1 to Y3 Use prohibited Axis 1 Axis stop Axis 2 Axis 3 Axis 4 Axis 1 Forward run JOG start Axis 1 Reverse run JOG start Axis 2 Forward run JOG start Axis 2 Reverse run JOG start Axis 3...
Page 346: Details Of Input Signals
11.2 Details of Input Signals The following tables shows the ON/OFF timing and conditions of the input signals. Device No. Signal name Description RD75 READY signal On: READY • When PLC READY signal [Y0] is turned off and on, the parameter setting Off: Not READY/ range is checked.
Page 347: Details Of Output Signals
11.3 Details of Output Signals The following tables shows the ON/OFF timing and conditions of the output signals. Device No. Signal name Description PLC READY Off: PLC READY OFF (a) This signal notifies the RD75 that the CPU module is normal. On: PLC READY ON •...
Page 348: Chapter 12 Data Used For Positioning Control
DATA USED FOR POSITIONING CONTROL This chapter describes the parameters and data used for performing the positioning control with the RD75. In the positioning system using the RD75, the various parameters and data are used for the control. The parameters and data include parameters set according to the device configuration, such as the system configuration, and parameters and data set according to each control.
Page 349 Monitor data The data indicates the control status. The data is stored in the buffer memory. Monitor the data as necessary. The setting data is classified as follows. Item Description System monitor Monitors the RD75 specifications and the operation history. Axis monitor data Monitors the data related to the operating axis, such as the current position and speed.
Page 350: Setting Items For Positioning Parameters
Setting items for positioning parameters The following table lists the setting items for Positioning parameter. For Positioning parameter, set the same setting for all controls using the RD75 for each axis. OPR control : Always set, : Set as required, : Setting restricted : Setting not required (Because this item is an irrelevant item, the set value is ignored.
Page 351 Positioning parameter OPR control  Detailed parameter 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 352 Major positioning control : Always set, : Set as required, : Setting restricted : Setting not required (Because this item is an irrelevant item, the set value is ignored. Set the value within the setting range, such as the initial value.) Positioning parameter Position control Axis...
Page 353 Positioning parameter Position control Axis Speed- Other controls speed position or 1-axis linear Fixed- 2-axis 3-axis Current JUMP control position- control feed circular helical value instruction, speed 2-/3-/4-axis control interpolation interpolation change switching linear control control instruction, control interpolation LOOP to control LEND ...
Page 354 Positioning parameter Position control Axis Speed- Other controls speed position or 1-axis linear Fixed- 2-axis 3-axis Current JUMP control position- control feed circular helical value instruction, speed 2-/3-/4-axis control interpolation interpolation change switching linear control control instruction, control interpolation LOOP to control LEND Detailed...
Page 355 Manual control : Always set, : Set as required, : Setting restricted : Setting not required (Because this item is an irrelevant item, the set value is ignored. Set the value within the setting range, such as the initial value.) Positioning parameter Manual pulse JOG operation...
Page 356 Checking positioning parameters Positioning parameters are checked at the following timings. • When PLC READY signal [Y0] output from the CPU module to the RD75 changes from off to on • When the [Starting] button is clicked at "Positioning Test" of the engineering tool Advanced positioning control is performed in combination with Major positioning control.
Page 357: Setting Items For Opr Parameters
Setting items for OPR parameters OPR parameters must be set to perform OPR control. The following table lists the setting items for OPR parameter. For OPR parameter, set the same setting for each axis. : Always set, : Parameters set for the machine OPR control are used. : Setting not required (Because this item is an irrelevant item, the set value is ignored.
Page 358: Setting Items For Positioning Data
Setting items for positioning data Positioning data must be set to perform Major positioning control. The following table lists the setting items for Positioning data. One to 600 items of Positioning data can be set for each axis. : Always set, : Set as required : Setting not possible (If these items are set, Continuous path control not possible (Error code: 1A1EH, 1A1FH) occurs at the start.) : Setting not required (The set value is ignored.
Page 359 : Always set, : Set as required : Setting not possible (If these items are set, New current value not possible (Error code: 1A1CH) or Continuous path control not possible (Error code: 1A1EH, 1A1FH) occurs at the start.) : Setting not required (The set value is ignored. Set the value within the setting range, such as the initial value.) Setting items for positioning data Position- Other controls...
Page 360: Block Start Data Setting Items
Block start data setting items Values indicating the current values Block start data must be set to perform Advanced positioning control. The following table lists the setting items for Block start data. Up to 50 points of Block start data can be set for each axis. : Set as required : Setting not required (Because this item is an irrelevant item, the set value is ignored.
Page 361: Setting Items For Condition Data
Setting items for condition data Condition data must be set as required to perform Advanced positioning control or use the JUMP instruction in Major positioning control. The following table lists the setting items for Condition data. Up to 10 items of Condition data can be set for each axis. : Set as required : Setting restricted : Setting not required (Because this item is an irrelevant item, the set value is ignored.
Page 362: List Of Buffer Memory Addresses
12.2 List of Buffer Memory Addresses This section lists the buffer memory addresses of the RD75. For details on the buffer memory addresses, refer to the following. Page 346 DATA USED FOR POSITIONING CONTROL Do not write data to system areas and monitor data ([Md.]) in the buffer memory. Writing data to these areas may cause malfunction.
Page 363 Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Axis 1 Axis 2 Axis 3 Axis 4  [Pr.13] Software stroke limit lower limit value -2147483648 Detailed parameter (14H) (AAH) (140H) (1D6H) (15H) (ABH) (141H) (1D7H)  [Pr.14] Software stroke limit selection (16H) (ACH) (142H)
Page 364 Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Axis 1 Axis 2 Axis 3 Axis 4  [Pr.31] JOG speed limit value 20000 Detailed parameter (30H) (C6H) (15CH) (1F2H) (31H) (C7H) (15DH) (1F3H)  [Pr.32] JOG operation acceleration time selection (32H) (C8H) (15EH)
Page 365 Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Axis 1 Axis 2 Axis 3 Axis 4  [Pr.51] OPR acceleration time selection OPR detailed (52H) (E8H) (17EH) (214H) parameter [Pr.52] OPR deceleration time selection  (53H) (E9H) (17FH) (215H) ...
Page 366 Monitor data Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Axis 1 Axis 2 Axis 3 Axis 4  1000 1100 [Md.20] Current feed value Axis monitor data (320H) (384H) (3E8H) (44CH) 1001 1101 (321H) (385H) (3E9H) (44DH) ...
Page 367 Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Axis 1 Axis 2 Axis 3 Axis 4  1028 1128 [Md.37] Special start data instruction parameter setting value Axis monitor data (33CH) (3A0H) (404H) (468H) 1029 1129 [Md.38] Start positioning data No. setting value ...
Page 368 Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Common for Axis 1 to 4  1200 (4B0H) [Md.1] In test mode flag System monitor data  1201 (4B1H) [Md.70] Amplifier-less operation mode status    1202(4B2H) to 1211(4BBH) System area ...
Page 369 Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Common for Axis 1 to 4  1247 (4DFH) Start history 7 [Md.3] Start information 0000H System monitor data 1248 (4E0H) [Md.4] Start No. 0000H   1249 (4E1H) [Md.5] Start (date/hour) 0000H 1250 (4E2H) [Md.6] Start (minute/second)
Page 370 Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Common for Axis 1 to 4  1287 (507H) Start history 15 [Md.3] Start information 0000H System monitor data 1288 (508H) [Md.4] Start No. 0000H   1289 (509H) [Md.5] Start (date/hour) 0000H ...
Page 371 Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Common for Axis 1 to 4  1325 (52DH) Error history 8 [Md.9] Axis in which the error occurred System monitor data 1326 (52EH) [Md.10] Error No.   1327 (52FH) [Md.11] Error occurrence (date/hour) 0000H 1328 (530H)
Page 372 Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Common for Axis 1 to 4  1366(556H) Warning history [Md.14] Axis in which the warning occurred System monitor data 1367(557H) [Md.15] Warning No.   1368(558H) [Md.16] Warning occurrence (date/hour) 0000H ...
Page 373 Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Common for Axis 1 to 4  1406 (57EH) Warning history [Md.14] Axis in which the warning occurred System monitor data 1407 (57FH) [Md.15] Warning No.   1408(580H) [Md.16] Warning occurrence (date/hour) 0000H 1409(581H) [Md.17] Warning occurrence (minute/second)
Page 374 Control data Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Axis 1 Axis 2 Axis 3 Axis 4  1500 1600 1700 1800 [Cd.3] Positioning start No. Axis control data (5DCH) (640H) (6A4H) (708H)  1501 1601 1701 1801 [Cd.4] Positioning starting point No.
Page 375 Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Axis 1 Axis 2 Axis 3 Axis 4  1528 1628 1728 1828 [Cd.24] Speed-position switching enable flag Axis control data (5F8H) (65CH) (6C0H) (724H) 1529 1629 1729 1829 System area ...
Page 376 Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Axis 1 Axis 2 Axis 3 Axis 4    1568 1668 1768 1868 System area (620H) (684H) (6E8H) (74CH) 1589 1689 1789 1889 (635H) (699H) (6FDH) (761H)  1590 1690 1790...
Page 377 Positioning data Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Axis 1 Axis 2 Axis 3 Axis 4  2000 8000 14000 20000 Positioning Positioning identifier Positioning data (7D0H) (1F40H) (36B0H) (4E20H) data No.1 • [Da.1] Operation pattern •...
Page 378 Block start data Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Axis 1 Axis 2 Axis 3 Axis 4  26000 27000 28000 29000 Block start [Da.11] Shape Start block 0 (6590H) (6978H) (6D60H) (7148H) data [Da.12] Start data No. (Block No.7000) 1st point ...
Page 379 Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Axis 1 Axis 2 Axis 3 Axis 4  26200 27200 28200 29200 Block start data Start block 1 (6658H) (6A40H) (6E28H) (7210H) (Block No.7001) 26299 27299 28299 29299 (66BBH) (6AA3H) (6E8BH) (7273H)
Page 380 Interrupt setting Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Common for Axis 1 to 4  55000 (D6D8H) Interrupt setting [Md.65] Interrupt factor detection flag Interrupt setting No.1 data 55064 (D718H) [Cd.50] Interrupt factor mask   55128 (D758H) [Cd.51] Interrupt factor reset request 55192 (D798H)
Page 381 Address Name Default Auto Memory area Decimal (Hexadecimal) value refresh Common for Axis 1 to 4  55009 (D6E1H) Interrupt setting [Md.65] Interrupt factor detection flag Interrupt setting No.10 data 55073 (D721H) [Cd.50] Interrupt factor mask   55137 (D761H) [Cd.51] Interrupt factor reset request 55201 (D7A1H) [Pr.900] Interrupt factor setting...
Page 382: Basic Setting
12.3 Basic Setting Basic parameter 1 This section describes the details on the basic parameter 1. [Pr.1] Unit setting Set the command unit used for the positioning control. Select a unit from the following depending on the control target: mm, inch, degree, or pulse.
Page 383 [Pr.2] No. of pulses per rotation (16 bits) (Ap) Set the number of pulses required for a rotation of the motor shaft with 16 bits. When [Pr.62] Electronic gear selection is set to 0: 16 bits, this area is valid. If a Mitsubishi servo amplifier is used, set the value given as Resolution per rotation of the servomotor in the speed/position detector specifications.
Page 384 [Pr.3] Movement amount per rotation (16 bits) (Al) Set the distance of machine movement (movement amount) per rotation of the motor shaft with 16 bits. When [Pr.62] Electronic gear selection is set to 0: 16 bits, this area is valid. When the movement amount per rotation of the motor shaft exceeds the setting range of this area in the system used, adjust the setting value with the following method.
Page 385 [Pr.5] Pulse output mode Set the pulse output mode to match the servo amplifier used. Pulse output mode Setting value PULSE/SIGN mode CW/CCW mode A phase/B phase mode (multiple of 4) A phase/B phase mode (multiple of 1) The only valid value of [Pr.5] Pulse output mode is the value at the moment when PLC READY signal [Y0] is turned off and on for the first time after the power is switched on or the CPU module is reset.
Page 386 ■A phase/B phase mode Forward run and reverse run are controlled with the phase difference of the A phase (A) and B phase (B). When the B phase is 90 behind the A phase, the motor will forward run. When the B phase is 90 ahead of the A phase, the motor will reverse run.
Page 387 [Pr.6] Rotation direction setting Set the relation of the positioning direction (increment direction or decrement direction of [Md.20] Current feed value) and the pulse output. For the relation of "Forward run pulse output, Reverse run pulse output" and "CW/A phase/PULSE signal, CCW/ B phase/SIGN signal", refer to the following.
Page 388 [Pr.7] Bias speed at start Set Minimum speed at start for Bias speed at start. Set Bias speed at start to allow the motor to start smoothly especially when a stepping motor is used. (A stepping motor does not start smoothly if a low rotation speed is instructed at the start.) When the bias speed at start is 0 When the bias speed at start is other than 0 Speed...
Page 389 [Pr.62] Electronic gear selection Select an electronic gear (16 bits or 32 bits) to use. Electronic gear selection Setting value 16 bits 32 bits The addresses used by the buffer memory areas shown below depend on the setting of this area. Setting value of [Pr.62] Address of [Pr.2] No.
Page 390 [Pr.3] Movement amount per rotation (32 bits) (Al) Set the distance of machine movement (movement amount) per rotation of the motor shaft with 32 bits. When [Pr.62] Electronic gear selection is set to 1: 32 bits, this area is valid. When the movement amount per rotation of the motor shaft exceeds the setting range of [Pr.3] Movement amount per rotation (16 bits) in the system used, use this area.
Page 391: Basic Parameter 2
Basic parameter 2 This section describes the details on the basic parameter 2. [Pr.8] Speed limit value Set the maximum speed during positioning control and OPR control. If the specified speed exceeds the speed limit value, positioning is limited at the speed limit value. Positioning control speed must be limited properly depending on the device and control subject.
Page 392 [Pr.9] Acceleration time 0, [Pr.10] Deceleration time 0 For [Pr.9] Acceleration time 0, set the time for the speed to increase from 0 to [Pr.8] Speed limit value (to [Pr.31] JOG speed limit value during a JOG operation control) in units of ms. For [Pr.10] Deceleration time 0, set the time for the speed to decrease from [Pr.8] Speed limit value (from [Pr.31] JOG speed limit value during a JOG operation control) to 0 in units of ms.
Page 393: Detailed Parameter 1
Detailed parameter 1 [Pr.11] Backlash compensation amount The error that occurs due to backlash when the machine is moved via gears can be compensated. (When the backlash compensation amount is set, pulses equivalent to the compensation amount is output each time the direction changes during the positioning.) OPR direction Pr.44...
Page 394 [Pr.12] Software stroke limit upper limit value Set the upper limit for the machine's movement range during positioning control. ■Buffer memory address The following table shows the buffer memory address of this area. Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 [Pr.12] Software stroke limit upper limit value...
Page 395 [Pr.14] Software stroke limit selection Set whether to apply the software stroke limit to Current feed value or Machine feed value. The software stroke limit is validated according to the set value. Software stroke limit selection Setting value Apply the software stroke limit to the current feed value Apply the software stroke limit to the machine feed value ■Buffer memory address The following table shows the buffer memory address of this area.
Page 396 ■Setting range The setting range depends on the setting of [Pr.1] Unit setting. Setting of [Pr.1] Unit setting Setting value with engineering tools Setting value with programs m) 0: mm 0.1 to 214748364.7 (m) 1 to 2147483647 (10 1: inch 0.00001 to 21474.83647 (inch) 1 to 2147483647 (10 inches)
Page 397 [Pr.18] M code ON signal output timing Set the timing of outputting the M code ON signal. Select either the WITH mode or the AFTER mode as timing of outputting the M code ON signal. WITH mode (setting value: 0) AFTER mode (setting value: 1) An M code is output and the M code ON signal [X4, X5, X6, X7] is turned on An M code is output and the M code ON signal [X4, X5, X6, X7] is turned on...
Page 398 [Pr.19] Speed switching mode Select the speed switching mode between the standard switching and front-loading switching. Speed switching mode Setting value Description Standard speed switching mode Switches the speed when executing the next positioning data. Front-loading speed switching mode Switches the speed at the end of the positioning data being executed. Speed Speed Switch the speed when...
Page 399 [Pr.20] Interpolation speed specification method When performing linear interpolation/circular interpolation, set whether to specify the composite speed or the speed for the reference axis. Interpolation speed Setting value Description specification method Composite speed The movement speed for the control target is specified, and the speed for each axis is calculated by the RD75.
Page 400 [Pr.21] Current feed value during speed control Specify whether to enable or disable the update of [Md.20] Current feed value while operations are performed under the speed control (including the speed control of speed-position switching control and position-speed switching control). Current feed value during Setting value Description...
Page 401 [Pr.23] Output signal logic selection Set the logic of each output signal according to the external device. Output signal logic selection Setting value Negative logic Positive logic The following table shows the assignment of each output signal. Set a value for the target bit. Buffer memory Assignment of output signals Command pulse signal...
Page 402: Detailed Parameter 2
Detailed parameter 2 [Pr.25] Acceleration time 1 to [Pr.27] Acceleration time 3 Set the time for the speed to increase from 0 to [Pr.8] Speed limit value (to [Pr.31] JOG speed limit value during a JOG operation control) during positioning. The specifications of this area are the same as those of [Pr.9] Acceleration time 0. For details, refer to the following.
Page 403 [Pr.31] JOG speed limit value Set the maximum speed for the JOG operation. Set the value in JOG speed limit value to a value equal to or less than the value set in [Pr.8] Speed limit value. If the value exceeds the value set in Speed limit value, JOG speed limit value error (Error code: 1AB8H) occurs.
Page 404 [Pr.33] JOG operation deceleration time selection Set which of Deceleration time 0 to 3 to use for the deceleration time during JOG operation. JOG operation deceleration Setting value Description time selection Deceleration time 0 Use the value set in [Pr.10]Deceleration time 0. Deceleration time 1 Use the value set in [Pr.28] Deceleration time 1.
Page 405 [Pr.35] S-curve ratio Set the S-curve ratio (1 to 100%) for performing the S-curve acceleration/deceleration processing. The S-curve ratio indicates where to draw the acceleration/deceleration curve using the sine curve as shown below. (Example) Positioning speed When S-curve ratio is 100% Positioning speed Sine curve...
Page 406 [Pr.36] Sudden stop deceleration time Set the time for the speed to decrease from [Pr.8] Speed limit value (from [Pr.31] JOG speed limit value during a JOG operation control) to 0 at a sudden stop in units of ms. Set this parameter to stop (sudden stop) operations in a shorter time than the deceleration time for positioning when a stop cause occurs.
Page 407 [Pr.37] to [Pr.39] Stop group 1 to 3 sudden stop selection Set the method to stop operations when the stop causes in the following stop groups occur. • Stop group 1: Stop with the hardware stroke limit • Stop group 2: CPU module error occurrence, PLC READY signal [Y0] off, fault in the test mode •...
Page 408 [Pr.40] Positioning complete signal output time Set the output time of Positioning complete signal [X14, X15, X16, X17] output from the RD75 in units of ms. A positioning completes when the set dwell time is elapsed after the RD75 terminates outputting pulses. For the interpolation control, Positioning completed signal of interpolation axis is output only for the time set to the reference axis.
Page 409 [Pr.41] Allowable circular interpolation error width For Allowable circular interpolation error width, set the allowable error range of the calculated arc path and end point address. If the error of the calculated arc path and end point address is within the setting range, circular interpolation is performed to the set end point address while the error is compensated with spiral interpolation.
Page 410 [Pr.42] External command function selection Select a function with which external command signals are associated. External command function Setting Description selection value Start with external command Starts a positioning operation by inputting an external command signal. External speed change request Changes the speed in the current positioning operation by inputting an external command signal.
Page 411: Opr Basic Parameter
OPR basic parameter [Pr.43] OPR method Set OPR method for performing the machine OPR. OPR method Setting Description Reference value Near-point dog method After the speed of the OPR is decelerated when the near-point dog is on, the OPR stops Page 42 Near-point when the zero signal is detected and the machine OPR completes.
Page 412 [Pr.44] OPR direction Set the direction of the movement when the machine OPR starts. OPR direction Setting Description value Forward direction (address Moves the workpiece in the address increment direction. (Arrow (2)) increment) Reverse direction (address Moves the workpiece in the address decrement direction. (Arrow (1)) decrement) Because the OP is normally set near the lower limit or the upper limit, [Pr.44] OPR direction is set as follows.
Page 413 [Pr.45] OP address Set the address used as the reference point for positioning control (ABS system). (When the machine OPR is completed, the stop position address is changed to the address set in [Pr.45] OP address. At the same time, the value set in [Pr.45] OP address is stored in [Md.20] Current feed value and [Md.21] Machine feed value.) ■Buffer memory address The following table shows the buffer memory address of this area.
Page 414 [Pr.47] Creep speed Once the near-point dog turns on, the control decelerates from OPR speed and stops. Set the speed of right before the stop, which is a creep speed. Set the creep speed within the following range. • ([Pr.46] OPR speed)  ([Pr.47] Creep speed)  ([Pr.7] Bias speed at start) The creep speed is related to the detection error in the OPR method using the zero signal, and to the size of the shock when a collision occurs in the OPR method using the stopper method.
Page 415 [Pr.48] OPR retry Set whether to perform OPR retry. OPR retry Setting value Do not perform OPR retry by limit switch Perform OPR retry by limit switch For the operation of OPR retry, refer to the following. Page 211 OPR retry function ■Buffer memory address The following table shows the buffer memory address of this area.
Page 416: Opr Detailed Parameter
OPR detailed parameter [Pr.49] OPR dwell time When stopper method 1 is set in [Pr.43] OPR method set the time for the machine OPR to complete after the near-point dog signal turns on in units of ms. Set a value equal to or grater than the movement time from the near-point dog signal ON to the stop with the stopper.
Page 417 [Pr.50] Setting for the movement amount after near-point dog ON When the OPR method is count method 1 or 2, set the movement amount from the position where the near-point dog signal turns on to the OP. (Set the value for the movement amount after near-point dog ON to a value equal to or greater than the sum of the "distance covered by the deceleration from the OPR speed to the creep speed"...
Page 418 [Pr.51] OPR acceleration time selection Set which of Acceleration time 0 to 3 to use for the acceleration time during OPR. OPR acceleration time Setting Description selection value Acceleration time 0 Uses the value set in [Pr.9] Acceleration time 0. Acceleration time 1 Uses the value set in [Pr.25] Acceleration time 1.
Page 419 [Pr.53] OP shift amount Set the amount to shift (move) the OP from the stop position with machine OPR. The OP shift function is used to compensate the OP position stopped with machine OPR. If the OP position is physically limited due to the installation position of the near-point dog, use this function to compensate the OP to an optimum position.
Page 420 [Pr.54] OPR torque limit value Set the value to limit the servomotor torque after the creep speed is reached during machine OPR in units of %. If the torque is not limited, the servomotor may be in failure. When the value set in [Pr.54] OPR torque limit value exceeds the value set in [Pr.17] Torque limit setting value, OPR torque limit value error (Error code: 1B0EH) occurs.
Page 421 [Pr.57] Dwell time during OPR retry When OPR retry is performed, set the stop time after the deceleration of (2) and (4) in the following figure in units of ms. Temporarily stops for Temporarily stops for the time set in Pr.57 the time set in Pr.57 Position Start position...
Page 422: Positioning Data
12.4 Positioning Data The following figure shows the configuration of the positioning data stored in the buffer memory of the RD75. • Up to 600 positioning data for each axis can be set (stored) in 7990 7980 the buffer memory addresses shown on the left. These data are Positioning data No.
Page 423 [Da.1] Operation pattern The operation pattern is used to specify whether to end the positioning of a certain data number with just that data or to perform the positioning of the next data number in succession. Operation pattern Setting Description value Positioning Complete Set this value to execute the positioning to the specified address to complete the positioning.
Page 424 [Da.2] Control method Set Control method for performing the positioning control. The following table lists the available control methods. Control method Setting value ABS1: 1-axis linear control (ABS) INC1: 1-axis linear control (INC) FEED1: 1-axis fixed-feed control VF1: 1-axis speed control (forward run) VR1: 1-axis speed control (reverse run) VPF: Speed-position switching control (forward run) VPR: Speed-position switching control (reverse run)
Page 425 • When JUMP instruction is set for the control method, the setting values in [Da.9] Dwell time and [Da.10] M code differ from the values when another control method is set. • When LOOP is set for the control method, the setting value in [Da.10] M code differs from the value when another control method is set.
Page 426 [Da.5] Axis to be interpolated For operations under the 2-axis interpolation control, set Axis to be interpolated (partner axis). For operations under the 3-axis helical interpolation, set Circular interpolation. Axis to be interpolated Setting Description value Axis 1 specification Selects the axis 1 as the axis to be interpolated (partner axis). Axis 2 specification Selects the axis 2 as the axis to be interpolated (partner axis).
Page 427 [Da.6] Positioning address/movement amount Set the address used as the target value for positioning control. The setting range differs according to the value set in [Da.2] Control method. ■Absolute (ABS) system and current value change • Set the value (positioning address) with an absolute address (address from the OP) for the ABS system and current value change.
Page 428 ■Setting range The setting range depends on the setting of [Pr.1] Unit setting and [Da.2] Control method. • When [Pr.1] Unit setting is mm Setting of [Da.2] Control method Setting value with engineering tools Setting value with programs ABS linear 1: 01H Set the address.
Page 429 • When [Pr.1] Unit setting is pulse Setting of [Da.2] Control method Setting value with engineering tools Setting value with programs ABS linear 1: 01H Set the address. Set the address. ABS linear 2: 0AH -2147483648 to 2147483647 (pulse) -2147483648 to 2147483647 (pulse) ABS linear 3: 15H ABS linear 4: 1AH Current value change: 81H...
Page 430 ■Default value The default value is 0 for all the axes. [Da.7] Arc address The arc address is the data required only when the circular interpolation control or 3-axis helical interpolation control is performed. • When the circular interpolation with sub point specified is performed, set the sub point (passing point) address as the arc address.
Page 431 • When [Pr.1] Unit setting is pulse Setting of [Da.2] Control method Setting value with engineering tools Setting value with programs ABS circular sub: 0DH Set the address. Set the address. ABS circular right: 0FH -2147483648 to 2147483647 (pulse) -2147483648 to 2147483647 (pulse) ABS circular left: 10H INC circular sub: 0EH Set the movement amount.
Page 432 [Da.8] Command speed Set the command speed for positioning. • When the set command speed exceeds the value set in [Pr.8] Speed limit value, positioning is performed at the speed limit value. • When the command speed is set to -1, the positioning control is performed at the current speed (speed set for previous positioning data No.).
Page 433 [Da.9] Dwell time Set Dwell time or Positioning data No. according to the value set in [Da.2] Control method. • When a method other than JUMP instruction is set in [Da.2] Control method, set the value in Dwell time in units of ms. •...
Page 434 [Da.10] M code Set M code, Number of pitch, Condition data No., or Number of LOOP to LEND repetitions depending on how [Da.2] Control method is set. • If a method other than JUMP instruction and LOOP is selected as the setting value in [Da.2] Control method, set M code. If M code does not need to be output, set 0 (default value).
Page 435 [Da.28] ABS direction in degrees Set the ABS movement direction for each positioning data when the unit is degree. ABS direction in degrees Setting value Use the setting value in [Cd.40] ABS direction in degrees ABS clockwise ABS counterclockwise Shortcut (the direction setting is invalid) For the setting, refer to the following and check the assignment of this area.
Page 436: Block Start Data
12.5 Block Start Data The following figure shows the configuration of the block start data stored in the buffer memory of the RD75. 50th point Buffer memory Setting item address Up to 50 points of block start data for each axis can be set (stored) in the buffer memory addresses shown on the left.
Page 437 To perform an advanced positioning control using Block start data, set a number between 7000 and 7004 for [Cd.3] Positioning start No. and use [Cd.4] Positioning starting point No. to specify a point number between 1 and 50, a position counted from the beginning of the block.
Page 438 [Da.11] Shape Set whether to end the control after only Block start data of the shape itself is executed, or continue executing Block start data set in the next point. Shape Setting Description value Executes Block start data of the specified point and completes the control. Continue Executes Block start data of the specified point and completes the control, then executes Block start data of the next point.
Page 439 [Da.13] Special start instruction Set Special start instruction for performing Advanced positioning control. (Set the method by which the positioning data set in [Da.12] Start data No. will be started.) Special start instruction Setting Description value Block start With one start, executes positioning data in a block in the set order. Condition start Performs the condition judgment specified in Condition data for the specified positioning data.
Page 440 [Da.14] Parameter Set a value according to the value set in [Da.13] Special start instruction. Special start instruction Description Block start Not used. (Setting this item is not required.) Condition start Set the condition data No. (number of Condition data which is set to perform condition judgment). (For details on the condition data, refer to Page 439 Condition Data.) Wait start Simultaneous start...
Page 441: Condition Data
12.6 Condition Data The following figure shows the configuration of the condition data stored in the buffer memory of the RD75. No.10 Buffer memory Setting item address No.2 Up to 10 condition data for each block No. can be set (stored) in the buffer memory addresses shown on No.1 Buffer memory...
Page 442 [Da.16] Condition operator Set the condition operator according to the value set in [Da.15] Condition target. Setting of [Da.15] Condition Condition Operator Setting Description target value 01H: Device X DEV = ON When the state (ON or OFF) of I/O signals is set as a condition, select ON or 02H: Device Y OFF as the trigger.
Page 443 [Da.17] Address Set the address according to the value set in [Da.15] Condition target. Setting of [Da.15] Condition Setting Description target value  01H: Device X Not used. (Setting this item is not required.) 02H: Device Y 03H: Buffer memory (1 word) Numerical Specify the target Buffer memory address.
Page 444 [Da.19] Parameter 2 Set the parameters according to the value set in [Da.16] Condition operator. Setting of [Da.16] Condition Setting Description operator value 01H: ** = P1  Not used. (Setting this item is not required.) 02H: **  P1 03H: ** ...
Page 445: Monitor Data
12.7 Monitor Data System monitor data [Md.1] In test mode flag This area stores whether the test mode is used in the engineering tool or not. In test mode flag Stored value Not in test mode In test mode ■Buffer memory address The following table shows the buffer memory address of this area.
Page 446 ■Configuration of start history Information on starts is stored in the start history of pointer 0 to 15. The following figure shows the configuration of the start history. Md.8 1292 Start history pointer Stores a pointer number that comes next to the number assigned to the latest start history record.
Page 447 [Md.4] Start No. This area stores the start number. Start No. Stored value Positioning operation • 1 to 600 (1H to 258H) • 7000 (1B58H) • 7001 (1B59H) • 7002 (1B5AH) • 7003 (1B5BH) • 7004 (1B5CH) JOG operation 9010 (2332H) Manual pulse generator operation 9011 (2333H) Machine OPR...
Page 448 [Md.6] Start (minute/second) The start time (minute/second) is stored with the BCD code. Monitor the value in hexadecimal. Buffer memory configuration Stored contents Stored value Minute (tens place) 0 to 5 b15 b14 b13 b12 b11 b10 b9 Minute (ones place) 0 to 9 Second (tens place) 0 to 5...
Page 449 [Md.9] Axis in which the error occurred This area stores the axis number in which the error is detected. Axis in which the error occurred Stored value Axis 1 Axis 2 Axis 3 Axis 4 ■Buffer memory address For the buffer memory address of this area, refer to the following. Page 364 Monitor data ■Configuration of error history Information on errors is stored in the error history of pointer 0 to 15.
Page 450 [Md.51] Error occurrence (year/month) This area stores the time (year/month) when an error occurs with the BCD code. Monitor the value in hexadecimal. Buffer memory configuration Stored contents Stored value Year (tens place) 0 to 9 b15 b14 b13 b12 b11 b10 b9 Year (ones place) 0 to 9 Month (tens place)
Page 451 [Md.14] Axis in which the warning occurred This area stores the axis number in which the warning is detected. Axis in which the warning occurred Stored value Axis 1 Axis 2 Axis 3 Axis 4 ■Buffer memory address For the buffer memory address of this area, refer to the following. Page 364 Monitor data ■Warning history configuration Information on warnings is stored in the warning history of pointer 0 to 15.
Page 452 [Md.15] Warning No. This area stores the warning No. Monitor the value in hexadecimal. ■Buffer memory address For the buffer memory address of this area, refer to the following. Page 364 Monitor data [Md.52] Warning occurrence (year/month) This area stores the time (year/month) when a warning occurs with the BCD code. Monitor the value in hexadecimal. Buffer memory configuration Stored contents Stored value...
Page 453 [Md.19] No. of write accesses to flash ROM This area stores the number of module data backups and module data initializations performed with a program after the power-on. The count is cleared to 0 when Flash ROM write number error (Error code: 1080H) and the error is reset. ■Buffer memory address The following table shows the buffer memory address of this area.
Page 454 [Md.55] Date of write accesses to flash ROM (minute/second) This area stores the latest date (minute/second) when the data is written to flash ROM with the BCD code. Monitor the value in hexadecimal. Buffer memory configuration Stored contents Stored value Minute (tens place) 0 to 5 b15 b14 b13 b12 b11 b10 b9...
Page 455: Axis Monitor Data
Axis monitor data [Md.20] Current feed value This area stores the currently commanded address or the address of the current position. The stored value is different from the actual motor position during operation. Multiplying the stored value by the following converted value enables the monitoring of the converted value in each unit.
Page 456 [Md.22] Feedrate This area stores the command output speed of the operating workpiece. The stored value may be different from the actual motor speed during operation. Multiplying the stored value by the following converted value enables the monitoring of the converted value in each unit.
Page 457 [Md.26] Axis operation status This area stores the axis operation status. The following table shows the stored values. Axis operation status Stored value Step standby Error Standby Stopped Interpolation JOG operation Manual pulse generator operation Analyzing Special start standby Position control Speed control Speed control in speed-position switching control Position control in speed-position switching control...
Page 458 [Md.27] Current speed This area stores the value set in [Da.8] Command speed for the positioning data being executed. • If [Da.8] Command speed is set to -1, this area stores the value in [Da.8] Command speed which is set by the positioning data used one step earlier.
Page 459 [Md.29] Speed-position switching control positioning amount This area stores the movement amount for the position control to end after the control is switched to the position control with the speed-position switching control. Multiplying the stored value by the following converted value enables the monitoring of the converted value in each unit.
Page 460 [Md.31] Status This area stores the on/off state of various flags. The following shows the flags to be stored. Flag Description Stored value In speed control flag This signal, which turns on during the speed control, is used to judge whether the operation is performed 0: OFF under the speed control or position control.
Page 461 [Md.32] Target value This area stores the target value ([Da.6] Positioning address/movement amount) for a positioning operation. The stored value depends on the positioning operation as shown below. Positioning operation Stored value When the position control and current value change The value of [Da.6] Positioning address/movement amount is stored.
Page 462 [Md.33] Target speed The stored value depends on the positioning operation as shown below. Positioning operation Stored value Operation with positioning data The actual target speed, considering the override, speed limit value and other factors, is stored. When positioning is completed, 0 is stored.
Page 463 [Md.64] Positioning control complete factor This area stores the complete factor of OPR control and major positioning control. Positioning control end cause Stored value Operation does not start after power-on or operation is being performed Normal completion (Positioning control is completed correctly) Normal completion (Positioning control is completed by a stop signal) Normal completion (Positioning control is completed by the external stop) Error completion (Positioning control is completed by an error occurrence at...
Page 464 [Md.36] Special start data instruction code setting value This area stores Instruction code used with special start and indicated by the start data pointer currently being executed. Special start data instruction code setting value Stored value Block start (normal start) Condition start Wait start Simultaneous start...
Page 465 [Md.39] In speed limit flag This area stores whether the operation is performed with the speed limited. In speed limit flag Stored value Not in speed limit (off) In speed limit (on) • If the speed exceeds the value set in [Pr.8] Speed limit value due to a speed change or override, the speed limit functions, and this area turns on.
Page 466 [Md.43] Start data pointer being executed This area stores a point number (1 to 50) of the start data currently being executed. When a positioning operation completes, it stores 0. ■Buffer memory address The following table shows the buffer memory address of this area. Buffer memory name Axis 1 Axis 2...
Page 467 [Md.47] Positioning data being executed The details of the positioning data currently being executed (data with the positioning data No. set by [Md.44] Positioning data No. being executed) are stored in the following buffer memory addresses. Buffer memory address of this Stored item Reference area...
Page 468 [Md.61] Analysis complete flag This area stores the start preparation complete state in the pre-analysis mode. Analysis complete flag Stored value Analysis not completed Analysis completed In the interpolation control, only the value of the reference axis is changed. ■Buffer memory address The following table shows the buffer memory address of this area.
Page 469: Control Data
12.8 Control Data System control data [Cd.1] Module data backup request Set this area to write module extension parameters (positioning data and block start data) to the module extension parameter file. Module data backup request Setting value Not requested Requested •...
Page 470 [Cd.41] Deceleration start flag valid Set whether to validate [Md.48] Deceleration start flag. Deceleration start flag valid Setting value Deceleration start flag invalid Deceleration start flag valid ■Buffer memory address The following table shows the buffer memory address of this area. Buffer memory name Common for Axis 1 to 4 [Cd.41] Deceleration start flag valid...
Page 471 [Cd.44] External input signal operation device Set the external input signal status for the amplifier-less operation mode. The setting of this area is applied from the buffer memory to the RD75 every 0.88ms. Setting item Setting value Lower limit signal 0: OFF 1: ON Upper limit signal...
Page 472: Axis Control Data
Axis control data [Cd.3] Positioning start No. Set the positioning start No. Positioning start No. Setting value Positioning data No. 1 to 600 Block start specification 7000 to 7004 Machine OPR 9001 Fast OPR 9002 Current value change 9003 Multiple axes simultaneous start 9004 *1 Only 1 to 600 can be set for the pre-reading start function.
Page 473 [Cd.6] Restart command Set this area to restart positioning from the stop status. • When positioning is stopped for any reason (when the axis operation status is Stopped), setting 1: Restart for this area performs the positioning again from the stop position to the end point of the stopped positioning data. •...
Page 474 [Cd.9] New current value Set a new feed value to change the current feed value using the start No. 9003. ■Buffer memory address The following table shows the buffer memory address of this area. Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 [Cd.9] New current value...
Page 475 [Cd.12] Acceleration/deceleration time change during speed change, enable/disable Set whether to enable modifications to the acceleration/deceleration time during a speed change. Acceleration/deceleration time change during speed change, Setting value enable/disable selection Acceleration/deceleration time change enabled Acceleration/deceleration time change disabled Other than 1 ■Buffer memory address The following table shows the buffer memory address of this area.
Page 476 [Cd.15] Speed change request Set this area to request a speed change. • After setting [Cd.14] New speed value, set 1: Change the speed to request a speed change (validate the value set in [Cd.14] New speed value). • After the speed change is accepted, 0 is automatically stored. Storing 0 indicates the completion of the speed change acceptance.
Page 477 [Cd.18] Continuous operation interrupt request Set this area to interrupt continuous operation. • The continuous operation is interrupted by setting 1: Interrupt continuous control or continuous path control for this area. • After the continuous operation interruption is accepted, 0 is automatically stored. Storing 0 indicates the completion of the continuous operation interruption.
Page 478 [Cd.21] Manual pulse generator enable flag Set whether to enable manual pulse generator operations. Manual pulse generator enable flag Setting value Disable manual pulse generator operation Enable manual pulse generator operation ■Buffer memory address The following table shows the buffer memory address of this area. Buffer memory name Axis 1 Axis 2...
Page 479 [Cd.24] Speed-position switching enable flag Set whether to enable the external control signal (External command signal (CHG): Speed-position/position-speed switching request is selected). Speed-position switching enable flag Setting value Speed control is not switched to position control even when External command signal (CHG) is turned on Speed control is switched to position control when External command signal (CHG) is turned on ■Buffer memory address The following table shows the buffer memory address of this area.
Page 480 [Cd.27] Target position change value (new address) Set a new positioning address to change the target position during positioning. ■Buffer memory address The following table shows the buffer memory address of this area. Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 [Cd.27] Target position change value (new address)
Page 481 [Cd.30] Simultaneous starting axis start data No. (Axis 1 start data No.) Set the simultaneous starting axis start data No. ■Buffer memory address The following table shows the buffer memory address of this area. Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 [Cd.30] Simultaneous starting axis start data No.
Page 482 [Cd.34] Step mode Set the units by which a step operation is carried out. Step mode Setting value Carry out step operation in deceleration units Carry out step operation in data No. units ■Buffer memory address The following table shows the buffer memory address of this area. Buffer memory name Axis 1 Axis 2...
Page 483 [Cd.37] Skip command Set this area to skip the current positioning operation. • The current positioning operation is skipped and the next positioning starts by setting 1: Issue a skip command to execute the machine deceleration, stop, and start the next positioning operation for this area. •...
Page 484 [Cd.40] ABS direction in degrees Set the ABS movement direction for the position control when the unit is degree. ABS direction in degrees Setting value Shortcut (the direction setting is invalid) ABS clockwise ABS counterclockwise ■Buffer memory address The following table shows the buffer memory address of this area. Buffer memory name Axis 1 Axis 2...
Page 485 [Cd.46] Speed-position switching command Switch the control between speed control and position switching when 2 is set in [Cd.45] Speed-position switching device selection. Only when [Cd.45] Speed-position switching device selection starts with 2, this area is enabled. Speed-position switching device selection Setting value Speed-position switching control...
Page 486: Interrupt Setting
12.9 Interrupt Setting [Md.65] Interrupt factor detection flag This area stores the detecting status of an interrupt factor. Interrupt factor detection flag Stored value Interrupt factor not detected Interrupt factor detected ■Buffer memory address For the buffer memory address of this area, refer to the following. Page 378 Interrupt setting [Cd.50] Interrupt factor mask Set the interrupt factor mask.
Page 487 [Pr.900] Interrupt factor setting Specify the target (module) for the interrupt detection. The following table lists the available targets. Interrupt factor setting Detection timing Setting value OFF  ON Do not detect M code ON Error detection BUSY Start complete Positioning complete ON ...
Page 488: Synchronized Refresh-Dedicated Area
12.10 Synchronized Refresh-dedicated Area [Md.61] Analysis complete flag This area stores the start preparation complete state in the pre-analysis mode. Only when the RD75 is set as the inter-module synchronization target module, this area is valid. Analysis complete flag Stored value Analysis not completed Analysis completed In the interpolation control, only the value of the reference axis is changed.
Page 489: Basic Parameter 3
12.11 Basic Parameter 3 This section describes the basic parameter 3 of the RD75. The start time and the storage location of module extension parameters of the RD75 can be changed with the basic parameter 3. The basic parameter 3 can be changed only from "Module Parameter"...
Page 490: Parameter Reflection
12.12 Parameter Reflection The parameters of the RD75 are classified into the module parameter and module extension parameter. The parameters are stored in the CPU module or the RD75 as a module parameter file and module extension parameter file. CPU module RD75 Buffer memory Write to PLC...
Page 491 Each parameter is reflected to the buffer memory of the RD75 at the following reflection timings. Parameter storage timing Operation Parameter setting value reflected to the buffer memory Module parameter Module extension parameter (Extension parameter storage setting) CPU module RD75 Power-on Power-on Setting value of the module...
Page 492 ■Precautions • When the CPU is set in the extension parameter storage setting and the module extension parameter cannot be reflected at power-on or the CPU module status is changed from STOP to RUN, Extension parameter acquisition error (Warning code: 0B00H, 0B01H, 0B02H) occurs. At this time, the module extension parameter is the initial value set at the factory. •...
Page 493: Chapter 13 Programming
PROGRAMMING This chapter describes the program required for performing the positioning control with the RD75. When creating a program required for the control, consider Start condition, Start time chart, Device setting, and the configuration of the whole control. (According to the control to be performed, set data such as parameters, positioning data, block start data, and condition data for the RD75, and create a setting program of control data and a start program of each control.) 13.1 Precautions on Programming...
Page 494 System configuration The following figure shows the system configuration used for the program examples in this section. (1) R61P (2) R04CPU (3) RD75D4 (X0 to X1F/Y0 to Y1F) (4) RX40C7 (X20 to X3F) (5) RX40C7 (X40 to X5F) (6) RY42NT1 (Y60 to Y7F) (7) External device (8) Servo amplifier (9) Servomotor...
Page 495: List Of Labels Used
13.2 List of Labels Used The following table lists the assignment of the labels to be used for the program examples in this section. Module label Classification Label Name Description Input signals of the RD75_1.bReady RD75 READY [X0] RD75 RD75_1.bModuleAccessFlag Module access flag [X1] RD75_1.bnMcodeOn_Axis[0] Axis 1 M code ON signal [X4]...
Page 496 Classification Label Name Description Buffer memory RD75_1.stnAxisControlData_Axis_D[0].uPositioningOperationSpeedOverride_D Axis 1 [Cd.13] Positioning operation speed override RD75_1.stnAxisControlData_Axis_D[0].uNewTorqueValue_D Axis 1 [Cd.22] New torque value RD75_1.stnAxisControlData_Axis_D[0].uStepMode_D Axis 1 [Cd.34] Step mode RD75_1.stnAxisControlData_Axis_D[0].uStepValidFlag_D Axis 1 [Cd.35] Step valid flag RD75_1.stnAxisControlData_Axis_D[0].uSkipCommand_D Axis 1 [Cd.37] Skip command RD75_1.stnAxisControlData_Axis_D[0].uInterruptionRequest_ContinuousOperat Axis 1 [Cd.18] Continuous operation interrupt ion_D...
Page 497 • Global labels for which Assign (Device/Label) is not set (When Assign (Device/Label) is not set, the unused internal relay and data device are automatically assigned.) 13 PROGRAMMING 13.2 List of Labels Used...
Page 498 13 PROGRAMMING 13.2 List of Labels Used...
Page 499: Creating Programs
13.3 Creating Programs This section describes Operation programs for the positioning control actually used. Overall configuration of programs The following table shows the overall configuration of positioning control operation programs. Program name Remarks Parameter setting program • The programs are unnecessary when parameters, positioning data, and block start data are set using an engineering tool.
Page 500: Program Example
13.4 Program Example This section shows program examples for positioning of Axis 1. Parameter setting program When parameters are set in "Module Parameter" of an engineering tool, this program is unnecessary. ■Setting of basic parameter 1 (axis 1) (220) For using the electronic gear function in 16 bits 13 PROGRAMMING 13.4 Program Example...
Page 501 ■Setting of OPR basic parameter (axis 1) ■Parameter setting program for the speed-position switching control (ABS mode) This program is unnecessary when the speed-position switching control (ABS mode) is not executed. 13 PROGRAMMING 13.4 Program Example...
Page 502 Positioning data setting program When positioning data is set in "Module Extended Parameter" of an engineering tool, this program is unnecessary. 13 PROGRAMMING 13.4 Program Example...
Page 503 13 PROGRAMMING 13.4 Program Example...
Page 504 Block start data setting program When positioning data is set in "Module Extended Parameter" of an engineering tool, this program is unnecessary. 13 PROGRAMMING 13.4 Program Example...
Page 505 OPR request OFF program When "Setting of operation during uncompleted OPR" is set to "1: Execute positioning control" in "Module Parameter" of an engineering tool, this program is unnecessary. External command function valid setting program PLC READY signal [Y0] ON program 13 PROGRAMMING 13.4 Program Example...
Page 506 Positioning start No. setting program ■Machine OPR ■Fast OPR ■Positioning with the positioning data No.1 ■Speed-position switching control (positioning data No.2) For the ABS mode, writing the target movement amount after change is unnecessary. ■Position-speed switching control (positioning data No.3) ■Advanced positioning control 13 PROGRAMMING 13.4 Program Example...
Page 507 ■Turning off a fast OPR command and fast OPR command storage This program is unnecessary when the fast OPR is not used. Positioning start program 13 PROGRAMMING 13.4 Program Example...
Page 508 Quick start program M code OFF program JOG operation setting program Inching operation setting program 13 PROGRAMMING 13.4 Program Example...
Page 509 JOG operation/inching operation execution program Manual pulse generator operation program 13 PROGRAMMING 13.4 Program Example...
Page 510 Speed change program Override program Acceleration/deceleration time change program 13 PROGRAMMING 13.4 Program Example...
Page 511 Torque change program Step operation program Skip program 13 PROGRAMMING 13.4 Program Example...
Page 512 Teaching program Continuous operation interrupt program 13 PROGRAMMING 13.4 Program Example...
Page 513 Target position change program Absolute position restoration program 13 PROGRAMMING 13.4 Program Example...
Page 514 Restart program Parameter/data initialization program 13 PROGRAMMING 13.4 Program Example...
Page 515 Flash ROM write program Error reset program 13 PROGRAMMING 13.4 Program Example...
Page 516 Stop program 13 PROGRAMMING 13.4 Program Example...
Page 517: Chapter 14 Troubleshooting
TROUBLESHOOTING This chapter describes errors that may occur when the RD75 is used, and those troubleshooting. 14.1 Troubleshooting Procedure If a problem occurs, perform troubleshooting by following the procedure below. Check that each module is mounted correctly. (MELSEC iQ-R Module Configuration Manual) Check the LEDs of the power supply module and CPU module.
Page 518: Check Of Module Status
The RUN LED has turned off Check item Action The power is not supplied. Check that the voltage supplied to the power supply module is within the rated range. The capacity of the power supply module is not sufficient. Calculate the total current consumption of modules mounted on the base unit (CPU module, I/O modules, and intelligent function modules) and check that the power capacity is sufficient.
Page 519: Troubleshooting By Symptom
14.2 Troubleshooting by Symptom A motor does not rotate The check items and actions are listed below. Check item Action PLC READY signal is off. Review the program so that PLC READY signal [Y0] turns on. The drive unit is not powered on. Power on the drive unit.
Page 520 ■A motor does not rotate at the set speed Check item Action The value in [Md.28] Axis feedrate is same with or different from the set [When the value in [Md.28] Axis feedrate is same with the set speed] speed. •...
Page 521: Error And Warning Details
14.3 Error and Warning Details Error type Errors detected by the MELSEC iQ-R series modules are classified into three levels: major error, moderate error, and minor error. The RD75 detects moderate errors and minor errors. Moderate errors and minor errors include parameter setting range errors and errors at the operation start or during operation. Parameter setting range errors Parameters are checked on the rising edge of PLC READY signal [Y0] (turning on of the signal) and if the setting of a parameter is not correct, an error occurs.
Page 522: Error Code Classification
Error code classification Error level Error code Error type Moderate error 2600H to 2619H Error at inter-module synchronization 3000H to 3BFFH H/W error Minor error 17C0H to 17DFH Module extension parameter file error 1800H to 185FH Error at interrupt function setting range check 1860H to 18BFH Dedicated instruction error 18C0H to 18FFH...
Page 523: Warning Type
Warning type Warnings include the ones that occur in each operation (positioning operation, manual pulse generator operation, and JOG operation) and the ones that occur in the settings common to positioning control. Warning classification Warning code Warning type 0900H to 093FH Warning common to positioning control 0980H to 098FH Warning in manual operation (JOG operation and manual pulse generator operation)
Page 524: Clearing Errors Or Warnings
Clearing errors or warnings Eliminate the cause of an error or warning by referring to the actions described in the following, and clear the error or warning using the error reset. Page 523 List of Warning Codes Page 527 List of Error Codes Clearing errors/warnings by each axis By setting 1 to the following buffer memory address of [Cd.5] Axis error reset, the error or warning is cleared after the completion of the processing below.
Page 525: List Of Warning Codes
14.4 List of Warning Codes Warning Warning Cause and description Action code name 0900H Start during The start request has been performed while the axis is in Do not perform the start request while the axis is in BUSY operation BUSY state.
Page 526 Warning Warning Cause and description Action code name 0981H JOG speed JOG speed at the start is over the speed set in [Pr.31] JOG Correct the value within the setting range. For details, refer to limit value speed limit value. Page 401 [Pr.31] JOG speed limit value.
Page 527 Warning Warning Cause and description Action code name 0997H Illegal external A value outside the setting range is set in [Pr.42] External Correct the value within the setting range. For details, refer to Page 408 [Pr.42] External command function selection. command command function selection of detailed parameter 2.
Page 528 Warning Warning Cause and description Action code name 09A7H Positioning Positioning start signal has been input when 0: Start with Do not input Positioning start signal. start signal external command is set in [Pr.42] External command function input at quick selection and 1: External command valid is set in [Cd.8] external start External command valid.
Page 529: List Of Error Codes
14.5 List of Error Codes Error Error name Cause and description Action code 1080H Flash ROM Writing to the flash ROM has been executed more than 25 • Correct the program so that writing to the flash ROM is not write number times in a row with the program.
Page 530 Error Error name Cause and description Action code 1867H Dedicated The interface of the CPU module does not match the interface Check the dedicated instruction that is being executed. If the instruction I/F of the RD75. instruction has no problem, the possible cause is a module 1868H error [Operation of when the error has occurred]...
Page 531 Error Error name Cause and description Action code 1906H Hardware stroke The start request has been performed while Lower limit signal • Check the wiring of Lower limit signal (RLS). limit (-) (RLS) is off. • Check that the specifications of the limit switch match the [Operation of when the error has occurred] setting of [Pr.22] Input signal logic selection.
Page 532 Error Error name Cause and description Action code 1944H Count method At the machine OPR using the count method 1 or 2, the • Calculate the movement amount of the object from the movement distance set in [Pr.50] Setting for the movement amount after speed limit value, OPR speed, and deceleration time, and amount fault near-point dog ON is shorter than the distance required from...
Page 533 Error Error name Cause and description Action code 1993H Software stroke In manual control or in speed control, the positioning has If the current feed value or machine feed value is outside the limit (+) been performed at the position where the current feed value is software stroke limit range, move the object to the position over [Pr.12] Software stroke limit upper limit value.
Page 534 Error Error name Cause and description Action code 199AH Interpolation In interpolation control or 4-axis linear interpolation control of Correct the value in [Pr.20] Interpolation speed specification mode error speed control, the operation has been performed with method. For details, refer to Page 397 [Pr.20] Composite speed being set in [Pr.20] Interpolation speed Interpolation speed specification method.
Page 535 Error Error name Cause and description Action code 19A0H M code ON The positioning has been performed while M code ON signal Start the positioning after M code ON signal [X4, X5, X6, X7] has turned off. For details, refer to Page 280 M code signal ON start [X4, X5, X6, X7] is on.
Page 536 Error Error name Cause and description Action code 1A00H Condition data The condition target is not set or the value is outside the Correct the block start data. For details, refer to Page 439 error setting range. [Da.15] Condition target. [Operation of when the error has occurred] ■At the start of operation The operation is not performed.
Page 537 Error Error name Cause and description Action code 1A15H Outside linear The movement amount of each axis set to the positioning Correct the value in [Da.6] Positioning address. For details, refer to Page 425 [Da.6] Positioning address/movement movement data is over 1073741824 (2 ) when the linear interpolation amount range control has been performed with Composite speed being set...
Page 538 Error Error name Cause and description Action code 1A1CH New current Continuous path control has been set in [Da.1] Operation Do not set Continuous path control in [Da.1] Operation pattern value not pattern of the positioning data where Current value change is with Current value change being set in [Da.2] Control method.
Page 539 Error Error name Cause and description Action code 1A22H Illegal The self-axis or an axis that does not exist is set in [Da.5] Axis • Correct the value in [Da.2] Control method. For details, refer to Page 422 [Da.2] Control method. interpolation to be interpolated when the 2-axis interpolation control or description...
Page 540 Error Error name Cause and description Action code 1A27H Sub point The start point is same with the sub point when the circular Correct the sub point address with [Da.7] Arc address. For setting error interpolation control or helical interpolation control has been details, refer to Page 428 [Da.7] Arc address.
Page 541 Error Error name Cause and description Action code 1A2DH Center point The start point is same with the center point when the circular Correct the center point address with [Da.7] Arc address. For details, refer to Page 428 [Da.7] Arc address. setting error interpolation control or helical interpolation control has been performed with the center point being specified.
Page 542 Error Error name Cause and description Action code 1A34H M code ON A value outside the setting range is set in [Da.27] M code ON Set a value of 0 to 2 in [Da.27] M code ON signal output timing error signal output timing of positioning data.
Page 543 Error Error name Cause and description Action code 1A66H Outside bias A value outside the setting range is set in [Pr.7] Bias speed at Correct the value within the setting range and turn on PLC READY signal [Y0]. For details, refer to Page 386 [Pr.7] speed range start of basic parameter 1.
Page 544 Error Error name Cause and description Action code 1AA3H Software stroke When the unit is degree, a value outside the setting range is Correct the value within the setting range and turn on PLC limit lower limit set in [Pr.13] Software stroke limit lower limit value of detailed READY signal [Y0].
Page 545 Error Error name Cause and description Action code 1AB1H Acceleration A value outside the setting range is set in [Pr.25] Acceleration Correct the value within the setting range and turn on PLC time 1 setting time 1 of detailed parameter 2. READY signal [Y0] if the signal is off.
Page 546 Error Error name Cause and description Action code 1AB6H Deceleration A value outside the setting range is set in [Pr.30] Deceleration Correct the value within the setting range and turn on PLC time 3 setting time 3 of detailed parameter 2. READY signal [Y0] if the signal is off.
Page 547 Error Error name Cause and description Action code 1AC0H Illegal sudden A value outside the setting range is set in [Pr.36] Sudden stop Correct the value within the setting range and turn on PLC stop deceleration time of detailed parameter 2. READY signal [Y0] if the signal is off.
Page 548 Error Error name Cause and description Action code 1B03H OPR speed A value outside the setting range is set in [Pr.46] OPR speed Correct the value within the setting range and turn on PLC error of OPR basic parameter. READY signal [Y0]. For details, refer to Page 411 [Pr.46] [Operation of when the error has occurred] OPR speed.
Page 549 Error Error name Cause and description Action code 1B10H Speed A value outside the setting range is set in [Pr.56] Speed Correct the value within the setting range and turn on PLC READY signal [Y0]. For details, refer to Page 418 [Pr.56] specification specification during OP shift of OPR detailed parameter.
Page 550: Appendices
APPENDICES Appendix 1 Module Label The functions of the RD75 can be set by using module labels. Module label of I/O signals The label names of I/O signals are defined with the following configuration. "Module name"_"Module number".b"Label name"_"Axis[ax]" or "Module name"_"Module number".b"Label name"_"Axis[ax]"_D RD75_1.bnMcodeOn_Axis[0]_D ■Module name...
Page 551 ■Data type The data type indicates the size of a buffer memory area. The following shows the classification. Data Type Description Word [Unsigned]/Bit String [16-bit] Word [Signed] Double Word [Unsigned]/Bit String [32-bit] Double Word [Signed] ■_D _D indicates that the module label is for direct access. When _D is not described, it indicates that the label is for auto refresh. The following shows the differences between auto refresh and direct access.
Page 552: Appendix 2 Dedicated Instruction
Appendix 2 Dedicated Instruction The following table lists dedicated instructions. Application Dedicated instruction Function overview Absolute position restoration G.ABRST1 Restores the absolute position of a specified axis of the RD75. G.ABRST2 G.ABRST3 G.ABRST4 Z.ABRST1 Z.ABRST2 Z.ABRST3 Z.ABRST4 Positioning start GP.PSTRT1 Starts the positioning control of a specified axis of the RD75.
Page 553: Appendix 3 How To Find Buffer Memory Addresses
Appendix 3 How to Find Buffer Memory Addresses This section describes how to find the buffer memory addresses of positioning data, block start data, and condition data. Positioning data Positioning data No.1 to No.600 are assigned to each axis. Positioning data has the following structure. •...
Page 554 When setting positioning data using a program, determine buffer memory addresses using the following calculation formula and set the addresses. • 2000 + 6000  (Ax - 1) + 10  (N - 1) + S For each variable, substitute a number following the description below. Item Description The axis number of the buffer memory address to be determined.
Page 555 Block start data Block start data consists of five start blocks from Start block 0 to 4, and the block start data of 1 to 50 points is assigned to each block. The start blocks are assigned to each axis. Block start data has the following structure. 50th point Buffer memory Setting item...
Page 556 When setting block start data using a program, determine buffer memory addresses using the following calculation formula and set the addresses. ■Calculation formula for [Da.11] Shape and [Da.12] Start data No. Use the following calculation formula. • 26000 + (1000  (Ax - 1)) + (200  M) + (P - 1) For each variable, substitute a number following the description below.
Page 557 Condition data Condition data consists of five start blocks from Start block 0 to 4, and the condition data No.1 to 10 are assigned to each block. The start blocks are assigned to each axis. Condition data has the following structure. No.10 Buffer memory Setting item...
Page 558: Appendix 4 Operation Examples Of When The Remote Head Module Is Mounted
Appendix 4 Operation Examples of When the Remote Head Module Is Mounted This section describes operation examples of when the remote head module is mounted. System configuration example The following system configuration is used to explain an example of operation. (1) Master station (Network number 1, station number 0) •...
Page 559: Setting In The Master Station
Setting in the master station Connect the engineering tool to the CPU module of the master station and set parameters. Create the project with the following settings. [Project]  [New] Configure the setting to use the module labels and add the module labels of the CPU module. Add the master/local module with the following settings.
Page 560 Configure the setting to use the module labels and add the module labels of the master/local module. Set "Required Settings" of "Module Parameter" of the master/local module as shown below. [Navigation window]  [Parameter]  [Module Information]  [RJ71GF11-T2]  [Module Parameter]  [Required Settings] Set "Network Configuration Settings"...
Page 561 Set "Refresh Setting" of "Module Parameter" of the master/local module as shown below. [Navigation window]  [Parameter]  [Module Information]  [RJ71GF11-T2]  [Module Parameter]  [Basic Settings]  [Refresh Setting] Write the set parameters to the CPU module on the master station. Then reset the CPU module or power off and on the system.
Page 562: Setting In The Intelligent Device Station
Setting in the intelligent device station Connect the engineering tool to the remote head module of the intelligent device station and set parameters. Create the project with the following settings. [Project]  [New] Set "Network Required Setting" of "CPU Parameter" of the remote head module as shown below. [Navigation window] ...
Page 563 Configure the setting not to use the module labels. Since the parameters are already set with a program in this program example, use default values for module parameter settings of the engineering tool. When setting module parameters with the engineering tool, refer to the following. Page 316 Module Parameters Write the set parameters to the remote head module on the intelligent device station.
Page 564: Checking The Network Status
Checking the network status After setting parameters to the master station and the intelligent device station, check whether data link is normally performed between the master station and the intelligent device station. Check the network status using the CC-Link IE Field Network diagnostics of the engineering tool.
Page 565 APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 566 ■Details of arrayed labels Out of global labels listed in the above table, the arrayed labels are listed in the table below. Label name Assigned device Description wSpeed[0] Speed wSpeed[1] wMovementAmount[0] Movement amount wMovementAmount[1] wSetJogSpeed[0] Inching movement amount wSetJogSpeed[1] JOG operation speed wSetJogSpeed[2] wMPG[0] Manual pulse generator 1 pulse input magnification...
Page 567 Label name Assigned device Description wTarget[2] Target speed wTarget[3] wTarget[4] Target position change request wBasicParam[0] Basic parameter: Unit setting wBasicParam[1] Basic parameter: No. of pulses per rotation (16 bits) wBasicParam[2] Basic parameter: Movement amount per rotation (16 bits) wBasicParam[3] Basic parameter: Unit magnification wBasicParam[4] Basic parameter: Pulse output mode wBasicParam[5]...
Page 568 Common program APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 569 Parameter setting program When parameters are set in "Module Parameter" of the engineering tool, this program is unnecessary. ■Setting of basic parameter 1 (axis 1) APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 570 ■Setting of OPR basic parameter (axis 1) APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 571 ■Parameter setting program for the speed-position switching control (ABS mode) This program is unnecessary when the speed-position switching control (ABS mode) is not executed. APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 572 Positioning data setting program When positioning data is set in "Module Extended Parameter" of the engineering tool, this program is unnecessary. APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 573 Block start data setting program When block start data is set in "Module Extended Parameter" of the engineering tool, this program is unnecessary. Setting Special start instruction to Normal start When block start data is set in "Module Extended Parameter" of the engineering tool, this program is unnecessary. APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 574 OPR request OFF program When "Setting of operation during uncompleted OPR" is set to "1: Execute the positioning control" in "Module Parameter" of the engineering tool, this program is unnecessary. APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 575 External command function valid setting program PLC READY signal [Y0] ON program Positioning start No. setting program ■Machine OPR ■Fast OPR ■Positioning with the positioning data No.1 APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 576 ■Speed-position switching control (positioning data No.2) For the ABS mode, writing the target movement amount after change is unnecessary. ■Position-speed switching control (positioning data No.3) ■Advanced positioning control APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 577 ■Turning off a fast OPR command and fast OPR command storage This program is unnecessary when the fast OPR is not used. Positioning start program APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 578 M code OFF program JOG operation setting program Inching operation setting program JOG operation/inching operation execution program APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 579 Manual pulse generator operation program APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 580 Speed change program Override program APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 581 Acceleration/deceleration time change program APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 582 Step operation program Skip program APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 583 Continuous operation interrupt program Target position change program APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 584 Restart program APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 585 Parameter/data initialization program APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 586 Flash ROM write program Error reset program APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 587 Stop program APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted...
Page 588: The Rd75 Operation When The Remote Head Module Is Mounted
The RD75 operation when the remote head module is mounted This section describes the RD75 operation for when the RD75 is used with the remote head module disconnected. The RD75 operation with the remote head module disconnected An output signal is turned off when the remote head module is disconnected because "CPU error output mode setting" of the RD75 is fixed to "0: Clear".
Page 589: Appendix 5 Added Or Changed Functions
Appendix 5 Added or Changed Functions This section describes the functions added to or changed for the RD75. Added or changed contents Firmware version Reference Online module change "02" or later  MELSEC iQ-R Online Module Change Manual Change in the extension parameter storage Page 587 Change in the extension parameter storage timing timing...
Page 590: Index
INDEX 0 to 9 [Cd.20] Manual pulse generator 1 pulse input ......475 magnification ... 84 1-axis linear control (ABS linear 1) .
Page 591 ......467 Control data ......52 Count method 1 .
Page 592 [Md.29] Speed-position switching control ..... 457 positioning amount ......215 OP shift function .
Page 593 . . . 408 ....262 [Pr.42] External command function selection Start time adjustment function ....409 .
Page 594: Revisions
Japanese manual number: SH-081244-E 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 595: 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 596: Trademarks
TRADEMARKS Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies.   In some cases, trademark symbols such as ' ' or ' ' are not specified in this manual.
Page 598 SH(NA)-081245ENG-E(1701)MEE MODEL: RD75-U-OU-E MODEL CODE: 13JX15 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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Mitsubishi Electric MELSEC iQ-R-RD75P4 User Manual

Chapter 1 Starting and Stopping

Starting

Stopping

Restarting

Chapter 2 Opr Control

Overview of the OPR Control

Machine OPR

Fast OPR

Chapter 3 Major Positioning Control

Overview of the Major Positioning Controls

Positioning Data Setting

Chapter 4 Advanced Positioning Control

Overview of Advanced Positioning Control

Execution Procedure for Advanced Positioning Control

Setting the Block Start Data

Setting the Condition Data

Start Program for the Advanced Positioning Control

Chapter 5 Manual Control

Overview of the Manual Control

JOG Operation

Inching Operation

Manual Pulse Generator Operation

Chapter 6 Inter-Module Synchronization Function

(Simultaneous Start of Multiple Modules)

Control in Pre-Analysis Mode

Control in Normal Analysis Mode

Chapter 7 Control Sub Functions

Overview of Sub Functions

Sub Functions Specific to Machine OPR

Function to Compensate Control

Function to Limit Control

Functions that Change Control Details

Function Related to Start

Absolute Position Restoration Function

Function Related to Stop

Other Functions

Chapter 8 Common Functions

Overview of Common Functions

Module Data Initialization Function

Module Data Backup Function

External I/O Signal Logic Switching Function

External I/O Signal Monitor Function

History Monitor Function

Amplifier-Less Operation Function

Chapter 9 Parameter Setting

Parameter Setting Procedure

Module Parameters

Module Extension Parameter

Chapter 10 Monitoring/Test

10.1 Positioning Monitor

Positioning Test

Chapter 11 Specifications of I/O Signals with Cpu Module

List of I/O Signals with CPU Module

Details of Input Signals

Details of Output Signals

Chapter 12 Data Used for Positioning Control

Types of Data

List of Buffer Memory Addresses

Basic Setting

Positioning Data

Block Start Data

Condition Data

Monitor Data

Control Data

Interrupt Setting

Synchronized Refresh-Dedicated Area

Basic Parameter 3

Parameter Reflection

Chapter 13 Programming

Precautions on Programming

List of Labels Used

Creating Programs

Program Example

Chapter 14 Troubleshooting

Troubleshooting Procedure

Troubleshooting by Symptom

Error and Warning Details

List of Warning Codes

List of Error Codes