Page 1 MOTION CONTROLLER (SV13/22) (REAL MODE) Programming Manua l type A173UHCPU, A273UHCPU...
Page 2 INTORODUCTION Thank you for purchasing the Mitsubishi Motion Controller/Personal Machine Controller. This instruction manual describes the handling and precautions of this unit. Incorrect handing will lead to unforeseen events, so we ask that you please read this manual thoroughly and use the unit correctly. Please make sure that this manual is delivered to the final user of the unit and that it is stored for future reference.
Page 3 For Sate Operations 1. Prevention of electric shocks WARNING Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.
Page 4 3. For injury prevention CAUTION Do not apply a voltage other than that specified in user's manual, or the instruction manual for the product you are using on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity (+/−), as this may lead to destruction or damage.
Page 5 CAUTION Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system. Use wires and cables within the length of the range described in the instruction manual. The ratings and characteristics of the system parts (other than control unit, servo amplifier, servomotor) must be compatible with the control unit, servo amplifier and servomotor.
Page 6 (3) Transportation and installation CAUTION Transport the product with the correct method according to the weight. Use the servomotor suspension bolts only for the transportation of the servomotor. Do not transport the servomotor with machine installed on it. Do not stack products past the limit. When transporting the control unit or servo amplifier, never hold the connected wires or cables.
Page 7 CAUTION When coupling with the synchronization encoder or servomotor shaft end, do not apply impact such as by hitting with a hammer. Doing so may lead to detector damage. Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead to shaft breakage.
Page 8 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the control unit, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. The units must be disassembled and repaired by a qualified technician.
Page 9 CAUTION Do not touch the lead sections such as ICs or the connector contacts. Do not place the control unit or servo amplifier on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup. Do not perform a megger test (insulation resistance measurement) during inspection.
Page 10 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 11: Table Of Contents
1.1 System Configuration ........................1- 3 1.1.1 A273UHCPU System overall configuration ................1- 3 1.1.2 A173UHCPU(-S1) System overall configuration ................ 1- 4 1.2 Table of Software Package ....................... 1- 5 1.3 Positioning Control by the Servo System CPU ................. 1- 6 2.
Page 12 4.3.15 Optional function 2 (no-motor operation selection) ..............4-19 4.3.16 Monitor output 1, 2 offset......................4-20 4.3.17 Pre-alarm data selection......................4-20 4.3.18 Zero speed ..........................4-21 4.3.19 Excessive error alarm level ..................... 4-21 4.3.20 Optional function 5........................4-21 4.3.21 PI-PID switching position droop....................4-21 4.3.22 Torque control compensation factor..................
Page 13 7.1.3 Control units for 1-axis positioning control.................. 7- 7 7.1.4 Control units for interpolation control..................7- 7 7.1.5 Control using degrees as control units ..................7- 9 7.1.6 Stop processing and restarting after a stop................7-11 7.1.7 Acceleration and deceleration processing................. 7-17 7.2 1-Axis Linear Positioning Control .....................
Page 14 8.2 M-Code Output Function........................8- 4 8.3 Backlash Compensation Function..................... 8- 6 8.4 Torque Limit Function ........................8- 8 8.5 Electronic Gear Function........................8-10 8.6 Absolute Positioning System......................8-12 8.7 Skip Function ........................... 8-15 8.8 Teaching Function..........................8-16 8.9 High−Speed Reading of Designated Data ..................8-16 8.10 Servo Program Cancel/Start Function ...................
Page 15: General Description
Number of Axes Controlled in Applicable CPU Positioning Control A173UHCPU(-S1) A273UHCPU In this manual, the CPUs cited in the table above are collectively referred to as "servo system CPUs". The following software packages are used to make system settings, and to set, test, and monitor parameters and servo programs.
Page 16 1. GENERAL DESCRIPTION Differences between A273UHCPU, A173UHCPU(-S1) and A172SHCPUN Item A173UHCPU(-S1) A172SHCPUN A273UHCPU Number of control axes 32-axes 8-axes 32-axes 3.5ms/1 to 12 axes 3.5ms/1 to 20 axes 7.1ms/13 to 24 axes 7.1ms/21 to 32 axes 14.2ms/25 to 32 axes Operation cycle 3.5ms/1 to 8 axes...
Page 17: System Configuration
1. GENERAL DESCRIPTION System Configuration 1.1.1 A273UHCPU System overall configuration The following system configuration assumes use of the A273UHCPU. Motion slots AC motor drive modules CPU base unit (A278B/A275B) A62P A273UH A278 A240 A221 A211 A222AM-20 A230P AM-20 AM-20 Battery module A270BATCBL Regenerative brake resistor MR-J-BAT...
Page 18: A173Uhcpu(-S1) System Overall Configuration
(Note) Servo amplifier, max. 32 axes Max. 24 axes SSCNET1 Termination resistor (Note): The A173UHCPU may be used with 4 channels of SSCNET. When using the SSC I/F card/board SSCNET2 (A30CD-PCF/A30BD-PCF), connect it to SSCNET3 SSCNET4 and connect the servo amplifiers to Servo amplifier, max.
Page 19: Table Of Software Package
"MR-J2S series" and the servo motor to "Auto" in the programming software package system settings. Programming Software Package Operating System Software Package Model Version A273UHCPU Version A173UHCPU(-S1) Version SW2SRX-GSV13P AD or later SW2SRX-SV13V AF or later SW2SRX-SV13B AF or later...
Page 20: Positioning Control By The Servo System Cpu
1. GENERAL DESCRIPTION Positioning Control by the Servo System CPU A servo system CPU can execute positioning control and sequence control for 32 axes by means of a CPU for multi-axis positioning control (hereafter called the "PCPU") and a CPU for sequence control (hereafter called the "SCPU"). Sequence control capabilities are equivalent to those of A3U.
Page 21 1. GENERAL DESCRIPTION [Executing Positioning Control with a Servo System CPU] The servo system CPU executes positioning control in accordance with the servo programs designated by the sequence program of the SCPU. An overview of the method used for positioning control is presented below. Servo System CPU System SCPU Control Created and modified using a...
Page 22 1. GENERAL DESCRIPTION (3) The positioning specified by the designated servo program is executed. PCPU Control Created and modified using a Servo program (Note-1) peripheral device Servo program No.15 (Program number allowing program designation with the SVST instruction.) <K 15> ABS-1 Axis 10000...
Page 23 1. GENERAL DESCRIPTION [Executing JOG Operation with a Servo System CPU] The servo system CPU can be used to perform JOG operation on a designated axis in accordance with a sequence program. An overview of JOG operation is presented below. Servo System CPU System SCPU Control Created and modified using a...
Page 24 1. GENERAL DESCRIPTION PCPU Control Set and changed using a Positioning control (Note-1) peripheral device parameters System settings System data such as axis allocations Fixed data decided, for example, by Fixed parameters the mechanical system Data decided by the specifications of the Servo parameters connected servo equipment Data required to execute acceleration,...
Page 25 1. GENERAL DESCRIPTION [Executing Manual Pulse Generator Operation with a Servo System CPU] When executing positioning control with a manual pulse generator connected to an A273EX or A172SENC, manual pulse generator operation must be enabled by the sequence program. An overview of positioning control using manual pulse generator operation is presented below.
Page 26 1. GENERAL DESCRIPTION Servo PCPU amplifier Servo motor Manual pulse generator 1 − 12...
Page 27 1. GENERAL DESCRIPTION (1) Positioning control parameters The positioning control parameters are classified into the seven types shown below. Parameter data can be set and corrected interactively by using a peripheral device. Item Description Reference 1 System settings The system settings set the modules used, axis numbers, etc. Section 4.1 Fixed parameters are set for each axis.
Page 28: Performance Specifications
2. PERFORMANCE SPECIFICATIONS SCPU Performance Specifications Table 2.1 gives the performance specifications of the SCPU. Table 2.1 SCPU Performance Specifications Item A273UHCPU A173UHCPU(-S1) Control method Stored program repeated operation I/O control method Refresh mode/direct mode (selectable) Sequence control dedicated language...
Page 29 2. PERFORMANCE SPECIFICATIONS Table 2.1 SCPU Performance Specifications (Continued) Item A273UHCPU A173UHCPU(-S1) Number of data registers (D) (Note-1) 8192 points (D0 to D8191) Number of link registers (W) 8192 points (W0 to W1FFF) Number of annunciators (F) 2048 points (F0 to F2047) Number of file registers (R) Max.
Page 30: Pcpu Performance Specifications
2. PERFORMANCE SPECIFICATIONS PCPU Performance Specifications Table 2.2 PCPU Performance Specifications Item A273UHCPU A173UHCPU(-S1) Number of control axes 32 axes (simultaneous: 2 to 4 axes, independent: 32 axes) Interpolation functions Linear interpolation (max. 4 axes), circular interpolation (2 axes) PTP(point to point), speed control, speed/position control, fixed-pitch feed, constant-speed...
Page 31 2. PERFORMANCE SPECIFICATIONS Table 2.2 PCPU Performance Specifications (Continued) Item A273UHCPU A173UHCPU(-S1) • A maximum of three manual pulse generator • A maximum of three manual pulse generator can be connected. can be connected. • A maximum of three manual pulse generators •...
Page 32: Positioning Signals
3. POSITIONING SIGNALS 3. POSITIONING SIGNALS The internal signals of the servo system CPU and the external signals sent to the servo system CPU are used as positioning signals. (1) Internal signals Of the devices available in the servo system CPU, the following four types are used for the internal signals of the servo system CPU.
Page 33: Internal Relays
3. POSITIONING SIGNAL The following section describes the positioning devices. It indicates the device refresh cycles for signals with the positioning direction PCPU→SCPU and the device fetch cycles for those with the positioning direction SCPU→PCPU. Internal Relays (1) List of internal relays Device Purpose User device...
Page 34 1 to 20 21 to 32 1 to 20 21 to 32 Signal M2460 to M2479 A173UHCPU SV13 direction 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 M2480 to M2499...
Page 35   1 to 20 21 to 32 1 to 20 21 to 32 M3260 to M3279 A173UHCPU Signal SV13 direction 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 M3280 to M3299...
Page 36 A273UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32...
Page 37 A273UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32...
Page 38: Axis Status
3. POSITIONING SIGNALS 3.1.1 Axis status (1) Positioning start completed signal (M2400+20n) (a) This signal comes ON when starting of positioning control of the axis designated by the SVST instruction in the sequence program is completed. It does not come ON when positioning control starts due to a zeroing, JOG operation or manual pulse generator operation.
Page 39 3. POSITIONING SIGNAL (2) Positioning completed signal (M2401+20n) (a) This signal comes ON when positioning control of the axis designated by the SVST instruction in the sequence program is completed. It does not come ON when positioning control is started, or stopped part way through, due to a zeroing, JOG operation, manual pulse generator operation, or speed control.
Page 40 3. POSITIONING SIGNAL (3) In-position signal (M2402+20n) (a) The in-position signal comes ON when the number of droop pulses in the deviation counter enters the "in-position range" set in the servo parameters. It goes off when axis motion starts. Number Setting for in-position range droop pulses In-position signal...
Page 41 3. POSITIONING SIGNAL (5) Speed control in progress signal (M2404+20n) (a) The speed control in progress signal is ON during speed control and is used to determine whether speed control or position control is currently being executed. In speed/position switching control, it remains ON until the switch from speed control to position control is executed on receipt of the CHANGE signal from an external source.
Page 42 3. POSITIONING SIGNAL (8) Error detection signal (M2407+20n) (a) The error detection signal comes ON when a minor error or major error is detected and is used to determine whether or not errors have occurred. (Note-1) When a minor error is detected, the corresponding error code stored in the minor error code storage area.(see section 3.2.1) (Note-2) When a major error is detected, the corresponding error code...
Page 43 3. POSITIONING SIGNAL (10) Zeroing request signal (M2409+20n) This signal comes ON when it is necessary to confirm the home position address when the power is switched on or during positioning control. (a) When not using an absolute value system 1) The zeroing request signal comes ON in the following cases: •...
Page 44 3. POSITIONING SIGNAL (13) RLS signal (M2412+20n) (a)The RLS signal is controlled by the ON/OFF status of the lower stroke end limit switch input (FLS) to the A278LX or A172SENC from an external source. • Lower stroke end limit switch input OFF ..RLS signal: ON •...
Page 45 3. POSITIONING SIGNAL (16) Servo READY signal (M2415+20n) (a) The servo READY signal comes ON when the servo amplifiers connected to each axis are in the READY status. (b) The signal goes OFF in the following cases. • When M2042 is OFF •...
Page 46 3. POSITIONING SIGNAL (b) When the CHANGE signal is ON/OFF, the status of the speed change switch (CHANGE) is as shown below. FLS signal: ON FLS signal: OFF A278LX, A172SENC A278LX, A172SENC CHANGE CHANGE CHANGE CHANGE (19) M-code output signal (M2419+20n) (a) This signal indicates M-code output in progress.
Page 47: Axis Command Signals
3. POSITIONING SIGNALS 3.1.2 Axis command signals (1) Stop command (M3200+20n) (a) The stop command is a signal used to stop an axis that is currently being driven and becomes effective at its leading edge (OFF→ON). (An axis for which the stop command is ON cannot be started.) Stop command (M3200+20n) Stop command for...
Page 48 3. POSITIONING SIGNAL (2) Rapid stop command (M3201+20n) (a) The rapid stop command is a signal used to rapidly stop an axis that is currently being driven and becomes effective at its leading edge (OFF→ON). (An axis for which the rapid stop command is ON cannot be started.) Rapid stop command...
Page 49 3. POSITIONING SIGNAL (3) Forward JOG start command (M3202+20n)/Reverse JOG start command (M3203+20n) (a) While the sequence program keeps M3202+20n ON, JOG operation is executed in the direction in which address numbers increase. When M3202+20n is turned OFF, a deceleration stop is executed in the deceleration time set in the parameter block.
Page 50 3. POSITIONING SIGNAL (6) Limit switch output enable command (M3206+20n) The limit switch output enable command is used to enable limit switch output. • ON..The limit switch output ON/OFF pattern can be output. • OFF ..Limit switch output goes OFF. (7) Error reset command (M3207+20n) The error reset command is used to clear the minor error code or major error code storage area of an axis for which the error detection signal has come ON...
Page 51 3. POSITIONING SIGNAL (9) External STOP input/invalid when starting command (M3209+20n) This signal is used to make external STOP signal input valid or invalid. • ON..External STOP input is set as invalid, and even axes for which STOP input is currently ON can be started. •...
Page 52 3. POSITIONING SIGNAL (12) FIN signal (M3219+20n) When an M-code is set in a point during positioning, travel to the next block does not take place until the FIN signal state changes as follows: OFF→ON→OFF Positioning to the next block begins after the FIN signal state changes as above.
Page 53: Common Device
3. POSITIONING SIGNALS 3.1.3 Common Device POINTS (1) Internal relays for positioning control are not latched even inside the latch range. In this manual, in order to indicate that internal relays for positioning control are not latched, the expression used in this text is "M2000 to M2319".
Page 54 3. POSITIONING SIGNALS (d) When M2000 is switched from ON to OFF, the following processing is executed. 1) Processing details • The PCPU READY-completed flag (M9074) is turned OFF. • The axis being driven is decelerated to a stop. POINT The PLC READY flag (M2000) goes OFF when the servo system CPU is in the STOP status.
Page 55 3. POSITIONING SIGNALS 2) When positioning control is executed by turning ON the JOG operation command (M3202+20n or M3203+20n), the start accept flag goes OFF when positioning is stopped by turning the JOG operation command OFF. 3) The start accept flag is ON while the manual pulse generator enable flag (M2051 to M2053: ON) is ON.
Page 56 3. POSITIONING SIGNALS (3) PC link communication error flag (M2034) ... Signal sent from PCPU to SCPU This flag comes ON when an error occurs during personal computer linking communication. OFF : No PC link communication error ON : PC link communication error detected (Flag changes to OFF if normal communication is restored.) For details on PC link communication error, see APPENDIX 2-5.
Page 57 3. POSITIONING SIGNALS (5) System setting error flag (M2041) ....Signal sent from PCPU to SCPU When the power is switched ON, or when the servo system CPU is reset, the system setting data set with a peripheral device is input, and a check is performed to determine if the set data matches the module mounting status (of the CPU base unit and extension base units).
Page 58 3. POSITIONING SIGNALS (7) Optional slot module error detection flag (M2047) ....Signal from PCPU to SCPU This flag is used to determine whether the status of modules mounted on the CPU base unit and extension base units is "normal" or "abnormal". •...
Page 59 3. POSITIONING SIGNALS (11) Manual pulse generator enable flag (M2051 to M2053)..Signal sent from SCPU to PCPU The manual pulse generator enable flags set the enabled or disabled status for positioning with the pulse input from the manual pulse generators (Note) connected to P1 to P3 of the A273EX or A172SENC.
Page 60 3. POSITIONING SIGNALS (13) Automatically decelerating flag (M2128 to M2159) ....Signal from PCPU to SCPU This signal is ON while automatic deceleration processing is performed under positioning control or position follow-up control. (a) Under position follow-up control, this flag is ON during automatic deceleration to the command address, but turns OFF if the command address is changed during that time.
Page 61 3. POSITIONING SIGNALS (14) Speed change "0" accepting flag (M2240 to M2271) .... Signal from PCPU to SCPU The speed change "0" accepting flag is ON while a speed change request for speed "0" is being accepted. This signal turns ON when the speed change request for speed "0" is accepted during a start.
Page 62 3. POSITIONING SIGNALS (a) The flag turns OFF if a speed change request for other than speed "0" occurs during deceleration to a stop due to speed change "0". Speed change "0" Speed change V2 Start acceptance flag Speed change "0" accepting flag (b) The flag turns OFF if a stop cause occurs after speed change "0"...
Page 63 3. POSITIONING SIGNALS (d) Under position follow-up control, the speed change "0" accepting flag turns ON if a speed change "0" occurs after an automatic deceleration start to the "specified address". Automatic deceleration start Speed change "0" Speed change V2 Command address P1 Command address P2 Start acceptance...
Page 64: Data Registers
Number of set axes   D60 to D79 1 to 20 21 to 32 1 to 20 21 to 32 A173UHCPU Signal SV13 Unit direction D80 to D99 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32...
Page 65 D642, D643 Refresh cycle Import cycle Signal Name D644, D645 Number of set axes Number of set axes   D646, D647 A173UHCPU 1 to 20 21 to 32 1 to 20 21 to 32 Signal SV13 Unit direction D648, D649...
Page 66 3. POSITIONING SIGNALS (4) Common devices Refresh Cycle Import Cycle Signal Name Number of set axes Number of set axes   A173UHCPU 1 to 20 21 to 32 1 to 20 21 to 32 SV13 Device Number Signal Direction A273UHCPU...
Page 67: Monitoring Data Area
3. POSITIONING SIGNALS 3.2.1 Monitoring data area The monitoring data area is used by the PCPU to store data such as the feed current value during positioning control, the real current value, and the number of droop pulses in the deviation counter. It can be used to check the positioning control status using the sequence program.
Page 68 3. POSITIONING SIGNALS (6) Servo error code register (D8+20n) ....Data from the PCPU to the SCPU (a) This register stores the relevant error code (see Appendix 2.4) when a servo error occurs. If another servo error occurs, the previous error code is overwritten by the new error code.
Page 69 3. POSITIONING SIGNALS REMARK (Note): See the following sections for details on M-codes and reading M-codes. • M-code ......Section 8.2 • M-code reading ....Appendix 4.1 (11) Torque limit value register (D14+20n)..Data from the PCPU to the SCPU This register stores the value for the torque limit imposed on the servo system.
Page 70 3. POSITIONING SIGNALS [Input of positioning data to the PCPU] SCPU PCPU Data updating in accordance Positioning data input to the PCPU with sequence program at each point Positioning execution point Data set pointer for Updated data Indirect device D Point Updating constant-speed control...
Page 71 3. POSITIONING SIGNALS [Internal processing] (a) On starting the operation, the positioning data of points 0 to 6 ((1) to (14)) is input to the PCPU. At this time, the last point of the data to be input - which is point "6" - is stored in the data set pointer for constant-speed control.
Page 72: Control Change Registers
3. POSITIONING SIGNALS 3.2.2 Control change registers The control change data storage area stores JOG operation speed data. Table 3.1 Control Change Data Storage Area List Name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 D641, D640 D643, D642 D645, D644 D647, D646 D649, D648 D651, D650 D653, D652 D655, D654 Axis 9...
Page 73: Common Devices
3. POSITIONING SIGNALS 3.2.3 Common devices (1) JOG operation simultaneous start axis setting registers (D710 to D713)............Data from SCPU to PCPU (a) These registers are used to set the axis No. and directions of the axis whose JOG operation will be started simultaneously. b15 b14 b13 b12 b11 b10 b9 Axis Axis...
Page 74 3. POSITIONING SIGNALS (3) Manual pulse generator 1-pulse input magnification setting registers (D720 to D751)............Data from SCPU to PCPU (a) This register is used to set the magnification (1 to 100) per pulse of the input pulse count from the manual pulse generator for manual pulse generator operation.
Page 75 3. POSITIONING SIGNALS (4) Manual pulse generator smoothing magnification setting area (D752 to D754) ........Data from SCPU to PCPU (a) These devices are used to set the smoothing time constants of manual pulse generators. Manual Pulse Generator Smoothing Setting Range Magnification Setting Register Manual pulse generator 1 (P1) : D752 Manual pulse generator 2 (P2) : D753...
Page 76 3. POSITIONING SIGNALS (5) Limit switch output disable setting registers (D760 to D775)............Data from SCPU to PCPU (a) These registers are used to disable the external outputs of the limit switch outputs on a point by point basis. Set the corresponding bit to 1 to disable the limit switch output and turn OFF the external output.
Page 77 3. POSITIONING SIGNALS (6) Limit switch output status storage registers (D776 to D791)............Data from PCPU to SCPU (a) The output states (ON/OFF) of the limit switch outputs set on the peripheral device and output to the AY42 are stored in terms of 1 and 0. •...
Page 78 3. POSITIONING SIGNALS (7) Servo amplifier type (D792 to D799) ......Data from PCPU to SCPU The servo amplifier types set in system settings are stored when the servo system CPU control power supply (A6 P) is switched on or reset. D792 Axis 4 Axis 3...
Page 79: Special Relays (Sp.m)
3. POSITIONING SIGNALS 3.3 Special Relays (SP.M) The servo system CPU has 256 special relay points from M9000 to M9255. Of there, the 7 points from M9073 to M9079 are used for positioning control, and their applications are indicated in Table 3.2. Table 3.2 Special Relays Device No.
Page 80 3. POSITIONING SIGNALS (3) In-test-mode(M9075) ..........Signal from PCPU to SCPU (a) This flag is used to determine whether or not a test mode established from a peripheral device is currently effective. Use it, for example, for an interlock effective when starting a servo program with the SVST instruction in the sequence program.
Page 81 3. POSITIONING SIGNALS (6) Test mode request error flag (M9078) .....Signal sent from PCPU to SCPU (a) This flag comes ON if the test mode is not established when a test mode request is sent from a peripheral device (b) When M9078 comes ON, the error contents are stored in the test mode request error register (D9182, D9183).
Page 82: Special Register (Sp.d)
Refresh Cycle Import Cycle Signal Name Number of set axes Number of set axes   Device A173UHCPU Signal 1 to 20 21 to 32 1 to 20 21 to 32 SV13 Number Direction A273UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32...
Page 83 3. POSITIONING SIGNALS (2) PCPU error cause(D9184) ......Data from the PCPU to the SCPU This register is used to identify the nature of errors occurring in the PCPU part of the sequence program. Error Code Error Cause Operation when Error Occurs Action to Take PCPU software fault 1 All axes stop immediately, after...
Page 84 3. POSITIONING SIGNALS (3) Manual pulse generator axis setting error information (D9185 to D9187)............Data from PCPU to SCPU If an error is found by the set data check made on the leading edge of the manual pulse generator enable signal, the following error information is stored into D9185 to D9187 and the manual pulse generator axis setting error flag (M9077) turns ON.
Page 85: System Settings
3. POSITIONING SIGNALS (6) Servo amplifier loading information (D9191 to D9192)............Data from PCPU to SCPU When the servo system CPU control power supply (A6 P) is switched on or reset, the servo amplifier and option slot loading states are checked and its results are stored.
Page 86 4. PARAMETERS FOR POSITIONING CONTROL 4. PARAMETERS FOR POSITIONING CONTROL System Settings (1) System settings such as base unit selection, unit allocation, axis number setting in programs, servo motor setting (model name), and servo amplifier setting (model name) are made according to the actual system. (No settings are required when the unit is used as a PLC extension base.) (2) Data settings and modifications can be made interactively for some peripheral devices.
Page 87: Fixed Parameters
4. PARAMETERS FOR POSITIONING CONTROL Fixed Parameters (1) The fixed parameters are set for each axis and their data is fixed in accordance with the mechanical system or other factors. (2) The fixed parameters are set with a peripheral device. (3) The fixed parameters to be set are shown in Table 4.1.
Page 88: Setting The Number Of Pulses Per Revolution / Travel Value Per Revolution / Unit Magnification
4. PARAMETERS FOR POSITIONING CONTROL 4.2.1 Setting the number of pulses per revolution / travel value per revolution / unit magnification This section explains how to set the number of pulses per revolution, the travel value per revolution, and the unit magnification. (1) Setting method 1 (a) Finding the smallest position resolution (∆l).
Page 89 4. PARAMETERS FOR POSITIONING CONTROL 1) Travel value per feedback pulse ∆ S=10[mm] =10[mm] ∆ 10[mm] ∆ ∆ =0.000049[mm]..I=0.0001[mm] 25 8192 2) Unit magnification (A Since ∆l is 0.0001[mm], the unit magnification (A ) is "1". 3) Travel distance per revolution (A 10[mm] 1 =0.4[mm]=400.0[ 4) Number of pulses per revolution (A...
Page 90: Upper Stroke Limit Value/Lower Stroke Limit Value
4. PARAMETERS FOR POSITIONING CONTROL 4.2.2 Upper stroke limit value/lower stroke limit value These are the settings for the upper limit value and lower limit value in the travel range of the mechanical system. Limit switch for emergency stop (Travel range of the machine) Lower stroke limit Upper stroke limit Fig.
Page 91: Command In-Position Range
4. PARAMETERS FOR POSITIONING CONTROL 4.2.3 Command in-position range The command in-position is the difference between the positioning address (command position) and feed current value. Once the value for the command in-position has been set, the command in- position signal (M2403 + 20n) will come ON when the difference between the command position and the feed current value enters the set range [(command position −...
Page 92: Servo Parameters Of Adu (Only When A273Uhcpu Is Used)
4. PARAMETERS FOR POSITIONING CONTROL 4.3.1 Servo parameters of ADU (only when A273UHCPU is used) Tables 4.2 and 4.3 indicate the servo parameters to be set. (1) Basic parameters Table 4.2 Servo Parameter (Basic Parameter) List Setting Range Default Expla- inch degree PULSE...
Page 93 4. PARAMETERS FOR POSITIONING CONTROL (2) Adjustment parameters Table 4.3 Servo Parameter (Adjustment Parameter) List Setting Range Default Expla- inch degree PULSE Item Remarks natory Initial Value Units Setting Setting Setting Setting Section Units Units Units Units Range Range Range Range •...
Page 94: Mr- -B Servo Parameters
4. PARAMETERS FOR POSITIONING CONTROL 4.3.2 MR- -B servo parameters The servo parameters to be set are indicated in Tables 4.4 through 4.6. (1) Basic parameters For the servo parameters of the MR-J2S-B, refer to the "SSCNET-Compatible MR-J2S- B Servo Amplifier Instruction Manual (SH-030001). Table 4.4 Servo Parameters (Basic Parameters) Setting Range Default...
Page 95 4. PARAMETERS FOR POSITIONING CONTROL (2) Adjustment parameters Table 4.5 Servo Parameter List (Adjustment Parameters) Setting Range Default Expla- inch degree PULSE Item Remarks natory Initial Value Units Setting Setting Setting Setting Section Units Units Units Units Range Range Range Range •...
Page 96 4. PARAMETERS FOR POSITIONING CONTROL Table 4.5 Servo Parameter List (Adjustment Parameters) (Continued) Setting Range Default Expla- inch degree PULSE Item Remarks natory Initial Value Units Setting Setting Setting Setting Section Units Units Units Units Range Range Range Range Optional •...
Page 97 4. PARAMETERS FOR POSITIONING CONTROL (3) Expansion parameters Table 4.6 Servo Parameters (Expansion Parameters) Setting Range Default Expla- inch degree PULSE Item Remarks natory Initial Units Setting Setting Setting Setting Section Value Units Units Units Units Range Range Range Range •...
Page 98 4. PARAMETERS FOR POSITIONING CONTROL Table 4.6 Servo Parameters (Expansion Parameters) (Continued) Setting Range Default Expla- inch degree PULSE Item Remarks natory Initial Units Setting Setting Setting Setting Section Value Units Units Units Units Range Range Range Range Number of gear teeth at motor side Number of...
Page 99: Position Control Gain 1, 2
4. PARAMETERS FOR POSITIONING CONTROL 4.3.3 Position control gain 1, 2 (1) Position control gain 1 (a) Position control gain 1 is set in order to make the stabilization time shorter. (b) If the position control gain 1 is too high, it could cause overshoot and the value must therefore be adjusted so that it will not cause overshoot or undershoot.
Page 100: Speed Integral Compensation
4. PARAMETERS FOR POSITIONING CONTROL 4.3.4 Position control gain 1, 2 (1) Position control gain 1 (a) In the speed control mode Normally, no change is necessary. (b) In the position control mode Set to increase the follow-up with respect to commands. (2) Speed control gain 2 (a) Speed control gain 2 is set when vibration occurs, for example in low-rigidity machines or machines with a large backlash.
Page 101: In-Position Range
4. PARAMETERS FOR POSITIONING CONTROL 4.3.6 In-position range (1) The "in-position" refers to the quantity of droop pulses in the deviation counter. (2) If an in-position value is set, the in-position signal (M2402 + 20n) will come ON when the difference between the position command and position feedback from the servomotor enters the set range.
Page 102: Servo Responsiveness Setting
4. PARAMETERS FOR POSITIONING CONTROL 4.3.10 Servo responsiveness setting (1) This parameter setting is used to increase servo responsiveness. Changing the set value to a higher value in the sequence 1, 2..., 5 improves servo responsiveness. For machines with high friction, use the set values in the range 8 through C. Response settings 1: Low-speed response Normal machine...
Page 103: Notch Filter
4. PARAMETERS FOR POSITIONING CONTROL 4.3.11 Notch filter This parameter sets the notch frequency for the notch filter. Set Value Notch Frequency (Hz) Not used 1125 4.3.12 Electromagnetic brake sequence This parameter sets the time delay between actuation of the electromagnetic brake and base disconnection.
Page 104: Optional Function 2 (No-Motor Operation Selection)
4. PARAMETERS FOR POSITIONING CONTROL (3) External emergency stop signal (applies only when using MR-J2S-B/MR-J2-B) The external emergency stop signal (EMG) can be made invalid. 0: External emergency stop signal is valid. 1: External emergency stop signal is invalid (automatically turned ON internally). Since the emergency stop signal at the MR-J2-B cannot be used, do not set "0".
Page 105: Monitor Output 1, 2 Offset
4. PARAMETERS FOR POSITIONING CONTROL 4.3.16 Monitor output 1, 2 offset Set the offset value for the monitored items set when setting monitor outputs 1 and POINT (1) Optional function 2 (no-motor operation selection) No-motor operation differs from operation in which an actual motor is run in that, in response to signals input in no-motor operation, motor operation is simulated and output signals and status display data are created under the condition that the load torque zero and moment of load...
Page 106: Zero Speed
4. PARAMETERS FOR POSITIONING CONTROL 4.3.18 Zero speed This parameter sets the speed at which the motor speed is judged to be zero. 4.3.19 Excessive error alarm level This parameter sets the range in which the alarm for excessive droop pulses is output.
Page 107: Parameter Block
4. PARAMETERS FOR POSITIONING CONTROL Parameter Block (1) The parameter blocks serve to make setting changes easy by allowing data such as the acceleration/deceleration control to be set for each positioning processing. (2) A maximum of 16 blocks can be set as parameter blocks. (3) Parameter blocks can be set at a peripheral device.
Page 108 4. PARAMETERS FOR POSITIONING CONTROL POINT (1) The data set in the parameter block is used for positioning control, zeroing, and JOG operation. (a) The parameter block No. used in positioning control is set from a peripheral device when creating a servo program. If no parameter block No.
Page 109: Relationships Among The Speed Limit Value, Acceleration Time, Deceleration Time, And Rapid Stop Deceleration Time
4. PARAMETERS FOR POSITIONING CONTROL 4.4.1 Relationships among the speed limit value, acceleration time, deceleration time, and rapid stop deceleration time The speed limit value is the maximum speed during positioning/zeroing. The acceleration time is the time taken to reach the set speed limit value from the start of positioning.
Page 110: Allowable Error Range For Circular Interpolation
4. PARAMETERS FOR POSITIONING CONTROL As shown below, the S curve ratio setting serves to select the part of the sine curve to be used as the acceleration and deceleration curve. (Example) Positioning speed B/A=1.0 When the S curve ratio is 100% Positioning speed Sine curve...
Page 111: Sequence Programs And Sfc Programs
5. SEQUENCE PROGRAMS AND SFC PROGRAMS 5. SEQUENCE PROGRAMS AND SFC PROGRAMS This section explains how to start a servo program using a sequence program or SFC program for positioning control, and gives other information. Cautions on Creating a Sequence Program or SFC Program The following cautions should be observed when creating a sequence program or SFC program.
Page 112: Servo Program Start Request Instruction (Svst)
5. SEQUENCE PROGRAMS AND SFC PROGRAMS Servo Program Start Request Instruction (SVST) There is a servo program start request instruction (SVST). When executing positioning control, up to 4 axes can be controlled with the SVST instruction. 5.2.1 Start request instruction for 1 to 32 axes (SVST) Usable Devices Carry Flag Error...
Page 113 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Data Settings] (1) Setting the axis to be started The axis to be started are set in (D) in the way shown below. Setting for 1 to 32 axes Make the setting for 1 axis (J**) 1 axis to be started 2 axes interpolation to be started Make the setting for 2 axes (J**J**)
Page 114 5. SEQUENCE PROGRAMS AND SFC PROGRAMS Example Make the following setting to designate the number of the servo program to be started with the data stored in data register D50: • Designation with a word device SVST J1J2J3 2) An index register (Z, V) or dedicated instruction (IX .IXEND) can be used for index designation of the indirectly set word device.
Page 115: Current Value Change Instructions (Chga)
5. SEQUENCE PROGRAMS AND SFC PROGRAMS Current Value Change Instructions (CHGA) These instructions are used to change the current value of a stopped axis. 5.3.1 CHGA instructions Usable Devices Carry Flag Error Flag Bit Devices Word (16 Bit) Devices Constants Pointers Level M901 A0 A1...
Page 116 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Data Settings] (1) Setting the axis for which a current value change is to be executed The axis with respect to which the current value change set in (D) is to be executed is set as follows. Started axis No.
Page 117 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Error Details] (1) In the following cases an operation error occurs and the CHGA instruction is not executed. • When the setting for (D) is other than J1 to J32. (2) In the following cases, a minor error (error on control change) occurs and the current value change is not executed.
Page 118: Speed Change Instructions (Chgv)
5. SEQUENCE PROGRAMS AND SFC PROGRAMS Speed Change Instructions (CHGV) This instruction is used to change the speed of an axis during positioning or JOG operation. 5.4.1 CHGV instructions Usable Devices Carry Flag Error Flag Bit Devices Word (16 Bit) Devices Constants Pointers Level M901...
Page 119 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Data Settings] (1) Setting the axis for which a speed change is to be executed The axis with respect to which the speed change set in (D) is to be executed is set as follows. Started axis No.
Page 120 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Error Details] (1) In the following cases an operation error occurs and the CHGA instruction is not executed. • When the setting for (D) is other than J1 to J32. (2) In the following cases, a minor error (error on control change) occurs and the speed change is not executed.
Page 121: 5.5 Retracing During Positioning
5. SEQUENCE PROGRAMS AND SFC PROGRAMS 5.5 Retracing during Positioning When a minus speed is designated in the CHGV instruction at the start to make a speed change request, deceleration begins at that time and retracing starts on completion of deceleration. The following operations can be performed by the servo instructions.
Page 122 5. SEQUENCE PROGRAMS AND SFC PROGRAMS [Error Details] (1) While start is attempted in the control mode allowing retracing, a minor error 305 is returned and retracing is controlled according to a speed limit value so long as the absolute value of a change speed (minus) exceeds the speed limit value.
Page 123 5. SEQUENCE PROGRAMS AND SFC PROGRAMS POINTS (1) When the M code FIN wait function is used during constant speed control, a retracing request made in the FIN wait status (stopped status) is ignored. (2) In the above example, retracing to P2 is performed when a retracing request is made immediately before P2 and P2 is passed during deceleration.
Page 124: Torque Limit Value Change Request (Chgt)
5. SEQUENCE PROGRAMS AND SFC PROGRAMS 5.6 Torque Limit Value Change Request (CHGT) In the real mode, the sequence program can change the torque limit value regardless of whether it is operating or being stopped. The following describes this process. 5.6.1 CHGT instructions Usable Devices...
Page 125 5. SEQUENCE PROGRAMS AND SFC PROGRAMS (2) Relation to the torque limit value designated in the servo program Start At normal start, a torque limit value is directed to the servo of the start axis according to the torque set by the servo program or the torque limit value of the designated parameter block.
Page 126: 5.7 Sfc Programs
5. SEQUENCE PROGRAMS AND SFC PROGRAMS 5.7 SFC Programs This section explains how to start servo programs using SFC programs. 5.7.1 Starting and stopping SFC programs SFC programs are started and stopped from the main sequence program. The methods for starting and stopping SFC programs are described below. (1) Starting SFC programs (a) An SFC program is started by turning M9101 (SFC program start/stop) ON in the main sequence program.
Page 127: Servo Program Start Request
5. SEQUENCE PROGRAMS AND SFC PROGRAMS 5.7.2 Servo program start request A servo program can be started in one of two ways: by using the program start-up symbol intended for this purpose ([SV]), or by inputting a servo program start request instruction in the internal circuit of a normal step.(") (1) When an [SV] step is created.
Page 128 5. SEQUENCE PROGRAMS AND SFC PROGRAMS POINT (1) When an [SV] step is created, the servo program start request ladder block is mandatorily inserted in the sequence SVST program. (2) If an SVST instruction is edited and converted, a start accept bit (M2001 to M2032) is automatically inserted into the switching conditions before after relevant...
Page 129 5. SEQUENCE PROGRAMS AND SFC PROGRAMS (2) When a servo program start instruction is input inside a normal step (") <Main sequence program> <SFC program> Start command M9101 ON PLS M0 (When a normal step is used) SET M9101 Initial step Stop command PLS M1 Switching condition 1...
Page 130 5. SEQUENCE PROGRAMS AND SFC PROGRAMS POINTS (1) If an SVST/CHGA instruction is edited and converted, a start accept bit (M2001+n) is automatically inserted into the switching conditions before and after the relevant SFC step to act as an interlock. (2) If a CHGV instruction is edited and converted, a speed change in progress flag (M2061 to M2092) is automatically inserted into the switching conditions before and after the relevant SFC step to act as an interlock.
Page 131: Servo Programs For Positioning Control
6. SERVO PROGRAMS FOR POSITIONING CONTROL 6. SERVO PROGRAMS FOR POSITIONING CONTROL Servo programs serve to designate the type of the positioning control, and the positioning data, required to execute positioning control with the servo system CPU. This section explains the configuration, and method for designating, servo programs.
Page 132: Servo Program Area
6. SERVO PROGRAMS FOR POSITIONING CONTROL (3) Positioning data..This is the data required to execute servo instructions. The data required for execution is fixed for each servo instruction. For details, see Section 6.3. The follows applies for the servo program shown in Figure 6.1: •...
Page 133: Servo Instructions
6. SERVO PROGRAMS FOR POSITIONING CONTROL Servo Instructions This section presents the servo instructions used in servo programs. (1) How to read the servo instruction tables Fig. 6.1 How to Read Servo Instruction Tables 7) 8) Positioning Data Circular Common Settings Parameter Block Others Interpolation...
Page 134 6. SERVO PROGRAMS FOR POSITIONING CONTROL (2) Servo instruction list The servo instructions that can be used in servo programs, and the positioning data set for the servo instructions, are indicated in Table 6.2. For details on the positioning data set for servo instructions, see Section 6.3. Table 6.2 Servo Instruction List Positioning Data Circular...
Page 135 6. SERVO PROGRAMS FOR POSITIONING CONTROL Positioning Data Circular Common Settings Parameter Block Others Interpolation Position- Instruction Processing Details Symbol Control Absolute, auxiliary point- Auxil- ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ specified, helical iary interpolation point...
Page 136 6. SERVO PROGRAMS FOR POSITIONING CONTROL Table 6.2 Servo Instruction List (Continued) Positioning Data Circular Common Settings Parameter Block Others Interpolation Position- Instruction Processing Details Symbol Control 1-axis fixed-pitch feed 4 to ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆...
Page 137 6. SERVO PROGRAMS FOR POSITIONING CONTROL Table 6.2 Servo Instruction List (Continued) Positioning Data Circular Common Settings Parameter Block Others Interpolation Position- Instruction Processing Details Symbol Control ∆ ∆ ∆ ∆ 2 to ABS-1 3 to ∆ ∆ ∆ ∆ ABS-2 4 to ∆...
Page 138 6. SERVO PROGRAMS FOR POSITIONING CONTROL Positioning Data Circular Common Settings Parameter Block Others Interpolation Position- Instruction Processing Details Symbol Control ∆ ∆ ∆ ∆ 9 to ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ 8 to Constant-speed, ∆ ∆ ∆...
Page 139: Positioning Data
6. SERVO PROGRAMS FOR POSITIONING CONTROL Positioning Data The positioning data set for servo programs is shown in Table 6.3. Table 6.3 Positioning Data Setting Made With Peripheral Device Name Explanation Setting Range Default Value inch degree PULSE ! Sets the parameter block on the basis of which data such as that Parameter block for acceieration and deceleration processing and deceleration 1 to 64...
Page 140 6. SERVO PROGRAMS FOR POSITIONING CONTROL Settings Made Using the Sequence Program (Indirect Setting) Indirect Setting Processing in Event of Setting Error Setting Range Possible/Not Number of Error Item Data (Note-4) Control Using Starting not inch degree PULSE Possible Words Used (Stored in D9190) Default Value Possible...
Page 141 6. SERVO PROGRAMS FOR POSITIONING CONTROL Table 6.3 Positioning Data (Continued) Setting Made With Peripheral Device Name Explanation Setting Range Default Value inch degree PULSE control unit 0.01 to 0.001 to 0.001 to 200.000 1 to 10000000 Speed limit value 6000000.00 600000.000 2147483.647...
Page 142 6. SERVO PROGRAMS FOR POSITIONING CONTROL Settings Made Using the Sequence Program (Indirect Setting) Indirect Setting Processing in Event of Setting Error Setting Range Possible/Not Number of Error Item Data(note-4) Control Using Starting not Possible Words Used (Stored in D9190) Default Value Possible inch...
Page 143: Method For Setting Positioning Data
6. SERVO PROGRAMS FOR POSITIONING CONTROL Method for Setting Positioning Data This section explains how to set the positioning data used in a servo program. There are two ways to set positioning data, as follows: (1) Designating numerical values ....... see Section 6.4.1 (2) Indirect designation using word devices ..
Page 144: Setting By Using Word Devices (D, W)
6. SERVO PROGRAMS FOR POSITIONING CONTROL 6.4.2 Setting by using word devices (D, W) The method of setting by using word devices is a method whereby a word device (D, W) number is designated in the positioning data designated for the servo program.
Page 145: Creating Sequence Programs To Start Servo Programs
6. SERVO PROGRAMS FOR POSITIONING CONTROL Creating Sequence Programs to Start Servo Programs This section describes sequence programs that execute positioning control by using servo programs. 6.5.1 Case where the servo program is executed once only The general concept for a program that executes a designated servo program once only in response to the start request is shown in Figure 6.5.
Page 146: Case Where Different Servo Programs Are Executed Consecutively
6. SERVO PROGRAMS FOR POSITIONING CONTROL 6.5.2 Case where different servo programs are executed consecutively The general concept for a program that, on completion of positioning in accordance with a servo program executed in response to a start request, executes the next servo program, is shown in Figure 6.6.
Page 147: Case Where The Same Servo Program Is Executed Repeatedly
6. SERVO PROGRAMS FOR POSITIONING CONTROL 6.5.3 Case where the same servo program is executed repeatedly The general concept for a program that executes repeated positioning control in accordance with the same servo program is indicated in Figure 6.7. When the start request comes ON,if Start request the designated axis is not in motion, a request to execute a SVST...
Page 148: Positioning Control
7. POSITIONING CONTROL 7. POSITIONING CONTROL This section describes the positioning control methods. Basics of Positioning Control This section describes the common items for positioning control, which is described in detail from Section 7.2. 7.1.1 Positioning speed The positioning speed is set using a servo program. See Section 6 for details about servo programs.
Page 149: Positioning Speed Under Interpolation Control
7. POSITIONING CONTROL 7.1.2 Positioning speed under interpolation control The positioning speed of the servo system CPU determines the travel speed of the controlled system. (1) 1-axis linear control Under 1-axis control, the travel speed is the positioning speed of the designated axis.
Page 150 7. POSITIONING CONTROL (b) Long-axis speed designation The control of each axis is based on the positioning speed (long-axis speed: V) set for the axis whose positioning address is the greatest distance from the current position. The servo system CPU uses the travel value of each of the other axes (D to D ) to calculate the positioning speed of each axis (V to V...
Page 151 7. POSITIONING CONTROL POINTS (1) Speed limit value and positioning speed • The set speed limit value applies to the long-axis speed. • Note that the combined speed may exceed the speed limit value if long-axis speed designation is used. Example During 2-axes linear interpolation with the following settings, the combined speed exceeds the speed limit value.
Page 152 7. POSITIONING CONTROL (c) Reference-axis speed designation The servo system CPU uses the travel value of each axis (D to D ) to calculate the positioning speed of each axis (V to V ) from the set positioning speed of the reference axis (reference axis speed: V). Set the reference axis number, reference axis speed, and the travel value of each axis in the servo program.
Page 153 7. POSITIONING CONTROL POINTS (1) Reference axis speed and positioning speed of other axes • Note that the positioning speed of an axis with a greater travel value than the reference axis will exceed the set reference axis speed. (2) Indirect designation of reference axis •...
Page 154: Control Units For 1-Axis Positioning Control
7. POSITIONING CONTROL 7.1.3 Control units for 1-axis positioning control Positioning control of 1-axis is conducted in the control units designated in the fixed parameters. (The control unit designation in the parameter block is ignored.) 7.1.4 Control units for interpolation control (1) The interpolation control units designated in the parameter block are checked against the control units designated in the fixed parameters.
Page 155 7. POSITIONING CONTROL (b) Combination of millimeters and inches (2)) • If interpolation control units are millimeters, positioning is conducted using position commands calculated from the address, travel value, positioning speed, and electronic gear, which have been converted to millimeters using the formula: inch set value ×...
Page 156: Control Using Degrees As Control Units
7. POSITIONING CONTROL 7.1.5 Control using degrees as control units If the control units are degrees, the following items differ from when other control units are set. (1) Current address When degrees are set, the current addresses become ring addresses between 0°...
Page 157 7. POSITIONING CONTROL (3) Positioning control Positioning control using degrees as control units is described below. (a) Absolute data method (ABS " instructions) The absolute data method uses the current value as reference to position the axis in the shortest distance to the designated address. Examples (1) Positioning occurs clockwise to travel from the current value of 315.00000°...
Page 158: Stop Processing And Restarting After A Stop
7. POSITIONING CONTROL 7.1.6 Stop processing and restarting after a stop This section describes the stop processing after a stop cause is input during positioning, and restarting after a stop. (1) Stop processing (a) Stop processing methods Stop processing during positioning depends on the type of stop cause which was input.
Page 159 7. POSITIONING CONTROL Stops without deceleration processing. 3) Immediate stop ... (Process 3) Stop cause Stop (b) Order of priority for stops The order of priority for stops when a stop cause is input is as follows: Process 1 < Process 2 <Process 3 Example A rapid stop (Process 2) is started if a rapid stop cause is input during one of the following types of deceleration stop processing:...
Page 160 7. POSITIONING CONTROL (c) Stop commands and stop causes Some stop commands and stop causes affect individual axis and others affect all axes. However, during interpolation control, stop commands and stop causes which affect individual axis also stop the interpolation axis. For example, both Axis 1 and Axis 2 stop after input of a stop command or stop cause during interpolation control of Axis 1 and Axis 2.
Page 161 7. POSITIONING CONTROL (2) Restarting after a Stop (a) Control cannot be restarted after a stop command or stop cause (except changing speed to zero). However, restarting is possible using the VSTART instruction after a stop due to the external STOP input, the stop command (M3200+20n) turning ON, or the rapid stop command (M3201+20n) turning ON during speed/position switching control.
Page 162 7. POSITIONING CONTROL 2) Incremental method ..Positioning control of the travel value from the stop address. Axis Stop position due to stop command Travel from address 1 Travel from address 2 Address 2 (start address after stop) Address 1 (start address) Axis To use the incremental method to travel to the original address (calculated from start address + designated travel value) from address 2, requires the following...
Page 163 7. POSITIONING CONTROL [Processing in the Sequence Program] 1. Before starting, transfer the start address to the servo system CPU word devices. 2. Add the travel value to the start address to calculate the target address. 3. Subtract the stop address from the target address to calculate the residual travel value.
Page 164: Acceleration And Deceleration Processing
7. POSITIONING CONTROL 7.1.7 Acceleration and deceleration processing Acceleration and deceleration are processed by the two methods described below. (1) Trapezoidal acceleration and deceleration processing The conventional linear acceleration and deceleration processing. The acceleration and deceleration graph resembles a trapezoid, as shown in the diagram below.
Page 165 7. POSITIONING CONTROL The S-curve ratio can be set by a servo program using one of two methods. (a) Direct designation The S-curve ratio is designated directly as a numeric value from 0 to 100. <K 10> 2-axes linear positioning control INC -2 ⋅...
Page 166: 1-Axis Linear Positioning Control
7. POSITIONING CONTROL 1-Axis Linear Positioning Control Positioning control of the designated axis from the current stop position to a fixed position. Positioning control uses ABS-1 (absolute data method) and INC-1 (incremental method) servo instructions. Items Set by Peripherals Common Parameter Block Others Number of...
Page 167 7. POSITIONING CONTROL Control with INC-1 (incremental method) (1) Positioning control of a designated travel value from the current stop position. (2) The travel direction is designated by the sign of the travel value, as follows: • Positive travel value .....forward direction (increased address) •...
Page 168 7. POSITIONING CONTROL [Program Example] This program conducts positioning control using servo program No. 0 under the conditions below. (1) System configuration 1-axis linear positioning control of Axis 4. A61P A273UH A278 A61P AX41 Positioning start command (X000) MR- -B MR- -B MR- -B MR- -B Axis Axis Axis...
Page 169 7. POSITIONING CONTROL (4) Servo program example The servo program No. 0 for positioning control is shown below. <K 0 > ABS -1 1-axis linear positioning control ⋅ Axis used Axis 80000 Axis Speed 10000 ⋅ Positioning address 80000 Commanded speed 10000 (5) Sequence program example The sequence program which runs the servo program is shown below.
Page 170: 7.3 2-Axes Linear Interpolation Control
7. POSITIONING CONTROL 7.3 2-Axes Linear Interpolation Control Linear interpolation control from the current stop position with the 2-axes designated in the sequence program positioning commands. 2-axes linear interpolation control uses ABS-2 (absolute data method) and INC-2 (incremental method) servo instructions. Items Set by Peripherals Common Parameter Block...
Page 171 7. POSITIONING CONTROL Control with INC-2 (incremental method) (1) Positioning control from the current stop position to the position which is the resultant of the designated travel directions and travel values of the respective axis. (2) The travel direction of each axis is designated by the sign of the travel value, as follows: •...
Page 172 7. POSITIONING CONTROL [Program Example] This program conducts 2-axes linear interpolation control under the conditions below. (1) System configuration 2-axes linear interpolation control of Axis 3 and Axis 4. A61P A273UH A278 A61P AX41 Positioning start command (X000) MR- -B MR- -B MR- -B MR- -B Axis Axis Axis...
Page 173 7. POSITIONING CONTROL (4) Operation timing The operation timing for 2-axes linear interpolation control is shown below. Servo program No.11 PLC ready (M2000) All axes servo start command (M2042) All axes servo start accept flag (M2049) Positioning start command (X000) SVST instruction Axis 3 start accept flag (M2003)
Page 174: 3-Axes Linear Interpolation Control
7. POSITIONING CONTROL 3-Axes Linear Interpolation Control Linear interpolation control from the current stop position with the 3-axes designated in the sequence program positioning commands. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes ABS-3 Absolute data...
Page 175 7. POSITIONING CONTROL Control with INC-3 (incremental method) (1) Positioning control from the current stop position to the position which is the resultant of the designated travel directions and travel values of the respective axis. (2) The travel direction of each axis is designated by the sign of the travel value, as follows: •...
Page 176 7. POSITIONING CONTROL [Program Example] This program conducts 3-axes linear interpolation control under the conditions below. (1) System configuration 3-axes linear interpolation control of Axis 1, Axis 2, and Axis 3. A61P A273UH A61P AX41 A278 Positioning start command (X000) MR- -B MR- -B MR- -B MR- -B Axis Axis...
Page 177 7. POSITIONING CONTROL (4) Operation timing The operation timing for 3-axes linear interpolation control is shown below. Servo program No.21 PLC ready (M2000) All axes servo start command (M2042) All-axes servo start accept flag (M2049) Positioning start command (X000) SVST insutruction Axis 1 start accept flag (M2001) Axis 2 start accept flag...
Page 178 7. POSITIONING CONTROL (6) Sequence program The sequence program which runs the servo program is shown below. M9039 M2000 Turns ON PLC ready. M9074 Turns ON all servo start M2042 command. X000 M9074 M2049 M9076 Turns ON servo program No.21 start command flag (M23) when X000 turns OFF M9074...
Page 179: 4-Axes Linear Interpolation Control
7. POSITIONING CONTROL 4-Axes Linear Interpolation Control Linear interpolation control from the current stop position with the 4-axes designated in the sequence program positioning commands. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes ABS-4 Absolute data...
Page 180 7. POSITIONING CONTROL [Program Example] This program conducts 4-axes linear interpolation control under the conditions below. (1) System configuration 4-axes linear interpolation control of Axis 1, Axis 2, Axis 3, and Axis 4. A61P A273UH A61P AX41 A278 Positioning start command (X000) MR- -B MR- -B MR- -B MR- -B Axis Axis...
Page 181 7. POSITIONING CONTROL Axis 2 positioning direction (Forward direction) Axis 3 positioning direction (Forward direction) Positioning by No. 22 servo 5000 program (Forward direction) Axis 4 positioning 5000 direction (Forward direction) Axis 1 positioning direction (Reverse direction) 5000 (Forward direction) (Reverse direction) (Reverse direction) Fig.7.8 Positioning by 4-axes Linear Interpolation Control...
Page 182 7. POSITIONING CONTROL (5) Servo program The servo program No. 22 for 4-axes linear interpolation control is shown below. <K 22> 4-axes linear interpolation control INC -4 ⋅ Axis used Axis 3000 Axis Axis Axis Axis Axis 4000 ⋅ Positioning address 3000 Axis Axis...
Page 183: Circular Interpolation Using Auxiliary Point Designation
7. POSITIONING CONTROL Circular Interpolation Using Auxiliary Point Designation Circular interpolation control by designating the end point address and auxiliary point address (a point on the arc). Circular interpolation control using auxiliary point designation uses ABS (absolute data method) and INC (incremental method) servo instructions.
Page 184 7. POSITIONING CONTROL (3) The setting range for the end point address and auxiliary point address is –2 to +2 –1. −1. (4) The maximum arc radius is 2 Maximum arc Radius R Arc center point Fig.7.10 Maximum Arc Control with INC (incremental method) (1) Circular interpolation from the current stop address (pre-positioning address) through the designated auxiliary point address to the end point address.
Page 185 7. POSITIONING CONTROL [Program Example] This program conducts circular interpolation control using auxiliary point designation under the conditions below. (1) System configuration Circular interpolation control of Axis 1 and Axis 2 using auxiliary point designation. A61P A273UH A278 A61P AX41 Positioning start command (X000) MR- -B MR- -B MR- -B MR- -B Axis...
Page 186 7. POSITIONING CONTROL (4) Operation timing The operation timing for circular interpolation control using auxiliary point designation is shown below. Servo program No.31 PLC ready (M2000) All axes servo start command (M2042) All axes servo start accept frag (M2049) Positioning start command (X000) SVST instruction Axis 3 start accept flag...
Page 187: Circular Interpolation Using Radius Designation
7. POSITIONING CONTROL Circular Interpolation Using Radius Designation Circular interpolation control by designating the end point and arc radius. Circular interpolation control using radius designation uses ABS , ABS , and ABS (absolute method) and INC , INC , INC , and INC (incremental method) servo instructions.
Page 188 7. POSITIONING CONTROL [Control Details] Details of control with the servo instructions are shown in the table below. Servomotor Max. Controllable Instruction Positioning Path Direction of Rotation Angle of Arc Positioning path Start End point θ <180 ° point Clockwise Radius R Center point 0°<...
Page 189 7. POSITIONING CONTROL Control with ABS , ABS , ABS , , and ABS (absolute data method) (1) Circular interpolation of an arc of the designated radius from the current stop address (pre-positioning address) to the designated end point address, using the home position as the reference.
Page 190 7. POSITIONING CONTROL Control with INC , INC , INC , , and INC (incremental method) (1) Circular interpolation of an arc of the designated radius from the current stop address (0, 0) to the designated end point address. (2) The center of the arc lies at the point of intersection of the designated radius and the perpendicular bisector of the start point address (current stop address) to the end point address.
Page 191 7. POSITIONING CONTROL [Program Example] This program conducts circular interpolation control using radius designation under the conditions below. (1) System configuration Circular interpolation control of Axis 1 and Axis 2 using radius designation. A61P A273UH A278 A61P AX41 Positioning start command (X000) MR- -B MR- -B MR- -B MR- -B Axis Axis...
Page 192 7. POSITIONING CONTROL (4) Operation timing The operation timing for circular interpolation control using radius designation is shown below. Servo program No.41 PLC ready (M2000) All axes servo start command (M2042) All axes servo start accept frag (M2049) Positioning start command (X000) SVST instruction Axis 3 start accept flag...
Page 193: 7.8 Circular Interpolation Using Center Point Designation
7. POSITIONING CONTROL 7.8 Circular Interpolation Using Center Point Designation Circular interpolation control by designating the end point and arc center point. Circular interpolation control using center point designation uses ABS (absolute data method) and INC and INC (incremental method) servo instructions.
Page 194 7. POSITIONING CONTROL Control with ABS and ABS (absolute data method) (1) Circular interpolation of an arc with a radius equivalent to the distance between the start point and center point, between the current stop address (pre- positioning address used as the start point address) and the designated end point address, using the home position as the reference.
Page 195 7. POSITIONING CONTROL Control with INC and INC (incremental method) (1) Circular interpolation of an arc from the current stop address (start point address, 0, 0) with a radius equivalent to the distance between the start point (0, 0) and center point. Forward direction Path of circular interpolation(for INC nd address...
Page 196 7. POSITIONING CONTROL [Program Example] This program conducts circular interpolation control using center point designation under the conditions below. (1) System configuration Circular interpolation control of Axis 1 and Axis 2 using center point designation. A61P A273UH A61P AX41 A278 Positioning start command (X000) MR- -B MR- -B MR- -B MR- -B Axis...
Page 197 7. POSITIONING CONTROL (4) Operation timing The operation timing for circular interpolation control using center point designation is shown below. Servo program No.51 PLC ready (M2000) All axes servo start command (M2042) All axes servo start accept frag (M2049) Positioning start command (X000) SVST instruction Axis 1 start accept flag...
Page 198: 7.9 1-Axis Fixed-Pitch Feed Control
7. POSITIONING CONTROL 7.9 1-Axis Fixed-Pitch Feed Control Positioning control to move the axis designated with the sequence program positioning commands by the designated travel value from the current stop position. Fixed-pitch feed control uses the FEED-1 servo instruction. Items Set by Peripherals Common Parameter Block Others...
Page 199 7. POSITIONING CONTROL [Program Example] This program conducts repeated 1-axis fixed-pitch feed control under the conditions below. (1) System configuration Fixed-pitch feed control of Axis 4. A61P A273UH A278 A61P AX41 Start command (X000) MR- -B MR- -B MR- -B MR- -B Axis Axis Axis...
Page 200 7. POSITIONING CONTROL (4) Servo program The servo program No. 300 for fixed-pitch feed control is shown below. <K 300> 1-axis fixed-pitch feed control FEED-1 Axis 80000 Axis used Axis 4 Speed 10000 Travel value 80000 Dwell 1000 Commanded speed 10000 Dwell 1000...
Page 201: Fixed-Pitch Feed Control Using 2-Axes Linear Interpolation
7. POSITIONING CONTROL 7.10 Fixed-Pitch Feed Control Using 2-Axes Linear Interpolation Fixed-pitch feed control using 2-axes linear interpolation from the current stop position with the 2-axes designated in the sequence program positioning commands. Fixed-pitch feed control using 2-axes linear interpolation uses the FEED-2 servo instruction.
Page 202 7. POSITIONING CONTROL POINT (1) Do not set the travel value to zero for fixed-pitch feed control. The following results if the travel value is set to zero: (a) If both axes are set to zero, the fixed-pitch feed ends with no feed taking place.
Page 203 7. POSITIONING CONTROL (3) Operation timing The operation timing for fixed-pitch feed control using 2-axes linear interpolation is shown below. Servo program No.11 10000 PLC ready (M2000) All axes servo start command (M2042) All axes servo start accept flag (M2049) Start command (X000) SVST instruction...
Page 204: Fixed-Pitch Feed Control Using 3-Axes Linear Interpolation
7. POSITIONING CONTROL 7.11 Fixed-Pitch Feed Control Using 3-Axes Linear Interpolation Fixed-pitch feed control using 3-axes linear interpolation from the current stop position with the 3-axes designated in the sequence program positioning commands. Fixed-pitch feed control using 3-axes linear interpolation uses the FEED-3 servo instruction.
Page 205 7. POSITIONING CONTROL POINT (1) Do not set the travel value to zero for fixed-pitch feed control. The following results if the travel value is set to zero: (a) If all three axes are set to zero, the fixed-pitch feed ends with no feed taking place.
Page 206 7. POSITIONING CONTROL (3) Operation timing The operation timing for fixed-pitch feed control using 3-axes linear interpolation is shown below. Servo program No.11 10000 PLC ready (M2000) All axes servo start command (M2042) All axes servo start accept flag (M2049) Start command (X000) SVST instruction...
Page 207: Speed Control (I)
7. POSITIONING CONTROL 7.12 Speed Control (I) (1) Speed control of the axis designated in the sequence program positioning commands. (2) Control includes positioning loops for control of servo amplifiers. (3) Speed control (I) uses the VF (forward) and VR (reverse) servo instructions. Items Set by Peripherals Common Parameter Block...
Page 208 7. POSITIONING CONTROL (3) Stop commands and stop processing The stop commands and stop processing for speed control are listed in Figure 7.1. Fig. 7.1 Stop Commands and Stop Processing Stop Stop Command Stopped Axis Stop Processing Condition Deceleration stop according to the deceleration time on STOP input External STOP signal designated in the parameter block or by...
Page 209 7. POSITIONING CONTROL [Program Example] This program conducts speed control (I) under the conditions below. (1) System configuration Speed control (I) of Axis 1. A61P A273UH A278 A61P AX41 Start/stop command (X000) MR- -B MR- -B MR- -B MR- -B Axis Axis Axis...
Page 210 7. POSITIONING CONTROL (4) Servo program The servo program No. 91 for speed control (I) is shown below. <K 91> Speed control (I) (Forward) Axis Axis used ¥¥¥¥¥¥¥¥¥ Axis 1 Speed 3000 Positioning speed ¥¥ 3000 (5) Sequence program The sequence program which runs the servo program is shown below. M9039 M2000 Turns ON PLC ready.
Page 211: Speed Control (Ii)
7. POSITIONING CONTROL 7.13 Speed Control (II) (1) Speed control of the axis designated in the sequence program positioning commands. (2) Control does not include positioning loops for control of servo amplifiers. Use stopper control to current errors becoming excessive. (3) Speed control (II) uses the VVF (forward) and VVR (reverse) servo instructions.
Page 212 7. POSITIONING CONTROL [Program Example] This program conducts speed control (II) under the conditions below. (1) System configuration Speed control (II) of Axis 3. A61P A273UH A278 A61P AX41 Start/stop command (X000) MR- -B MR- -B MR- -B MR- -B Axis Axis Axis...
Page 213 7. POSITIONING CONTROL (4) Servo program The servo program No. 55 for speed control (II) is shown below. <K 91> Speed control (I) (Forward) Axis Axis used Axis 1 Speed 3000 Positioning speed 3000 (5) Sequence program The sequence program which runs the servo program is shown below. M9039 Turns ON PLC ready.
Page 214: Speed/Position Switching Control
7. POSITIONING CONTROL 7.14 Speed/Position Switching Control 7.14.1 Starting speed/position switching control Speed/position switching control of the axis designated in the sequence program positioning commands. Speed/position switching control uses the VPF (forward), VPR (reverse), and VPSTART (restart) servo instructions. Items Set by Peripherals Common Parameter Block Others...
Page 215 CHANGE input occurs when the CHANGE signal comes ON, and when "normally closed contact input" is set, CHANGE input occurs when the CHANGE signal goes OFF. (See the A173UHCPU/A273UHCPU Motion Controller User's Manual for details.) (3) Feed current value processing...
Page 216 7. POSITIONING CONTROL POINT If control is started by turning M3212+20n ON, leave M3212+20n ON until positioning control is completed. The feed current value cannot be guaranteed if M3212+20n is turned OFF during control. (4) Changing travel value during speed control After speed/position switching control is started, the travel value for position control can be changed while speed control is in progress.
Page 217 7. POSITIONING CONTROL Example The following servo program moves Axis 4 in the forward direction at speed 50000 under speed control and after the external CHANGE signal turns ON, it executes position control for the travel value designated in registers D76 and D77.
Page 218 7. POSITIONING CONTROL (b) The sequence program sets the travel value in the travel value change data register while speed control is in progress. When the external CHANGE signal turns ON, the contents of the travel value change data register are set as the travel value.
Page 219 7. POSITIONING CONTROL (3) If travel value under position control is less than deceleration distance (a) If the position control travel value is less than the deceleration distance at the controlled speed, deceleration processing starts immediately when CHANGE is input. (b) The difference between travel value for the deceleration stop and position control is the overrun.
Page 220 7. POSITIONING CONTROL (2) Positioning conditions (a) The positioning conditions are shown below. Item Setting Servo program number No. 101 Controlled axis Axis 4 Positioning control 40000 travel value Commanded speed 1000 (b) Positioning start command ......leading edge of X000 (OFF →...
Page 221 7. POSITIONING CONTROL (5) Sequence program The sequence program which runs the servo program is shown below. M9039 Turns ON PLC ready. M2000 M9074 Turns ON all axes servo start command. M2042 X000 M9074 M2049 M9076 Detects leading edge of X000 M101 (OFF SET M3265...
Page 222: Restarting Speed/Position Switching Control
7. POSITIONING CONTROL 7.14.2 Restarting speed/position switching control Restarting (continuing) speed/position switching control after a stop due to a stop command. Control is restarted using the VPSTART servo instruction. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction...
Page 223 7. POSITIONING CONTROL (b) If the stop occurred during position control, then position control continues until the positioning reaches the set travel value. The travel value after the restart is calculated as follows: Travel value Travel value Set travel = = = = + + + + after restart value (P)
Page 224 7. POSITIONING CONTROL [Program Example] This program restarts speed/position switching control after a stop, under the conditions below. (1) System configuration Speed/position switching control of Axis 4. CHNGE signal A61P A273UH A278 A61P AX41 Start-stop command (X000), restart (X001), stop command (X002) MR- -B MR- -B MR- -B MR- -B Axis Axis...
Page 225 7. POSITIONING CONTROL (3) Operation timing The operation timing for speed/position switching control and restarting is shown below. CHANGE signal accept 1000 Position Speed control control PLC ready (M2000) All axes servo start command (M2042) All axes servo start accept flag (M2049) Start command(X000) Reset command(X001)
Page 226 7. POSITIONING CONTROL (5) Sequence program The sequence program which runs the servo programs is shown below. M9039 M2000 Turns ON PLC ready. M9074 Turns ON all axes servo start M2042 command. X000 M9074 M2049 M9076 Detects leading edge of X000 M101 (OFF Turns ON speed/position...
Page 227: Speed-Switching Control
7. POSITIONING CONTROL 7.15 Speed-Switching Control (1) After a single control start, the speed is switched for positioning control to the preset speed-switching points. (2) The speed-switching points and speed are set by the servo program. (3) Repeated instructions permit repeated control between any speed-switching points.
Page 228 7. POSITIONING CONTROL [Control Details] Starting and ending speed-switching control Speed-switching control is started and ended using the following instructions: (1) VSTART Starts speed-switching control. (2) VEND Ends speed-switching control. End address and travel value to end point The speed-switching control end address and travel value to the end point, positioning method, and positioning speed to the end point are set using the following instructions: (1) ABS-1/INC-1...
Page 229 7. POSITIONING CONTROL Operation timing and the procedure to write servo programs The method to write servo programs for speed-switching control and the operation timing are shown in below. [Servo program] Start <K 101> Start speed-switching VSTART control ABS-2 Axis 4, 75000 …P1 Axis 3,...
Page 230 7. POSITIONING CONTROL [Cautions] (1) The number of control axis cannot be changed while control is in progress. (2) Designation of position switching points can use a combination of the absolute data method (ABS") and the incremental method (INC"). (3) A speed-switching point cannot be designated as an address which results in a change in travel direction.
Page 231 7. POSITIONING CONTROL [Program Example] This program executes speed-switching control under the conditions below. (1) System configuration Speed-switching control of Axis 2 and Axis 3. A61P A273UH A278 A61P AX41 Start command(X000) MR- -B MR- -B MR- -B MR- -B Axis Axis Axis...
Page 232 7. POSITIONING CONTROL (4) Servo program The servo program No. 500 for speed-switching control is shown below. <K500> Start speed-switching control VSTART ABS-2 2-axes linear interpolation control (absolute data method) Axis 100000 Axis used ……………Axis 2, Axis 3 Axis 50000 Speed 2000 Axis 2……100000...
Page 233: Setting Speed-Switching Points Using Repeat Instructions
7. POSITIONING CONTROL 7.15.2 Setting speed-switching points using repeat instructions Repeated execution between any speed-switching points. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes FOR-TIMES   ∆ ∆ FOR-ON  FOR-OFF ...
Page 234 7. POSITIONING CONTROL (3) FOR-OFF (loop-out trigger condition setting) (a) The set repeated range is executed while the designated bit device is OFF. (b) The following devices are available to set the loop-out trigger condition: 1) Input (X) 2) Output (Y) 3) Internal relay (M)/Special relay (SP.M) 4) Latch relay (L) 5) Link relay (B)
Page 235 7. POSITIONING CONTROL (3) Operation under condition 3 Minor error 215 generated X010→ON 2000 X011→OFF 1000 100000 200000 Error generated because the distance to the stop position exceeds the travel value. [Program example] This program executes repeated speed-switching control under the conditions below.
Page 236 7. POSITIONING CONTROL (3) Operation timing and speed-switching positions The operation timing for speed-switching control and the speed-switching points are shown below. Axis 3 positioning direction 100000 50000 Axis 2 50000 100000 150000 200000 positioning direction 50000 PLC ready(M2000) All axes servo start command (M2042) All axes servo start accept flag(M2049) Start command (X000) SVST instruction...
Page 237 7. POSITIONING CONTROL (4) Servo program The servo program No. 501 for speed-switching control is shown below. <K 501> VSTART Start speed-switching control INC-2 2-axes linear interpolation control (incremental method) Axis 230000 Axis 100000 Axis used Axis 2, Axis 3 Speed 10000 End address...
Page 238 7. POSITIONING CONTROL 7.16 Constant-Speed Control (1) After a single control start, positioning control is executed using the designated positioning method and positioning speed to the preset pass point. (2) The positioning method and positioning speed can be changed for each pass point.
Page 239 7. POSITIONING CONTROL [Operation Timing] The operation timing for constant-speed control is shown below. [Example: Operation timing for 2-axes constant-speed control] direction Axis 3 positioning 80000 60000 Positioning speed 100000 Axis 2 positioning direction for 2-axes linear 40000 60000 interpolation Speed after speed switching 15000...
Page 240: Constant-Speed Control
7. POSITIONING CONTROL [Caution] (1) The number of controllable axis cannot be changed while control is in progress. (2) Positioning control to the pass points can use a combination of the absolute data method (ABS!) and the incremental method (INC!). (3) A pass point can be designated as an address which results in a change in travel direction.
Page 241 7. POSITIONING CONTROL 2) If CHGV changed speed < servo program set speed The speed changed by the CHGV instructions is valid. Speed change due to commanded speed in servo program (speed set by the CHGV instructions is valid) Speed change by CHGV instructions (no change as speed exceeds servo program commanded speed) (5) An overrun occurs if the distance remaining to the final positioning point when the final positioning point is detected is less than the deceleration distance at...
Page 242: Setting Pass Points Using Repeated Instructions
7. POSITIONING CONTROL 7.16.1 Setting Pass points using Repeated Instructions This section describes the method of designating the pass points used for repeated execution between pass points. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes...
Page 243 7. POSITIONING CONTROL (3) FOR-OFF (loop-out trigger condition setting) (a) The set repeated range is executed while the designated bit device is OFF. (b) The following devices are available to set the loop-out trigger condition: 1) Input (X) 2) Output (Y) 3) Internal relay (M)/Special relay (SP.M) 4) Latch relay (L) 5) Link relay (B)
Page 244 7. POSITIONING CONTROL [Program Example] This program executes repeated constant-speed control under the conditions below. (1) System configuration Constant-speed control of Axis 2 and Axis 3. A61P A273UH A278 A61P AX41 Start command(X000) MR- -B MR- -B MR- -B MR- -B Axis Axis Axis...
Page 245 7. POSITIONING CONTROL (3) Operation timing The operation timing for constant-speed control is shown below. Axis 3 positioning direction 100000 80000 60000 40000 Radius 20000 20000 50000 100000 150000 200000 Axis 2 positioning direction 10000 PLC ready(M2000) All axes servo start command (M2042) All axes servo start accept flag (M2049)
Page 246 7. POSITIONING CONTROL (4) Servo program The servo program No. 510 for constant-speed control is shown below. <K 510> CPSTART2 Start constant-speed control Axis Axis used Axis 2, Axis 3 Axis Positioning speed 10000 Speed 10000 ABS-2 Pass point setting Axis 40000 Axis...
Page 247: Speed Switching During Instruction Execution
7. POSITIONING CONTROL 7.16.2 Speed switching during instruction execution The speed can be designated for each pass point during a constant-speed control instruction. The speed change from a point can be designated directly or indirectly in the servo program. [Cautions] (1) The speed can be changed during servo instruction execution for 1 to 4-axes constant-speed control.
Page 248 7. POSITIONING CONTROL [Program Example] This program turns ON M2040 during constant-speed control instruction execution and changes the speed, under the conditions below. (1) System configuration Switches speed for Axis 1 and Axis 2. A61P A273UH A278 A61P AX41 Start command(X000) MR- -B MR- -B MR- -B MR- -B Axis Axis...
Page 249 7. POSITIONING CONTROL (3) Operation timing and speed-switching positions The operation timing and positions for speed switching are shown below. Axis 2 positioning direction 40000 20000 Center point Axis 1 positioning direction 20000 40000 15000 10000 Speed-switching designation flag (M2040) PLC ready (M2000) All axes servo start command (M2042) All axes servo start accept flag (M2049)
Page 250 7. POSITIONING CONTROL (4) Servo program The servo program No. 310 for speed switching is shown below. <K 310> CPSTART2 Axis Axis Speed 10000 ABS-2 P1 designation Axis 20000 Axis 10000 P2 designation Axis 30000 Axis 20000 Center 30000 Center 10000 ABS-2 P3 designation...
Page 251: 1-Axis Constant-Speed Control
7. POSITIONING CONTROL 7.16.3 One-axis constant-speed control Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes − ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ CPSTART1 Start − − ∆ CPEND ∆...
Page 252 7. POSITIONING CONTROL [Program Example] This program executes repeated 1-axis constant-speed control under the condi- tions below. (1) System configuration Constant-speed control for Axis 4. A61P A273UH A278 A61P AX41 Positioning Start command(X000) MR- -B MR- -B MR- -B MR- -B Axis Axis Axis...
Page 253 7. POSITIONING CONTROL (4) Operation timing The operation timing for servo program No. 500 is shown below. 10000 -10000 PLC ready (M2000) All axes servo start command (M2042) All axes servo start accept flag (M2049) Start command (X000) SVST instruction Axis 4 start accept flag (M2004) (5) Servo program The servo program No.
Page 254 7. POSITIONING CONTROL (6) Sequence program The sequence program which runs the servo program is shown below. M9039 M2000 Turns PLC ready. M9074 Turns ON all axes servo start M2042 command. X000 M9074 M2049 M9076 M560 Turns ON servo program No. 500 start command flag (M561) when M560 M561...
Page 255: To 4-Axes Constant-Speed Control
7. POSITIONING CONTROL 7.16.4 2 to 4-axes constant-speed control Constant-speed control for the 2 to 4-axes designated with the sequence program positioning commands. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes ∆ ∆...
Page 256 7. POSITIONING CONTROL [Control Details] Starting and Ending 2- to 4-axes Constant-Speed Control 2-, 3-, or 4-axes constant-speed control is started and ended using one of the fol- lowing instructions: (1) CPSTART2 Starts 2-axes constant-speed control. Sets the axis numbers used and the commanded speed. (2) CPSTART3 Starts 3-axes constant-speed control.
Page 257 7. POSITIONING CONTROL [Program Example] (1) This program executes 2-axes constant-speed control under the conditions below. (a) System configuration Constant-speed control for Axis 2 and Axis 3. A61P A273UH A278 A61P AX41 Start command(X000) MR- -B MR- -B MR- -B MR- -B Axis Axis Axis...
Page 258 7. POSITIONING CONTROL (c) Servo program Servo program No. 505 for constant-speed control is shown below. <K 505> Start constant-speed control CPSTART2 Axis used Axis Axis Axis Axis Positioning speed 10000 Speed 10000 linear interpolation control ABS-2 30000 Axis Axis 30000 Positioning address 30000...
Page 259 7. POSITIONING CONTROL [Program Example] (2) This program executes 4-axes constant-speed control under the conditions below. (a) System configuration Constant-speed control for Axis 1, Axis 2, Axis 3, and Axis 4. A61P A273UH A278 A61P AX41 Start command(X000) MR- -B MR- -B MR- -B MR- -B Axis Axis Axis...
Page 260 7. POSITIONING CONTROL Axis 2 positioning direction (Forward direction) 10000 Axis 3 positioning direction (Forward direction) 10000 5000 5000 Axis 1 positioning Axis 4 positioning direction direction (Forward direction) (Forward direction) (Reverse direction) 5000 10000 (Reverse direction) Fig.7.31 Positioning by 4-Axes Constant-Speed Control (c) Positioning conditions 1) The constant-speed control conditions are shown below.
Page 261 7. POSITIONING CONTROL (d) Servo program The servo program No. 506 for constant-speed control is shown below. <K 506> CPSTART4 Start constant-speed control Axis Axes used Axis 1,Axis 2,Axis 3,Axis 4, Axis Axis Axis Positioning speed 10000 Speed 10000 4-axes linear interpolation control(P1) INC-4 Axis 1 3000...
Page 262: Pass Point Skip Function
7. POSITIONING CONTROL 7.16.5 Pass point skip function This is a function whereby, by setting a skip signal for each pass point associated with a constant speed control instruction, positioning at the current point can be canceled and positioning carried out at the next point. [Data setting] (1) Skip signal devices The following devices can be designated as skip signal devices.
Page 263 7. POSITIONING CONTROL CAUTION The operation that takes place on execution of a skip designated during constant-speed control, when an axis for which "degree" is designated as the unit and which has no stroke range is in- cluded, is described here. If, under these conditions, there is an ABS instruction following the skip, the final positioning point and the travel distance in the program as a whole will be the same ragardless of whether the skip is executed or not.
Page 264: Fin Signal Wait Function
7. POSITIONING CONTROL 7.16.6 FIN signal wait function This is a function whereby, when the FIN wait function is selected and an M code is set for each point on the way, the end of processing of each point on the way is synchronized with the FIN signal, and positioning at the subsequent point is carried out when the FIN signal comes ON.
Page 265 7. POSITIONING CONTROL POINTS The fixed acceleration/deceleration method is a type of acceleration/ deceleration processing whereby even if the command speed changes, the time taken up by acceleration/deceleration remains fixed. Fixed acceleration/ deceleration time. (1) When the fixed acceleration/deceleration method is used, the following processing and parameters are invalidated.
Page 266: Position Follow-Up Control
7. POSITIONING CONTROL 7.17 Position Follow-Up Control After a single control start, positioning occurs to the address set with the word de- vice of the servo system CPU designated in the servo program. Position follow-up control is started using the PFSTART servo program instruction. Items Set by Peripherals Common Parameter Block...
Page 267 7. POSITIONING CONTROL [Cautions] (1) The number of controllable axes is limited to one. (2) Only the absolute method (ABS") is used for positioning control to the pass points. (3) The speed can be changed after control is started. The changed speed remains valid until the stop command is input. (4) Set the positioning address in the servo program using indirect designation with the word devices D and W.
Page 268 7. POSITIONING CONTROL (3) Operation timing The operation timing for position follow-up control is shown below. Command in-position set value Positioning address (D50) PLC ready (M2000) PCPU ready (M9074) All axes servo start command (M2042) All axes servo start accept flag (M2049) Start command (X000) SVST instruction Start accept flag (M2001+n)
Page 269 7. POSITIONING CONTROL (5) Sequence program The sequence program which runs the servo program is shown below. M9039 M2000 Turns ON PLC ready. M9074 Turns ON all axes servo start M2042 command. X0000 Transfers No. 100 servo program DMOV to D50 when X000 turns M2440 M2003 SVST...
Page 270: Simultaneous Start
7. POSITIONING CONTROL 7.18 Simultaneous Start After a single control start, the designated servo programs start simultaneously. Use the START instruction to simultaneously start servo programs. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes START...
Page 271 7. POSITIONING CONTROL [Program Example] This program executes simultaneous start under the conditions below. (1) System configuration Simultaneous start of Axis 1, Axis 2, Axis 3, and Axis 4. A61P A273UH A278 A61P AX41 Start command(X000) MR- -B MR- -B MR- -B MR- -B Axis 1 Axis 2 Axis 3...
Page 272 7. POSITIONING CONTROL (5) Sequence program The sequence program which runs the servo program is shown below. M9039 M2000 Turns ON PLC ready. M9074 Turns ON all axes servo start M2042 command. X000 M9074 M2049 M9076 M121 Turns ON servo program No. 121 start command flag (M122) when M121 X000 turns OFF →...
Page 273: Jog Operation
7. POSITIONING CONTROL 7.19 JOG Operation Runs the set JOG operation. Individual start or simultaneous start can be used for JOG operation. JOG operation can be run from a sequence program or in a peripheral device test mode. (For information on running JOG operation in a peripheral device test mode, refer to the operation manual for the appropriate peripheral device.) To carry out JOG operation, the JOG operation must be set for each axis.
Page 274: Individual Start
7. POSITIONING CONTROL 7.19.2 Individual start Starts JOG operation for the designated axes. JOG operation is controlled by the following JOG operation signals: • Forward JOG operation ... M3202+20n • Reverse JOG operation ... M3203+20n [Control Details] (1) JOG operation continues at the speed value stored in the JOG operation speed setting register while the JOG operation signal remains ON and a deceleration stop occurs when the JOG operation signal turns OFF.
Page 275 7. POSITIONING CONTROL (2) The JOG operation signal, JOG operation setting register, and setting range for each axis are shown in the table below. JOG Operation JOG Operation Setting Register inch degree PULSE Forward Reverse Most Least Setting Setting Setting Setting Units Units...
Page 276 7. POSITIONING CONTROL [Cautions] (1) Forward JOG operation occurs if the forward JOG signal (M3202+20n) and re- verse JOG signal (M3203+20n) turn ON simultaneously for a single axis. When the axis decelerated to a stop after the forward JOG signal had turned OFF, reverse JOG operation is not performed if the reverse JOG signal is ON.
Page 277 7. POSITIONING CONTROL [Program Example] This program executes JOG operation under the conditions below. (1) System configuration JOG operation of Axis 4. A61P A273UH A278 A61P AX41 Forward JOG operation command (X000) Reverse JOG operation command (X001) MR- -B MR- -B MR- -B MR- -B Axis 1 Axis 2 Axis 3...
Page 278: Simultaneous Start
7. POSITIONING CONTROL 7.19.3 Simultaneous start Simultaneously starts JOG operation designated for multiple axes. [Control Details] (1) JOG operation continues at the speed value stored in the JOG operation speed setting register for each axis while the JOG simultaneous start command (M2048) remains ON, and a deceleration stop occurs when M2048 turns OFF.
Page 279 7. POSITIONING CONTROL (3) The JOG operation speed setting registers are described below. Setting Range JOG Operation JOG Operation Setting Register inch degree PULSE Forward Reverse Most Least Setting Setting Setting Setting Units Units Units Units Significant Significant Range Range Range Range M3202...
Page 280 7. POSITIONING CONTROL [Program Example] This program executes simultaneous start of JOG operations under the conditions below. (1) System configuration JOG operation of Axis 1, Axis 2, and Axis 4. A61P A273UH A278 A61P AX41 JOG operation command(X000) MR- -B MR- -B MR- -B MR- -B Axis 1 Axis 2 Axis 3...
Page 281: Manual Pulse Generator Operation
0 of the CPU base). (The manual pulse generator is valid for the first module only.) • When the A173UHCPU is used, one A172SENC is required per manual pulse generator. Connect a manual pulse generator to each of the first to third A172SENC.
Page 282 7. POSITIONING CONTROL (2) The travel value and output speed are shown below for positioning control due to manual pulse generator output. (a) Travel value The travel value due to the input of PULSE from a manual pulse generator is calculated using the following formula. [travel value] = [travel value per PULSE] ×...
Page 283 7. POSITIONING CONTROL (3) Setting the axis controlled by the manual pulse generator (a) The axis controlled by the manual pulse generator are set in the manual pulse generator axis setting register (D714 to D719). Example Make the following setting when controlling axis 1, 22 and 30 using the man- ual pulse generator 1.
Page 284 7. POSITIONING CONTROL (5) At the leading edge of the manual pulse generator enable flag, a check is made in the manual pulse generator 1- PULSE input magnification setting registers of the manual pulse generator input magnifications set for the appropriate axis. If an out-of-range value is detected, the manual pulse generator axis setting er- ror register (D9185 to D9187) and manual pulse generator axis setting error flag (M9077) are set and a value of 1 is used for the magnification.
Page 285 7. POSITIONING CONTROL (7) Details of errors occurring during the setting of data for manual pulse generator operation are shown in the table below. Error Details Error Processing • Digit ignored where error occurred. A digit was set outside the •...
Page 286 7. POSITIONING CONTROL [Procedure for Manual Pulse Generator Operation] The procedure for manual pulse generator operation is shown below. Start Set manual pulse generator 1 PULSE input magnification Set manual pulse generator using a sequence program operation axis Turn ON manual pulse generator enable flag Positioning by manual pulse generator...
Page 287 7. POSITIONING CONTROL [Program Example] This program executes manual pulse generator operation under the conditions below. (1) System configuration Manual pulse generator operation of Axis 1. A61P A273UH A278 A61P AX41 Manual pulse penerator operation enable (X000) Manual pulse penerator operation complete (X001) Manual pulse generator MR- -B MR- -B MR- -B MR- -B...
Page 288: Home Position Return
7. POSITIONING CONTROL 7.21 Home Position Return (1) Use zeroing at power on and other times where confirmation that axis is at the machine home position is required. (2) The following three methods of home position return are available: • Proximity dog method Used when not using an absolute position •...
Page 289 7. POSITIONING CONTROL (1) Setting the travel value after proximity dog (a) This parameter sets the travel value after the proximity dog turns ON for ze- roing using the count method. (b) After the proximity dog turns ON, the home position is the first zero-point after travel by the set travel value is complete.
Page 290: Zeroing By The Proximity Dog Method
7. POSITIONING CONTROL 7.21.2 Zeroing by the proximity dog method (1) Proximity dog method Using the proximity dog method, the home position is the first zero point after the proximity dog turns OFF. (2) Zeroing by the proximity dog method The zeroing operation using the proximity dog method is shown in Fig.
Page 291 7. POSITIONING CONTROL (b) Adjust the position where the proximity dog turns OFF, such that the zeroing second travel value becomes half the travel value for one revolution of the motor. A home position discrepancy equivalent to one revolution of the motor may occur if the zeroing travel value is less than half the travel value for one revolution of the motor.
Page 292: Zeroing By The Count Method
7. POSITIONING CONTROL 7.21.3 Zeroing by the count method (1) Count method Using the count method, the home position is the first zero point after a designated distance (travel value after proximity dog turns ON) after the proximity dog turns ON. The travel value after the proximity dog turns ON is set in the table of zeroing data shown in section 7.21.1.
Page 293: Zeroing By The Data Set Method
7. POSITIONING CONTROL 7.21.4 Zeroing by the data set method (1) Data set method The data set method is a zeroing method which does not use the proximity dogs. This method can be used with the absolute position system. (2) Zeroing by the data set method The address current value becomes the home position address when the zeroing operation is run with the SVST instruction.
Page 294: Zeroing Servo Program
7. POSITIONING CONTROL 7.21.5 Zeroing servo program Zeroing uses the ZERO servo instruction. Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes − ∆ ZERO ! : Must be set ∆ : Set if required [Control Details] (1) Zeroing is carried out using the method designated in the zeroing data (see Section 7.21.1).
Page 295 7. POSITIONING CONTROL [Program Example] This program carries out zeroing using servo program No. 0, under the conditions below. (1) System configuration Zeroing of Axis 4. A61P A273UH A278 A61P AX41 Zeroing return command (X000) MR- -B MR- -B MR- -B MR- -B Axis 1 Axis 2 Axis 3...
Page 296: High-Speed Oscillation
7. POSITIONING CONTROL 7.22 High-Speed Oscillation Positioning of a designated axis is Items Set by Peripherals Common Parameter Block Others Number of Servo Positioning Controllable Instruction Method Axes − ∆ ∆ ∆ ∆ ∆ ! : Must be set ∆ : Set if required [Control details] The designated axis caused to oscillate on a designated sine wave.
Page 297 7. POSITIONING CONTROL [Notes] (1) If the amplitude setting is outside the permissible range, the servo program setting error "25" occurs and operation does not start. (2) If the starting angle setting is outside the permissible range, the servo program setting error "26"...
Page 298: Auxiliary And Applied Functions
8. AUXILIARY AND APPLIED FUNCTIONS 8. AUXILIARY AND APPLIED FUNCTIONS This section describes the auxiliary and applied functions available for positioning control by the servo system CPU. (1) Limit switch output function ............. Section 8.1 (2) M-code output function............Section 8.2 (3) Backlash compensation function ..........
Page 299: Limit Switch Output Function
8. AUXILIARY AND APPLIED FUNCTIONS Limit Switch Output Function The limit switch output function allows the A1SY42 output module or AY42 output module to output ON/OFF signals corresponding to the positioning address set for each axis. 8.1.1 Limit switch output data Initial Item Settings...
Page 300 8. AUXILIARY AND APPLIED FUNCTIONS (2) Limit Switch Enable/Disable Setting The following devices can be used to enable or disable the limit switch output from each axis or each point. Table 8.1 Limit Switch Enable/Disable Settings Setting Set Data/Device Processing Set Data Valid Timing Unit Used...
Page 301: M-Code Output Function
8. AUXILIARY AND APPLIED FUNCTIONS M-Code Output Function An M-code is a code number between 0 and 255 which can be set for each positioning control. During positioning control execution, these M-codes are read by the sequence program to check the current servo program and to command auxiliary operations, such as clamping, drill rotation, and tool changing.
Page 302 8. AUXILIARY AND APPLIED FUNCTIONS (3) Resetting M-codes The M-codes can be reset by clearing the M-code output devices to zero. Use this method during positioning control to carry out operations unrelated to the servo program, such as when it has been difficult to output the M-code during the previous positioning control.
Page 303: Backlash Compensation Function
8. AUXILIARY AND APPLIED FUNCTIONS Backlash Compensation Function The backlash compensation function compensates for the backlash amount in the mechanical system. When the backlash compensation amount is set, extra pulses equivalent to the backlash compensation amount are output after a change in travel direction resulting from positioning control, JOG operation, or manual pulse generator operation.
Page 304 8. AUXILIARY AND APPLIED FUNCTIONS (2) Backlash compensation processing The details of backlash compensation processing are shown in the table below. Table 8.2 Details of Backlash Compensation Processing Condition Processing • No backlash compensation if travel direction = zeroing First motion after power on direction.
Page 305: Torque Limit Function
8. AUXILIARY AND APPLIED FUNCTIONS Torque Limit Function The torque limit function controls the torque generated by the servomotor within the set range. The torque is controlled to the set torque limit value if the torque required during positioning control exceeds the set limit value. (1) Torque limit value set range Set the torque limit value between 1% and 500% of the rated torque.
Page 306 8. AUXILIARY AND APPLIED FUNCTIONS Examples [Setting the torque limit value for speed switching control (VSTART)] (1) Servo program Torque setting to end point Parameter block 3 (P.B.3) set at start <K 11> F1 COMMAND SELECT POINT VSTART ITEM SET P.B.
Page 307: Electronic Gear Function
8. AUXILIARY AND APPLIED FUNCTIONS Electronic Gear Function The electronic gear function changes the travel value per PULSE. The electronic gear is set by setting the travel value per PULSE (see Section 4.2.1). Using the electronic gear function allows positioning control without the need to select the encoder to match the mechanical system.
Page 308 8. AUXILIARY AND APPLIED FUNCTIONS The relationship between the commanded speed (positioning speed set in the servo program) and actual speed (actual positioning speed) is shown below for different electronic gear settings. • if electronic gear setting = 1, commanded speed = actual speed •...
Page 309: Absolute Positioning System
8. AUXILIARY AND APPLIED FUNCTIONS Absolute Positioning System The absolute positioning system can be used for positioning control when using an absolute-position-compatible servomotor and MR- -B. Zeroing is not necessary using the absolute positioning system because after the machine position is initially established at system startup, the absolute position is sensed each time the power is turned on.
Page 310 8. AUXILIARY AND APPLIED FUNCTIONS (2) In the absolute positioning system, the absolute position may be lost under the following conditions: Re-establish the absolute position using zeroing or by aligning the machine position and using current value change. (a) After removing or replacing the battery unit. (b) On occurrence of a servo battery error (detected at servo amplifier power on).
Page 311 8. AUXILIARY AND APPLIED FUNCTIONS POINTS (1) The address setting range for absolute position system is −2147483648 to 2147483647. It is not possible to restore position commands that exceed this limit, or current values, after a power interruption. When performing an infinite feed operation, solve this problem by setting the units to degrees.
Page 312: Skip Function
8. AUXILIARY AND APPLIED FUNCTIONS Skip Function Based on an external input, the skip function halts the current positioning and executes the next positioning control. The servo system CPU can run the skip function according to the external STOP signal and the sequence program. (1) The procedure for using the skip function based on the external STOP signal and the sequence program is shown below.
Page 313: Teaching Function
8. AUXILIARY AND APPLIED FUNCTIONS Teaching Function The teaching function allows the operator to teach the servo system CPU when the target position (address) is unknown or to align with an object. (1) Teaching methods Two teaching methods are available: "address teaching" and "program teaching."...
Page 314: Servo Program Cancel/Start Function
8. AUXILIARY AND APPLIED FUNCTIONS Servo Program Cancel/ / / / Start Function 8.10 This is a function for stopping a servo program being executed by means of a deceleration stop caused turning the cancel signal ON. When used in combination with "start"...
Page 315 8. AUXILIARY AND APPLIED FUNCTIONS [ [ [ [ Program example] ] ] ] A program example is shown bellow. <K 0> ABS-1 Axis 1, 30000 Speed 5000 Cancel signal X0000 Cancel X0000 Start Start 8 − 18...
Page 316: Enhanced Current Value Control
8. AUXILIARY AND APPLIED FUNCTIONS 8.11 Enhanced Current Value Control The following functions have been added to provide enhanced current value control when the ABS encode is used. (1) Enhanced functions (a) Function for checking the validity of an encoder during operation •...
Page 317 8. AUXILIARY AND APPLIED FUNCTIONS (3) Restrictions on the servo amplifiers When the positioning operating system version V or later is used, there are the following restrictions on the combinations of the servo amplifiers and positioning software packages. Positioning Software Package Ver.
Page 318: Appendices
APPENDICES APPENDICES APPENDIX1 SCPU ERROR CODE LIST If an error occurs when the PLC is switched to the RUN status or is in the RUN status, the error indication and error code (including the step number) are stored in a special register by the self-diagnosis function. When an error occurs, refer to Table 1.1 for its cause and the corrective action to take.
Page 319 APPENDICES Table 1.1 Error Code List (Continued) Contents of Special Error Message Register Error Contents and Cause Corrective Action Status D9008 (BIN Value) "CHK FORMAT ERR." (1) An instruction other than an LDX, LDIX, ANDX, or (1) Check if any of items (1) to (6) in ANIX instruction (including NOP) has been included the column to the left apply to the in the same ladder block as a CHK instruction.
Page 320 APPENDICES Table 1.1 CPU Error Code List (Continued) Contents of Special Error Message Register Error Contents and Cause Corrective Action Status D9008 (BIN Value) "UNIT VERIFY ERR." The I/O information does not match a loaded module (1) The bit in special registers D9116 when the power is switched ON.
Page 321 APPENDICES Table 1.1 CPU Error Code List (Continued) Contents of Special Error Message Register Error Contents and Cause Corrective Action Status D9008 (BIN Value) "SP.UNIT ERROR" (1) A location where there is no special function module (1) Read the error step using a pe- has been accessed (when the FROM, TO instruction ripheral device, check the contents Stopped...
Page 322: Appendix2 Error Codes Stored By The Pcpu
APPENDICES APPENDIX2 ERROR CODES STORED BY THE PCPU The errors that are detected at the PCPU are servo program setting errors and positioning errors. (1) Servo program setting errors Servo program setting errors are errors in the positioning data set in the servo program and are checked for when a servo program is started.
Page 323 APPENDICES (c) If another error occurs after an error code has been stored, the existing error code is overwritten, deleting it. However, it is possible to check the history of error occurrence by using a peripheral device started up with the GSV13PE/GSV22PE software. (d) Error detection flags and error codes are latched until the error code reset signal (M3207+20n) or servo error reset signal (M3208+20n) comes ON.
Page 324: Servo Program Setting Errors (Stored In D9190)
APPENDICES Servo Program Setting Errors (Stored in D9190) The error codes, error contents, and corrective actions for servo program setting errors are shown in Table 2.2. The " " in error codes marked with an asterisk indicates the axis number (1 to 32). Table 2.2 Servo Program Setting Error List Error Code Stored in...
Page 325 APPENDICES Table 2.2 Servo Program Setting Error List (Continued) Error Code Stored in Error Name Error Contents Error Processing Corrective Action D9190 (1) An address outside the applicable range is Positioning control does not start. (1) If the control unit is degrees, set when executing absolute positioning set the address in the range 0 Center point setting...
Page 326 APPENDICES Table 2.2 Servo Program Setting Error List (Continued) Error Code Stored in Error Name Error Contents Error Processing Corrective Action D9190 START instruction The servo program designated by the SVST Positioning control does not start. Set the correct servo program setting error program does not exist.
Page 327: Minor Errors
APPENDICES Minor Errors Minor errors are those that occur in the sequence program or servo program. The error codes for these errors are from 1 to 999. Minor errors include set data errors, positioning control start-up errors, positioning control errors, and control change errors. (1) Set data errors (1 to 99) These errors occur when the data set in the parameters for positioning control is not correct.
Page 328 APPENDICES (2) Positioning control start-up errors (100 to 199) The errors shown in this section are those detected when positioning control is started. Error codes, causes, processing, and corrective actions are shown in Table 2.6 below. (Note-1) : When interpolation control is being executed, the error codes are stored in the error code storage areas of all the axes involved in the interpolation.
Page 329 APPENDICES Table 2.4 Positioning Control Start-Up Error List (100 to 199) (Continued) Control Mode Error Error Error Cause Corrective Action Code Processing • The set JOG speed is 0. • Set a correct speed Positioning control does (within the specified range). not start.
Page 330 APPENDICES (3) Positioning control errors (200 to 299) The errors shown in this section are those detected during positioning control. Error codes, causes and corrective actions are shown in Table 2.5. Table 2.5 Positioning Control Start-Up Error List (200 to 299) Control Mode Error Error...
Page 331 APPENDICES Table 2.5 Positioning Control Error List (200 to 299) (Continued) Control Mode Error Error Error Cause Corrective Action Code Processing • During positioning, an overrun occurs • Set a speed at which overrun does not Axis motion because the deceleration distance for the decelerates occur.
Page 332 APPENDICES (4) Errors occurring at current value changes and speed changes (300 to 399) The errors shown in this section are those that occur on execution of current value changes and speed changes. Error codes, causes, processing, and corrective actions are shown in table 2.6. Table 2.6 List of Errors that Occur at Current Value/Speed Changes Control Mode Error...
Page 333 APPENDICES (5) System errors (900 to 999) Table 2.7 System Error List (900 to 999) Control Mode Error Error Error Cause Corrective Action Code Processing • When the servo amplifier power is switched • Correct the motor type setting in the ON, the motor type set in the "system system settings.
Page 334: Major Errors
APPENDICES Major Errors Major errors are caused by external input signals or by control commands from the SCPU. The error codes for major errors are 1000 to 1999. Major errors consist of control start-up errors, positioning errors, absolute system errors, and system errors. (1) Positioning control start-up errors (1000 to 1099) The errors shown in this section are those detected when positioning control is started.
Page 335 APPENDICES (2) Positioning control errors (1100 to 1199) The errors shown in this section are those detected during positioning. Error codes, error causes, error processing, and corrective actions are shown in Table 2.9. Table 2.9 Positioning Control Error List (1100 to 1199) Control Mode Error Error...
Page 336 APPENDICES (3) Absolute System Errors (1200 to 1299) The errors shown in this section are those detected in an absolute system. Error codes, error causes, error processing, and corrective actions are shown in Table 2.10. Table 2.10 Absolute System Error List (1200 to 1299) Control Mode Error Error...
Page 337 APPENDICES (4) System errors (1300 to 1399, 1500 to 1599) Errors detected at power-on. Table 2.11 indicates the error codes, error causes, error processings and corrective actions. Table 2.11 Main Base Side Error List (1300 to 1399, 1500 to 1599) Control Mode Error Error...
Page 338: Servo Errors
APPENDICES Servo Errors Servo errors are classified into servo amplifier errors and servo power supply module errors. You can set to each system what processing will be performed at servo error detection. (Only servo errors detected by the ADU (when the A273UHCPU is used)) Set the processing and system in the system settings of the peripheral device.
Page 339 APPENDICES Table 2.12 Servo Amplifier Error List (2000 to 2799) Error Cause Error Amplifier When Error Checked Error Processing Corrective Action Code Type Name Description • P-N of the servo power supply • Reconsider wiring. P-N non-wiring module are not wired to P-N of the ADU.
Page 340 APPENDICES Table 2.12 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Amplifier When Error Checked Error Processing Corrective Action Code Type Name Description • During operation, communication • Check wiring between the encoder and with the encoder is not normal. ADU.
Page 341 APPENDICES Table 2.12 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Amplifier When Error Checked Error Processing Corrective Action Code Type Name Description • The servo motor connected is not • At power-on of servo • Reconsider the system settings. as set.
Page 342 APPENDICES Table 2.12 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Amplifier When Error Checked Error Processing Corrective Action Code Type Name Description • The command speed is too high. • Reconsider the command speed. • Servo system CPU fault. •...
Page 343 APPENDICES Table 2.12 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Amplifier When Error Checked Error Processing Corrective Action Code Type Name Description • The rated current of the servo • Load inertia or friction is too large. motor is exceeded.
Page 344 APPENDICES Table 2.12 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Amplifier When Error Checked Error Processing Corrective Action Code Type Name Description • The deviation counter value • Reconsider the servo parameters. exceeded the specified value. •...
Page 345 APPENDICES Table 2.12 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Amplifier When Error Checked Error Processing Corrective Action Code Type Name Description • The parameter that was set is • Reconsider the system settings and unauthorized. servo parameters.
Page 346 APPENDICES Table 2.12 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Amplifier When Error Checked Error Processing Corrective Action Code Type Name Description • The servo parameter value is outside • Check the setting ranges of the servo the setting range.
Page 347 APPENDICES Table 2.14 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Amplifier When Error Checked Error Processing Corrective Action Code Type Name Description • The servo parameter value is outside • Check the setting ranges of the servo the setting range.
Page 348 APPENDICES Table 2.12 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Amplifier When Error Checked Error Processing Corrective Action Code Type Name Description • The parameter that was set is • At power-on of servo • Reconsider the system settings and unauthorized.
Page 349 APPENDICES Table 2.12 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Amplifier When Error Checked Error Processing Corrective Action Code Type Name Description • The parameter setting is wrong. • At power-on of servo • After checking and correcting the •...
Page 350 APPENDICES Table 2.12 Servo Amplifier Error List (2000 to 2799) (Continued) Error Cause Error Amplifier When Error Checked Error Processing Corrective Action Code Type Name Description • The parameter setting is wrong. • At power-on of servo • After checking and correcting the •...
Page 351 APPENDICES (2) Servo power supply module errors (2800 to 2999) The servo power supply module errors are detected by the servo amplifier and assigned error codes 2800 to 2999. When any of the servo errors occurs, the servo error detection signal (M2408+20n) turns ON.
Page 352: Pc Link Communication Errors
APPENDICES PC Link Communication Errors Table 2.14 PC Link Communication Error Codes Error Codes Error Description Action to Take Stored in D9196 • Check whether the PC has been switched A receiving packet for PC link communication does not arrive. •...
Page 353: Led Indications When Errors Occur At The Pcpu
CPU module. The error message can be read on the error list monitor screen of the peripheral device. For details on the operating procedure, refer to the operating manual for the peripheral device. Table 2.15 LED Indications When Errors Occur at PCPU A173UHCPU (S1) LED A273UHCPU Front LED Operation when Indication...
Page 354 APPENDICES Table 2.15 LED Indications When Errors Occur at PCPU (Continued) A173UHCPU (S1) LED A273UHCPU Front LED Operation when Indication Error Cause Error Check Timing Error Set Device Corrective Action Indication Error Occurs ! ! ! ! :On " " " " :Off •...
Page 355: Appendix3 Special Relays And Special Registers
APPENDICES APPENDIX3 SPECIAL RELAYS AND SPECIAL REGISTERS Special Relays (SP, M) The special relays are internal relays with fixed applications in the programmable controller. Accordingly, they must not be turned ON and OFF in sequence programs (those (Note-1) and (Note-2) in the table are exceptions). Table 3.1 Special Relay List Number Name...
Page 356 APPENDICES Table 3.1 Special Relay List (Continued) Number Name Stored Data Explanation Writes the clock data stored in D9025 to D9028 to the clock devices M9025 OFF No processing Clock data set request after execution of the END instruction in the scan in which M9025 is (Note-1) Data set request switched ON.
Page 357 APPENDICES Table 3.1 Special Relay List (Continued) Number Name Stored Data Explanation Number of output OFF Output until NULL code When M9049 is OFF, output continues until the NULL (00H) code. M9049 characters selection 16 characters output When M9049 is ON, ASCII code for 16 characters is output. M9052 OFF 7-segment display When M9052 is ON it is executed as the I/O partial refresh instruction.
Page 358 APPENDICES Table 3.1 Special Relay List (Continued) Number Name Stored Data Explanation Step transition monitoring M9108 timer start(Corresponding (Note-2) to D9108) Step transition monitoring M9109 timer start(Corresponding (Note-2) to D9109) Step transition monitoring M9110 timer start(Corresponding (Note-2) to D9110) Step transition monitoring M9111 OFF Monitoring timer reset Turned ON to start the timing of the step transition monitoring timer.
Page 359 APPENDICES Device Signal Signal name Refresh cycle Fetch cycle number direction M9073 PCPUWDT error flag M9074 PCOU ready completion flag M9075 Test mode flag M9076 External rapid stop input flag PCPU→SCPU M9077 Manual pulse generator axis setting error flag M9078 Test mode request error flag M9079 Servo program setting error flag...
Page 360: Special Registers (Sp.d)
APPENDICES Special Registers (SP.D) The special registers are data registers used for specific purposes in the programmable controller. Therefore, do not write data to the special registers in the (Note-2) program (with the exception of those whose numbers are marked in the table).
Page 361 APPENDICES Table 3.2 Special Register List (Continued) Number Name Stored Data Explanation The CPU operation states indicated in the figure below are stored in D9015. B12B11 B8 B7 B4 B3 Remains unchanged in CPU key switch remote run/stop mode STOP PAUSE * STEP RUN Remote RUN/STOP by parameter setting...
Page 362 APPENDICES Table 3.2 Special Register List (Continued) Number Name Stored Data Explanation The day and hour are stored in BCD code in D9026 as shown below. B12B11 B8 B7 B4 B3 Example D9026 Clock data Clock data (Note-2) (day, hour) : 31st, 10th hour H3110 Hour...
Page 363 APPENDICES Table 3.2 Special Register List (Continued) Number Name Stored Data Explanation The element numbers for priorities 1 to 4 (D9038) and 5 to 7 (D9039) for the lighting (or flashing) of the ERROR LED when an error occurs, are set and changed. B12B11 B8 B7 B4 B3...
Page 364 APPENDICES Table 3.2 Special Register List (Continued) Number Name Stored Data Explanation Stores in a bit pattern the fuse-blown output module numbers (16 point increments). (When parameter setting was made, the preset numbers are used.) The fuse blown states of the output modules on remote stations are also detected. 11 10 9 D9100 (YC0)
Page 365 APPENDICES Table 3.2 Special Register List (Continued) Number Name Stored Data Explanation When F numbers in the range F0 to 2047 are turned on by OUT F or SET F , they are entered in D9125 to D9132 in ascending order of register numbers. An F number which is turned off by RST F is erased from D9125 to D9132, and the contents of the data registers following the one where the erased F number was stored are each shifted to the preceding data register.
Page 366 APPENDICES POINTS (1) All special register data is cleared by the power-off, latch clear, and reset operations. The data is retained when the RUN/STOP key switch is set to STOP. (2) The contents of the special relays marked “Note-1” in the table above are not cleared even after the normal status is restored.
Page 367 APPENDICES Table 3.2 Special Register List (Continued) Number Name Stored Data Explanation Manual pulse Stores the smoothing time constant of the manual pulse generator. generator 1 (P1) The smoothing time constant is calculated by the following expression. Smoothing time constant (t) = (smoothing magnification + 1) × 56.8 [ms] D752 smoothing magnification...
Page 368 APPENDICES Table 3.2 Special Register List (Continued) Number Name Stored Data Explanation The PCPU WDT errors tabled below are stored in D9184. Error Code Error Cause PCPU software fault 1 PCPU excessive operation frequency PCPU software fault 2 Hardware fault between PCPU and SCPU AC motor drive module CPU fault Indicates the slot No.(0 to 7) where the AC motor drive module...
Page 369 APPENDICES Table 3.2 Special Register List (Continued) Number Name Stored Data Explanation Stores the definitions of manual pulse generator axis setting errors when the manual pulse generator axis setting error flag (M9077) turns ON. b15 b14 b13 b12 b11 b10 D9195 Stores the axis setting errors of the manual pulse generators connected to P1 to P3 of A273EX.
Page 370: Appendix4 Example Programs
APPENDICES APPENDIX4 EXAMPLE PROGRAMS Reading M Codes An example of a program for reading an M code on completion of positioning start or on completion of positioning is shown here. The distinction between positioning start completion and positioning completion is made with the following signals.
Page 371: Error Code Reading
APPENDICES Error Code Reading A program that reads the error code when an error occurs is shown here. The following signals are used to determine whether or not an error has occurred: • Minor errors, major errors....Error detection signal (M2407+20n) •...
Page 372: Magnitude Comparison And Four Fundamental Operations Of 32-Bit Monitor Data
APPENDICES Magnitude Comparison and Four Fundamental Operations of 32-Bit Monitor Data When a machine value, real current value or deviation counter value is used to perform magnitude comparison or four fundamental operations, the value must be transferred to another device memory once and the device memory of the transfer destination be used to perform processing as described below.
Page 373 APPENDICES (2) Four fundamental operations example To divide the real current value by the set value Execution command DMOVP S D / D1 D2 D3 1) S, D1, D2 and D3 indicate the following. S : Real current value D1 : Device memory for temporary storage D2 : Division D3 : Operation result storage device APP −...
Page 374: Appendix 5 Setting Range Of Indirectly Designated Devices
APPENDICES APPENDIX 5 SETTING RANGE OF INDIRECTLY DESIGNATED DEVICES All settings by servo programs (positioning address, commanded speed, M code, etc.) can be designated indirectly by sequencer devices, excluding the axis numbers. (1) Device range The number of device words and device range in indirect designation are shown below.
Page 375 APPENDICES POINT Be sure to designate even-numbered devices for 2-word designation items. Be sure to use the DMOV(P) instruction when setting data in these devices by sequence programs. (2) Device data fetch Data for indirectly designated devices is fetched by the PCPU at the start of the servo program.
Page 376: Appendix 6 Processing Times
APPENDIX 6 PROCESSING TIMES The following tables list the processing time of each instruction for positioning control in the servo system CPU. (1) Motion operation cycle (ms) A273UHCPU A173UHCPU(-S1) Number of set axes (SV22) 1 to 8 9 to 18 19 to 32...
Page 377   1 to 20 21 to 32 1 to 20 21 to 32 M2460 to M2479 A173UHCPU Signal SV13 direction 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 M2480 to M2499...
Page 378 Number of set axes M3240 to M3259 21 to 21 to   1 to 20 1 to 20 M3260 to M3279 A173UHCPU SV13 Signal 13 to 25 to 13 to 25 to 1 to 12 1 to 12 M3280 to M3299...
Page 379 Number of set axes Number of set axes 21 to 21 to   D60 to D79 1 to 20 1 to 20 A173UHCPU SV13 Signal 13 to 25 to 13 to 25 to Unit D80 to D99 1 to 12...
Page 380 D642, D643 Refresh cycle Import cycle Signal Name D644, D645 Number of set axes Number of set axes   D646, D647 A173UHCPU 1 to 20 21 to 32 1 to 20 21 to 32 Signal SV13 Unit direction D648, D649...
Page 381 A273UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32...
Page 382 A273UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32...
Page 383 APPENDICES (9) Common devices Refresh Cycle Import Cycle Signal Name Number of set axes Number of set axes   A173UHCPU 1 to 20 21 to 32 1 to 20 21 to 32 SV13 Device Number Signal Direction A273UHCPU 1 to 12...
Page 384 Refresh Cycle Import Cycle Signal Name Number of set axes Number of set axes   Device A173UHCPU Signal 1 to 20 21 to 32 1 to 20 21 to 32 SV13 Number Direction A273UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32...
Page 385: Appendix 7 Electronic Gear Setting Examples
APPENDICES APPENDIX 7 ELECTRONIC GEAR SETTING EXAMPLES In addition to the electronic gear setting method explained in Section 4.2 Fixed Parameters of this manual, this section provides various electronic gear setting examples. Use them as reference for parameter setting. Basic concept of the electronic gear The basic concept of the electronic gear is represented by the following expression.
Page 386 APPENDICES 8192(PLS) 44 10000.0( m) 9 360448 90000.0 Here, reduce the above result since the A setting must be made not more than 65535. 45056 11250.0 Next, since the A setting range is up to 6553.5, set 1125.0 as A and multiply it by 10 with A 45056(A...
Page 387 APPENDICES 16384(PLS) ∆ 360.00000(degree) 3/11 16384(PLS) 11 360.00000(degree) 3 180224 1080.00000 Here, reduce the above result since the A setting must be made not more than 65535. 11264 67.50000 Next, since the A setting range is up to 0.65535, set 0.06750 as A and multiply it by 1000 with A 11264(A...
Page 388 APPENDICES Here, reduce the above result since the A setting must be made not more than 65535. 1302528 1484401.3 The above fraction cannot be reduced further. Here, since the A setting range is not more than 6553.5 and the A setting range is not more than 6553.5, ignore the least significant digits of both the denominator and numerator as 0.
Page 389 HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 TELEX: J24532 CABLE MELCO TOKYO NAGOYA WORKS : 1-14 , YADA-MINAMI 5 , HIGASHI-KU , NAGOYA , JAPAN IB (NA) 0300028-A (0101) MEE Printed in Japan Specifications subject to change without notice.

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