Page 1 Q173D(S)CPU/Q172D(S)CPU Motion Controller (SV13/SV22) Programming Manual (REAL MODE) -Q172DCPU -Q173DCPU -Q172DCPU-S1 -Q173DCPU-S1 -Q172DSCPU -Q173DSCPU...
Page 2: Safety Precautions
SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Q173D(S)CPU/Q172D(S)CPU Users manual for a description of the Motion controller safety precautions.
Page 3 For Safe Operations 1. Prevention of electric shocks DANGER 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 the instruction manual 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 The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking. The brakes (electromagnetic brakes) assembled into the servo motor are for holding applications, and must not be used for normal braking.
Page 6 CAUTION Set the servo amplifier capacity and type parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Use the program commands for the program with the conditions specified in the instruction manual.
Page 7 CAUTION The Motion controller, servo amplifier and servo motor are precision machines, so do not drop or apply strong impacts on them. Securely fix the Motion controller, servo amplifier and servo motor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servo motor with reduction gears in the designated direction.
Page 8 (4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servo motor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier.
Page 9 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servo motor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized.
Page 10 (8) Maintenance, inspection and part replacement CAUTION Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual.
Page 11 When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi Electric sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.
Page 12: Revisions
REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Sep., 2007 IB(NA)-0300136-A First edition Nov., 2009 IB(NA)-0300136-B [Additional model] MR-J3W- B, MR-J3- B-RJ080W, MR-J3- BS [Additional correction/partial correction] Safety precautions, About Manuals, Restrictions by the software's version or serial number, Servo amplifier display servo error code (#8008+20), Amplifier-less operation status flag (SM508), SSCNET control (Status_SD508), SSCNET control (Command_SD803),...
Page 13 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 14: Table Of Contents
INTRODUCTION Thank you for choosing the Mitsubishi Electric Motion controller Q173D(S)CPU/Q172D(S)CPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use.
Page 15 4.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop deceleration time ..........................4-17 4.3.2 S-curve ratio ............................4-19 4.3.3 Advanced S-curve acceleration/deceleration ................... 4-21 4.3.4 Allowable error range for circular interpolation ................. 4-35 4.4 Expansion Parameters..........................4-36 4.4.1 Positive direction torque limit value monitor device/negative direction torque limit value monitor device ..............................
Page 16 6.16.1 Speed-switching control start, speed-switching points and end specification ......6-113 6.16.2 Specification of speed-switching points using repetition instructions .......... 6-119 6.17 Constant-Speed Control ........................6-125 6.17.1 Specification of pass points by repetition instructions ..............6-129 6.17.2 Speed-switching by instruction execution ..................6-134 6.17.3 1 axis constant-speed control .......................
Page 17 7.7 Speed-Torque Control ..........................7-14 7.7.1 Speed-torque control data ........................ 7-16 7.7.2 Operation of speed-torque control ....................7-24 7.8 Acceleration/Deceleration Time Change Function ................. 7-41 APPENDICES APP- 1 to APP-130 APPENDIX 1 Error Codes Stored Using the Motion CPU ..............APP- 1 APPENDIX 1.1 Servo program setting errors (Stored in SD517) ............
Page 18: About Manuals
About Manuals The following manuals are also related to this product. When necessary, order them by quoting the details in the tables below. Related Manuals (1) Motion controller Manual Number Manual Name (Model Code) Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual This manual explains specifications of the Motion CPU modules, Q172DLX Servo external signal interface IB-0300133 module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface (1XB927)
Page 19 (2) PLC Manual Number Manual Name (Model Code) QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base units, SH-080483ENG (13JR73) extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting, error codes and others.
Page 20 (3) Servo amplifier Manual Number Manual Name (Model Code) SSCNET /H Interface AC Servo MR-J4-_B_(-RJ) Servo amplifier Instruction Manual SH-030106 This manual explains the I/O signals, parts names, parameters, start-up procedure and others for AC (1CW805) Servo MR-J4-_B_(-RJ) Servo amplifier. SSCNET /H Interface Multi-axis AC Servo MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo amplifier Instruction Manual SH-030105...
Page 21 MEMO A - 20...
Page 22: Overview
1 OVERVIEW 1. OVERVIEW 1.1 Overview This programming manual describes the positioning control parameters, positioning dedicated devices and positioning method required to execute positioning control in the Motion controller (SV13/22 real mode). The following positioning control is possible in the Motion controller (SV13/22 real mode).
Page 23 1 OVERVIEW Generic term/Abbreviation Description Abbreviation for "Servo setup software package MR Configurator MR Configurator (Version C0 or later)" Abbreviation for "Servo setup software package MR Configurator2 MR Configurator2 (Version 1.01B or later)" Serial absolute synchronous encoder Abbreviation for "Serial absolute synchronous encoder (Q171ENC-W8/ or Q171ENC-W8/Q170ENC Q170ENC)"...
Page 24 1 OVERVIEW REMARK For information about each module, design method for program and parameter, refer to the following manuals relevant to each module. Item Reference Manual Q173D(S)CPU/Q172D(S)CPU Motion controller User’s Motion CPU module/Motion unit Manual PLC CPU, peripheral devices for sequence program design, Manual relevant to each module I/O modules and intelligent function module Operation method for MT Developer2...
Page 25: Features
1 OVERVIEW 1.2 Features 1.2.1 Performance Specifications (1) Motion control specifications Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) Number of control axes Up to 32 axes Up to 16 axes Up to 32 axes Up to 8 axes 0.22ms/ 1 to 4 axes 0.22ms/ 1 to 4 axes 0.44ms/ 1 to 6 axes 0.44ms/ 5 to 10 axes...
Page 26 1 OVERVIEW Motion control specifications (continued) Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) M-code function M-code output function provided, M-code completion wait function provided Number of output points 32 points SV13 Watch data: Motion control data/Word device Virtual mode switching method: Limit switch output Number of output points 32 points function Advanced synchronous control method:...
Page 27 1 OVERVIEW Motion control specifications (continued) Item Q173DSCPU Q172DSCPU Q173DCPU(-S1) Q172DCPU(-S1) Q172DLX 4 modules usable 2 modules usable 4 modules usable 1 module usable Number of Q172DEX 6 modules usable 4 modules usable Motion related 3 modules usable (Note-11) modules 4 modules usable Q173DPX (Note-11)
Page 28 1 OVERVIEW MEMO 1 - 7...
Page 29: Restrictions By The Software's Version
1 OVERVIEW 1.3 Restrictions by the Software's Version There are restrictions in the function that can be used by the version of the operating system software and programming software. The combination of each version and a function is shown in Table1.1. Table 1.1 Restrictions by the Software's Version (Note-1), (Note-2) Operating system software version...
Page 30 1 OVERVIEW Programming software version MELSOFT MT Works2 (MT Developer2) Section of reference MR Configurator2 MR Configurator Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) — — — — (Note-2) Section 4.3.3 1.39R 1.06G — — Section 6.1.7 1.39R 1.06G 1.01B — — — — Section 3.3 1.39R 1.06G —...
Page 31 1 OVERVIEW Table 1.1 Restrictions by the Software's Version (continued) (Note-1), (Note-2) Operating system software version Function Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) — Vision system dedicated function (MVOUT) Motion SFC operation control instruction Program control (IF - ELSE - IEND, SELECT -CASE - SEND, —...
Page 32 1 OVERVIEW Programming software version MELSOFT MT Works2 (MT Developer2) Section of reference MR Configurator2 MR Configurator Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) 1.39R 1.39R — — (Note-3) 1.39R 1.39R — — (Note-3) — — — — (Note-3) — — — — Section 3.3 1.39R 1.39R —...
Page 33 1 OVERVIEW Table 1.1 Restrictions by the Software's Version (continued) (Note-1), (Note-2) Operating system software version Function Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Improvement of absolute positioning operation for servo driver VC /VPH series manufactured by CKD Nikki Denso Not support Co., Ltd., and stepping motor module AlphaStep/5-phase manufactured by ORIENTAL MOTOR Co., Ltd.
Page 34 1 OVERVIEW Programming software version MELSOFT MT Works2 (MT Developer2) Section of reference MR Configurator2 MR Configurator Q173DSCPU/Q172DSCPU Q173DCPU(-S1)/Q172DCPU(-S1) Appendix 6.1 Not support — — — Appendix 6.5 —: There is no restriction by the version. (Note-1): SV13/SV22 is the completely same version. (Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), MT Developer2 or GX Works2/GX Developer.
Page 35: Programming Software Version
1 OVERVIEW 1.4 Programming Software Version The programming software versions that support Motion CPU are shown below. MELSOFT MT Works2 (MT Developer2) Motion CPU MR Configurator2 MR Configurator SV13/SV22 SV43 (Note-1) 1.39R Q173DSCPU 1.10L Not support (Note-1) Q172DSCPU 1.39R 1.10L Not support (Note-2) (Note-3)
Page 36: Positioning Control By The Motion Cpu
2 POSITIONING CONTROL BY THE MOTION CPU 2. POSITIONING CONTROL BY THE MOTION CPU 2.1 Positioning Control by the Motion CPU The following positioning controls are possible in the Motion CPU. • Q173DSCPU/Q173DCPU(-S1) : Up to 32 axes • Q172DSCPU : Up to 16 axes •...
Page 37 2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the Motion SFC program start (D(P).SFCS instruction)] Positioning control is executed by starting the Motion SFC program specified with D(P).SFCS instruction of the PLC CPU in the Motion CPU. (The Motion SFC program can also be started automatically by parameter setting.) An overview of the starting method using the Motion SFC is shown below.
Page 38 2 POSITIONING CONTROL BY THE MOTION CPU Motion CPU Motion SFC program Motion SFC program No.15 START (Set by D(P).SFCS instruction.) Once execution type operation control step Command which performs numerical operation and bit operation. "WAIT" G100 Command which transits to the next step by formation of transition condition Gn.
Page 39 2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the positioning control (Motion SFC program)] The positioning control is executed using the servo program specified with the Motion SFC program in the Motion CPU system. An overview of the positioning control is shown below. Motion CPU control system Motion SFC program 1 axis linear positioning control...
Page 40 2 POSITIONING CONTROL BY THE MOTION CPU Servo program <K 100> ABS-1 Servo instruction (Specification of the positioning control method) Axis 80000 Positioning data which must be set: Speed 10000 Axis used, positioning address and positioning speed, etc. Dwell time M-code Positioning data to be set if required: Dwell time, M-code, etc.
Page 41 2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the servo program start (D(P).SVST instruction)] Positioning control is executed by starting the specified servo program toward the axis specified with D(P).SVST instruction of PLC CPU in the Motion CPU. An overview of the starting method using the servo program is shown below. Multiple CPU control system PLC CPU Sequence program...
Page 42 2 POSITIONING CONTROL BY THE MOTION CPU Motion CPU Servo program Servo program No.25 (Set by D(P).SVST instruction.) <K 25> 2 axes linear interpolation control ABS-2 Axis 50000 Axis used ... Axis 3, Axis 4 Axis 40000 Axis 3 .
Page 43 2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the JOG operation] JOG operation of specified axis is executed using the Motion SFC program in the Motion CPU. JOG operation can also be executed by controlling the JOG dedicated device of specified axis. An overview of JOG operation is shown below.
Page 44 2 POSITIONING CONTROL BY THE MOTION CPU Positioning control parameter System settings System data such as axis allocations Fixed parameters Fixed data by the mechanical system, etc. Data by the specifications of the connected Servo parameters servo amplifier Data required for the acceleration, deceleration Parameter block of the positioning control, etc.
Page 45 2 POSITIONING CONTROL BY THE MOTION CPU [Executing Manual Pulse Generator Operation] When the positioning control is executed by the manual pulse generator connected to the Q173DPX, manual pulse generator operation must be enabled using the Motion SFC program. An overview of manual pulse generator operation is shown below. Motion CPU control system Motion SFC program Manual pulse generator operation...
Page 46 2 POSITIONING CONTROL BY THE MOTION CPU Positioning control parameter System settings System data such as axis allocations Fixed parameters Fixed data by the mechanical system, etc. Data by the specifications of the connected Servo parameters servo amplifier Data required for the acceleration, deceleration Parameter block of the positioning control, etc.
Page 47 2 POSITIONING CONTROL BY THE MOTION CPU (1) Positioning control parameters There are following seven types as positioning control parameters. Parameter data can be set and corrected using MT Developer2. Item Description Reference Section 1 System settings Multiple system settings, Motion modules and axis No., etc. are set. Data by such as the mechanical system are set for every axis.
Page 48 2 POSITIONING CONTROL BY THE MOTION CPU (3) Motion SFC program Motion SFC program is used to execute the operation sequence or transition control combining "Step", "Transition", or "End" to the servo program. The positioning control, JOG operation and manual pulse generator operation by the servo program can be executed.
Page 49 2 POSITIONING CONTROL BY THE MOTION CPU MEMO 2 - 14...
Page 50: Positioning Dedicated Signals
3 POSITIONING DEDICATED SIGNALS 3. POSITIONING DEDICATED SIGNALS The internal signals of the Motion CPU and the external signals to the Motion CPU are used as positioning signals. (1) Internal signals The following five devices of the Motion CPU are used as the internal signals of the Motion CPU.
Page 51 3 POSITIONING DEDICATED SIGNALS The positioning dedicated devices are shown below. It indicates the device refresh cycle of the Motion CPU for status signal with the positioning control, and the device fetch cycle of the Motion CPU for command signal with the positioning control.
Page 52: Internal Relays
3 POSITIONING DEDICATED SIGNALS 3.1 Internal Relays (1) Internal relay list SV13 SV22 Virtual mode switching method Advanced synchronous control method Device Purpose Device Device Purpose Purpose User device User device User device (2000 points) (2000 points) (2000 points) M2000 M2000 M2000 Common device...
Page 53 3 POSITIONING DEDICATED SIGNALS Internal relay list (Continued) SV13 SV22 Virtual mode switching method Advanced synchronous control method Device Purpose Device Device Purpose Purpose M8192 M8192 M8192 System area Ver.! (1608 points) M9800 Command generation axis status Ver.! (20 points 32 axes) M10440 Synchronous encoder axis status (10 points 12 axes)
Page 54 3 POSITIONING DEDICATED SIGNALS (2) Axis status list Axis No. Device No. Signal name M2400 to M2419 M2420 to M2439 Signal name Refresh cycle Fetch cycle Signal direction M2440 to M2459 M2460 to M2479 Positioning start complete M2480 to M2499 Positioning complete M2500 to M2519 In-position...
Page 55 3 POSITIONING DEDICATED SIGNALS (3) Axis command signal list Axis No. Device No. Signal name M3200 to M3219 M3220 to M3239 Signal Signal name Refresh cycle Fetch cycle direction M3240 to M3259 M3260 to M3279 Stop command Operation cycle M3280 to M3299 Rapid stop command M3300 to M3319 Forward rotation JOG start command...
Page 56 3 POSITIONING DEDICATED SIGNALS (4) Common device list Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-7) (Note-7) direction direction Command M2000 PLC ready flag Main cycle M3072 M2055 signal M2001 Axis 1 M2056 Unusable...
Page 57 3 POSITIONING DEDICATED SIGNALS Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-7) (Note-7) direction direction M2110 Axis 10 Synchronous Status M2179 encoder current signal M2111 Axis 11 M2180 Operation cycle (Note-2),...
Page 58 3 POSITIONING DEDICATED SIGNALS Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-7) (Note-7) direction direction M2248 Axis 9 M2284 Axis 13 M2249 Axis 10 M2285 Axis 14 M2250 Axis 11 M2286 Axis 15 M2251 Axis 12...
Page 59 3 POSITIONING DEDICATED SIGNALS (5) Common device list (Command signal) Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1), (Note-2) Main cycle M3072 PLC ready flag M2000 M3073 Speed switching point specified flag At start M2040 Operation cycle M3074 All axes servo ON command M2042...
Page 60: Axis Statuses
3 POSITIONING DEDICATED SIGNALS 3.1.1 Axis statuses (1) Positioning start complete signal (M2400+20n) .... Status signal (a) This signal turns on with the start completion for the positioning control of the axis specified with the servo program. It does not turn on at the starting using JOG operation or manual pulse generator operation.
Page 61 3 POSITIONING DEDICATED SIGNALS (2) Positioning complete signal (M2401+20n) ....Status signal (a) This signal turns on with the completion of the command output to positioning address for the axis specified with the servo program. It does not turn on at the start or stop on the way using home position return, JOG operation, manual pulse generator operation or speed control.
Page 62 3 POSITIONING DEDICATED SIGNALS (3) In-position signal (M2402+20n) ........Status signal (a) This signal turns on when the number of droop pulses in the deviation counter becomes below the "in-position range" set in the servo parameters. It turns off at positioning start. Number of droop pulses In-position range In-position signal...
Page 63 3 POSITIONING DEDICATED SIGNALS (4) Command in-position signal (M2403+20n) ....Status signal (a) This signal turns on when the absolute value of difference between the command position and feed current value becomes below the "command in- position range" set in the fixed parameters. This signal turns off in the following cases.
Page 64 3 POSITIONING DEDICATED SIGNALS (6) Speed/position switching latch signal (M2405+20n) ......... Status signal (a) This signal turns on when the control is switched from speed control to position control. It can be used as an interlock signal to enable or disable changing of the travel value in position control.
Page 65 3 POSITIONING DEDICATED SIGNALS (8) Error detection signal (M2407+20n) ......Status signal (a) This signal turns on with detection of a minor error or major error, and can be used to judge if there is an error or not. The applicable error code (Note-1) is stored in the minor error code storage register (D6+20n) with detection of a minor error.
Page 66 3 POSITIONING DEDICATED SIGNALS (10) Home position return request signal (M2409+20n) ......... Status signal This signal turns on when it is necessary to confirm the home position address. (a) When not using an absolute position system 1) This signal turns on in the following cases: •...
Page 67 3 POSITIONING DEDICATED SIGNALS (Note-1) (12) FLS signal (M2411+20n) ........Status signal (a) This signal is controlled by the ON/OFF state for the upper stroke limit switch input (FLS) of the Q172DLX/servo amplifier and bit device • Upper stroke limit switch input OFF ..FLS signal: ON •...
Page 68 3 POSITIONING DEDICATED SIGNALS (Note-3) 2) Servo amplifier input use RLS signal : ON RLS signal : OFF Servo amplifier Servo amplifier DICOM DICOM (Note-1) 3) Bit device use The set bit device is the RLS signal. (Note-1): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)"...
Page 69 3 POSITIONING DEDICATED SIGNALS (Note-1) (15) DOG/CHANGE signal (M2414+20n) ....Status signal (a) This signal turns on/off by the proximity dog input (DOG) of the Q172DLX/ servo amplifier/input(DI) of built-in interface in Motion CPU /bit device at the home position return. This signal turns on/off by the speed/position switching input (CHANGE) of the Q172DLX/proximity dog input (DOG) of servo amplifier/input (DI) of built-in interface in Motion CPU...
Page 70 3 POSITIONING DEDICATED SIGNALS (c) When using the Q172DLX/built-in interface in Motion CPU, "Normally open contact input" and "Normally closed contact input" of the system setting can be selected. When using the proximity dog input (DOG) of servo amplifier/bit device, "Normally open contact input"...
Page 71 3 POSITIONING DEDICATED SIGNALS (18) M-code outputting signal (M2419+20n) ...... Status signal (a) This signal turns during M-code is outputting. (b) This signal turns off when the stop command, cancel signal, skip signal or FIN signal are inputted. M-code M-code outputting signal (M2419+20n) FIN signal...
Page 72: Axis Command Signals
3 POSITIONING DEDICATED SIGNALS 3.1.2 Axis command signals (1) Stop command (M3200+20n) ........ Command signal (a) This command is a signal which stop a starting axis from an external source and becomes effective at leading edge of signal. (An axis for which the stop command is turning on cannot be started.) Stop command (M3200+20n)
Page 73 3 POSITIONING DEDICATED SIGNALS (2) Rapid stop command (M3201+20n) ...... Command signal (a) This command stops a starting axis rapidly from an external source and becomes effective at leading edge of signal. (An axis for which the rapid stop command is turning on cannot be started.) Rapid stop command Rapid stop command...
Page 74 3 POSITIONING DEDICATED SIGNALS (3) Forward rotation JOG start command (M3202+20n)/Reverse rotation JOG start command (M3203+20n) ..Command signal (a) JOG operation to the address increase direction is executed while forward rotation JOG start command (M3202+20n) is turning on. When M3202+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.
Page 75 3 POSITIONING DEDICATED SIGNALS (5) Speed/position switching enable command (M3205+20n) ......Command signal (a) This command is used to make the CHANGE signal (speed/position switching signal) effective from an external source. • ON ..Control switches from speed control to position control when the CHANGE signal turned on.
Page 76 3 POSITIONING DEDICATED SIGNALS (7) Servo error reset command (M3208+20n) .... Command signal This command is used to clear the servo error code storage register (D8+20n) of an axis for which the servo error detection signal has turn on (M2408+20n: ON), and reset the servo error detection signal (M2408+20n).
Page 77 3 POSITIONING DEDICATED SIGNALS (9) Feed current value update request command (M3212+20n) ......Command signal This signal is used to set whether the feed current value will be cleared or not at the starting in speed-position switching control or speed control ( ). •...
Page 78 3 POSITIONING DEDICATED SIGNALS (12) PI-PID switching command (M3217+20n) ......Command signal This signal is used to change the PI-PID switching of servo amplifier in the Motion controller by the PI-PID switching command ON/OFF. • ON ....PI-PID switching command ON(PID control) •...
Page 79 3 POSITIONING DEDICATED SIGNALS (14) FIN signal (M3219+20n) ........Command signal When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows: OFF OFF. Positioning to the next block begins after the FIN signal changes as above. It is valid, only when the FIN acceleration/deceleration is set and FIN signal wait function is selected.
Page 80: Common Devices
3 POSITIONING DEDICATED SIGNALS 3.1.3 Common devices POINTS (1) Internal relays for positioning control are not latched even within the latch range. (2) The range devices allocated as internal relays for positioning control cannot be used by the user even if their applications have not been set. (1) PLC ready flag (M2000) ........
Page 81 3 POSITIONING DEDICATED SIGNALS (d) The following processes are performed when the M2000 turns ON to OFF. 1) Processing details • Turn the PCPU READY complete flag (SM500) off. • Deceleration stop of the starting axis. • Stop to execute the Motion SFC program. •...
Page 82 3 POSITIONING DEDICATED SIGNALS (2) Start accept flag (M2001 to M2032) ......Status signal (a) This flag turns on when the servo program is started. The start accept flag corresponding to an axis specified with the servo program turns on. (b) The ON/OFF processing of the start accept flag is shown below.
Page 83 3 POSITIONING DEDICATED SIGNALS The start accept flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No. M2001 M2009 M2017 M2025 M2002 M2010 M2018 M2026 M2003 M2011 M2019 M2027 M2004 M2012 M2020...
Page 84 3 POSITIONING DEDICATED SIGNALS (6) Speed switching point specified flag (M2040) ..Command signal This flag is used when the speed change is specified at the pass point of the constant speed control. (a) By turning M2040 on before the starting of the constant speed control (before the servo program is started), control with the change speed can be executed from the first of pass point.
Page 85 3 POSITIONING DEDICATED SIGNALS (8) All axes servo ON command (M2042) ....Command signal This command is used to enable servo operation. (a) Servo operation enabled ..M2042 turns on while the servo OFF command (M3215+20n) is off and there is no servo error. (b) Servo operation disable ..
Page 86 3 POSITIONING DEDICATED SIGNALS (11) All axes servo ON accept flag (M2049) ..... Status signal This flag turns on when the Motion CPU accepts the all axes servo ON command (M2042). Since the servo ready state of each axis is not checked, confirm it in the servo ready signal (M2415+20n).
Page 87 3 POSITIONING DEDICATED SIGNALS (14) Speed change accepting flag (M2061 to M2092) ........ Status signal This flag turns on at start of speed change by the control change (CHGV) instruction (or Motion dedicated PLC instruction (D(P).CHGV)) of the Motion SFC program. CHGV instruction Speed change accepting flag...
Page 88 3 POSITIONING DEDICATED SIGNALS (15) Automatic decelerating flag (M2128 to M2159) ..Status signal This signal turns on while automatic deceleration processing is performed during the positioning control or position follow-up control. (a) This flag turns on while automatic deceleration to the command address at the position follow-up control, but it turns off if the command address is changed.
Page 89 3 POSITIONING DEDICATED SIGNALS (e) In any of the following cases, the automatic decelerating flag (M2128+n) does not turn ON. • During deceleration due to JOG signal off • During manual pulse generator operation • During deceleration due to stop command or stop cause occurrence •...
Page 90 3 POSITIONING DEDICATED SIGNALS (16) Speed change "0" accepting flag (M2240 to M2271) ........ Status signal This flag turns on while a speed change request to speed "0" or negative speed change request is being accepted. It turns on when the speed change request to speed "0" or negative speed change request is accepted during a start.
Page 91 3 POSITIONING DEDICATED SIGNALS (a) The flag turns off if a speed change request occurs during deceleration to a stop due to speed change "0". Speed change "0" Speed change V Start accept flag (M2001+n) Speed change "0" accepting flag (M2240+n) (b) The flag turns off if a stop cause occurs after speed change "0"...
Page 92 3 POSITIONING DEDICATED SIGNALS (d) Even if it is speed change "0" after the automatic deceleration start to the "command address", speed change "0" accepting flag (M2240+n) turns on. Automatic deceleration start Command address P1 Speed change "0" Speed change V Command address P2 Start accept flag...
Page 93: Data Registers
3 POSITIONING DEDICATED SIGNALS 3.2 Data Registers (1) Data register list SV13 SV22 Virtual mode switching method Advanced synchronous control method Device Purpose Device Device Purpose Purpose Axis monitor device Axis monitor device (20 points 32 axes) Axis monitor device (20 points 32 axes) Real mode : Each axis (20 points 32 axes)
Page 94 3 POSITIONING DEDICATED SIGNALS Data register list (Continued) SV13 SV22 Virtual mode switching method Advanced synchronous control method Device Purpose Device Device Purpose Purpose D14600 Servo input axis control device Ver.! (2 points 32 axes) D14664 Unusable Ver.! (16 points) D14680 Command generation axis control device...
Page 95 3 POSITIONING DEDICATED SIGNALS (2) Axis monitor device list Axis Device No. Signal name D0 to D19 D20 to D39 Signal Signal name Refresh cycle Fetch cycle Unit direction D40 to D59 D60 to D79 Feed current value D80 to D99 Command D100 to D119 unit...
Page 96 3 POSITIONING DEDICATED SIGNALS (3) Control change register list Axis Device No. Signal name D640, D641 D642, D643 Signal Signal name Refresh cycle Fetch cycle Unit direction D644, D645 D646, D647 Command Command JOG speed setting At start unit device D648, D649 D650, D651 D652, D653...
Page 97 3 POSITIONING DEDICATED SIGNALS (4) Common device list Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction direction Manual pulse generator 1 D704 PLC ready flag request D752 smoothing magnification setting register Manual pulse generator 2 At the manual pulse Speed switching point...
Page 98: Axis Monitor Devices
3 POSITIONING DEDICATED SIGNALS 3.2.1 Axis monitor devices The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control, the real current value and the deviation counter value. It can be used to check the positioning control state using the Motion SFC program. The user cannot write data to the monitoring data area.
Page 99 3 POSITIONING DEDICATED SIGNALS (4) Minor error code storage register (D6+20n) ..... Monitor device (a) This register stores the corresponding error code (Refer to APPENDIX 1.2.) at the minor error occurrence. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code. (b) Minor error codes can be cleared by an error reset command (M3207+20n).
Page 100 3 POSITIONING DEDICATED SIGNALS (9) Execute program No. storage register (D12+20n) ......Monitor device (a) This register stores the starting program No. at the servo program starting. (b) The following value is stored in the JOG operation and manual pulse generator operation.
Page 101 3 POSITIONING DEDICATED SIGNALS (12) Data set pointer for constant-speed control (D15+20n) ......Monitor device This pointer is used in the constant-speed control when specifying positioning data indirectly and substituting positioning data during operation. It stores a "point" that indicates which of the values stored in indirect devices has been input to the Motion CPU.
Page 102 3 POSITIONING DEDICATED SIGNALS [Input situation of positioning data in the Motion CPU] Update of data using the Motion SFC program Positioning data input to the Motion CPU at each point Positioning point Data set pointer for Point Updated data Indirect device D Updating constant-speed control...
Page 103 3 POSITIONING DEDICATED SIGNALS [Internal processing] (a) The positioning data ((1) to (16)) of points 0 to 7 is input to the Motion CPU by the constant-speed control starting process (before positioning start). The last point "7" of the input data to be input is stored in the data set pointer for constant-speed control at this time.
Page 104: Control Change Registers
3 POSITIONING DEDICATED SIGNALS (13) Real current value at STOP input storage register (D18+20n, D19+20n) ..........Monitor device This register stores the real current value at the detection of a stop/rapid stop cause. 3.2.2 Control change registers This area stores the JOG operation speed data. Table 3.1 Data storage area for control change list Name Axis 1...
Page 105: Common Devices
3 POSITIONING DEDICATED SIGNALS 3.2.3 Common devices (1) Common bit device SET/RST request register (D704 to D708, D755 to D757) ............. Command device Because cannot be turn on/off in every bit from the PLC CPU, the bit device is assigned to data register (D), and each bit device turns on with the lowest rank bit 0 to 1 and each bit device becomes off with 1 to 0.
Page 106 3 POSITIONING DEDICATED SIGNALS (3) Manual pulse generator axis No. setting registers (D714 to D719) ......Command device (a) These registers stores the axis No. controlled with the manual pulse generator. b14 b13 b12 b11 b10 D714 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 D715 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17 D716...
Page 107 3 POSITIONING DEDICATED SIGNALS (5) Manual pulse generator smoothing magnification setting registers (D752 to D754) ............ Command device (a) These registers 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 (P1): D753 0 to 59 Manual pulse generator 3 (P1): D754...
Page 108: Motion Registers(#)
3 POSITIONING DEDICATED SIGNALS 3.3 Motion Registers (#) There are motion registers (#0 to #12287) in the Motion CPU. #8000 to #8639 are used as the monitor device, #8640 to #8735 are used as the Motion error history device and #8736 to #8751 are used as the product information list device. Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion Controller (SV13/SV22) Programming Manual (Motion SFC)"...
Page 109 3 POSITIONING DEDICATED SIGNALS (a) Servo amplifier type (#8000+20n) ..........Monitor device This register stores the servo amplifier type for each axis at the servo amplifier power supply ON. • 0 ....Unused • 256 ..MR-J3- B MR-J3W- B (For 2-axis type) •...
Page 110 3 POSITIONING DEDICATED SIGNALS (d) Command speed (#8004+20n, #8005+20n) ......Monitor device This register stores the speed (signed) at which command value to the servo amplifier for every operation cycle is converted into [pulse/s]. (e) Home position return re-travel value (#8006+20n, #8007+20n) .......
Page 111 3 POSITIONING DEDICATED SIGNALS (h) Servo status1 (#8010+20n) ........... Monitor device This register stores the servo status read from the servo amplifier. b15 b14 b13 b12 b11 b10 #8010+20n READY ON Servo ON Control mode Gain changing Fully closed control changing Servo alarm In-position Torque limit...
Page 112 3 POSITIONING DEDICATED SIGNALS (i) Servo status2 (#8011+20n) ..........Monitor device This register stores the servo status read from the servo amplifier. b15 b14 b13 b12 b11 b10 b9 #8011+20n Zero point pass Zero speed Speed limit PID control (Note): The 0/1 is stored in the servo status 2. 0: OFF 1: ON •...
Page 113 3 POSITIONING DEDICATED SIGNALS (2) Product information list devices (#8736 to #8751) Ver.! The operating system software version and serial number of Motion CPU is stored in ASCII code. The product information list devices are shown below. Device No. Signal name Refresh cycle Fetch cycle Signal direction...
Page 114: Special Relays (Sm)
3 POSITIONING DEDICATED SIGNALS 3.4 Special Relays (SM) There are 2256 special relay points of SM0 to SM2255 in the Motion CPU. Of these, devices in a Table 3.2 are used for the positioning control. The special relay list used for the positioning control is shown below. (Refer to "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)"...
Page 115 3 POSITIONING DEDICATED SIGNALS (2) TEST mode ON flag (SM501) ........Status signal (a) This flag is used as judgement of during the test mode or not using MT Developer2 Use it for an interlock, etc. at the starting of the servo program using the Motion SFC program.
Page 116 3 POSITIONING DEDICATED SIGNALS (6) Amplifier-less operation status flag (SM508) ....Status signal This flag is used to check the state of amplifier-less operation. • OFF ..During normal operation • ON ... During amplifier-less operation (7) TEST mode request error flag (SM510) ...... Status signal (a) This flag turns on when the test mode is not executed in the test mode request using MT Developer2.
Page 117: Special Registers (Sd)
3 POSITIONING DEDICATED SIGNALS 3.5 Special Registers (SD) There are 2256 special register points of SD0 to SD2255 in the Motion CPU. Of these, devices in a Table 3.3 are used for the positioning control. The special register list used for the positioning control is shown below. (Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)"...
Page 118: System Settings
3 POSITIONING DEDICATED SIGNALS (2) Real mode axis information register (SD500, SD501) ......Monitor device This signal is used to store the information used as a real mode axis at the time of switching from real mode to virtual mode. The real mode axis information does not change at the time of switching from virtual mode to real mode.
Page 119 3 POSITIONING DEDICATED SIGNALS (4) SSCNET control (status) (SD508) ......Monitor device SSCNET control (status) (SD508) stores the executing state for connect/disconnect of SSCNET communication and start/release of amplifier- less operation. • 0 ....Command accept waiting • -1 ..... Execute waiting •...
Page 120 3 POSITIONING DEDICATED SIGNALS (7) Manual pulse generator axis setting error information (SD513 to SD515) ............ Monitor device The setting information is checked at leading edge of manual pulse generator enable signal, if an error is found, the following error information is stored into SD513 to SD515 and the manual pulse generator axis setting error flag (SM513) turns on.
Page 121 3 POSITIONING DEDICATED SIGNALS (11) Operation cycle of the Motion CPU setting (SD523) ......Monitor device The setting operation cycle is stored in [ µs ] unit. When the "Default Setting" is set in the system setting, the operation cycle corresponding to the number of setting axes.
Page 122 4 PARAMETERS FOR POSITIONING CONTROL 4. PARAMETERS FOR POSITIONING CONTROL 4.1 System Settings In the Multiple CPU system, the common system parameters and individual parameters are set for each CPU and written to each CPU. (1) The base settings, Multiple CPU settings and Motion slot settings are set in the common system parameter setting.
Page 123: Fixed Parameters
4 PARAMETERS FOR POSITIONING CONTROL 4.2 Fixed Parameters (1) The fixed parameters are set for each axis and their data is fixed based on the mechanical system, etc. (2) The fixed parameters are set using MT Developer2. (3) The fixed parameters to be set are shown in Table 4.1. Table 4.1 Fixed parameter list Setting range Item...
Page 124: Number Of Pulses/Travel Value Per Rotation
4 PARAMETERS FOR POSITIONING CONTROL 4.2.1 Number of pulses/travel value per rotation The "Electronic gear function" adjusts the actual machine movement amount and number of pulse output to servo amplifier according to the parameter set in the Motion CPU. It is defined by the "Number of pulses per rotation" and "Travel value per revolution". POINTS (1) The mechanical system error of the command travel value and real travel value is rectified by adjustment the "electronic gear".
Page 125 4 PARAMETERS FOR POSITIONING CONTROL Therefore, AP/AL is set so that the following expression of relations may be materialized in order to convert the travel value of [mm] / [inch] unit set in the program into a pulse. Number of pulses per motor rotation = AP Travel value of machine per motor rotation = AL Electronic .
Page 126 4 PARAMETERS FOR POSITIONING CONTROL The travel value per motor rotation in this example is 0.000076[mm]. For example, when ordering the travel value of 19[mm], it becomes 249036.8[pulse] and the fraction of 0.8[pulse]. At this time, the Motion CPU orders the travel value of 249036[pulse] to the servo motor and the fraction is memorized in the Motion CPU.
Page 127: Backlash Compensation Amount
4 PARAMETERS FOR POSITIONING CONTROL 4.2.2 Backlash compensation amount (1) Backlash compensation amount can be set within the following range. (Refer to Section "7.2 Backlash Compensation Function" for details.) (Note): The following restriction does not apply to versions compatible with the Ver.! setting range expansion of backlash compensation amount.
Page 128 4 PARAMETERS FOR POSITIONING CONTROL (1) Stroke limit range check The stroke limit range is checked at the following start or during operation. Operation start Check Remarks • Position follow-up control • Checks whether or not the feed current value is within the stroke limit range at the •...
Page 129 4 PARAMETERS FOR POSITIONING CONTROL (2) Setting range of upper/lower stroke limit value (SV13 only) Upper/lower stroke limit value can be set within the following range. Number of pulses per rotation (AP) -2147483648  Upper/lower stroke limit value   2147483647 Travel value per rotation (AL) (3) Stroke limit invalid setting The unlimited length feed is possible by setting the stroke limit to invalid even the...
Page 130 4 PARAMETERS FOR POSITIONING CONTROL POINTS (1) If the current feed value and real current value exceeds 2147483647 [pulse/0.1μm/10 inch], it is controlled with -2147483648[pulse/0.1μm/ inch]. If those values are less than -2147483648[pulse/0.1μm/10 inch], it is controlled with 2147483647[pulse/0.1μm/10 inch]. (2) If the absolute position command (ABS instruction) is set when the stroke limit is invalid, it is controlled as shortcut operation.
Page 131: Command In-Position Range
4 PARAMETERS FOR POSITIONING CONTROL 4.2.4 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) turns on when the difference between the command position and the feed current value enters the set range [(command position - feed current value) ...
Page 132: Speed Control 10 Multiplier Setting For Degree Axis
4 PARAMETERS FOR POSITIONING CONTROL 4.2.5 Speed control 10 multiplier setting for degree axis The setting range of command speed is 0.001 to 2147483.647[degree/min] normally in the axis of control unit [degree]. However, when the "speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter the speed setting range increases 10 multiplier "0.01 to 21474836.47[degree/min]".
Page 133 4 PARAMETERS FOR POSITIONING CONTROL Example • An example for positioning control is shown below when the "speed control 10 multiplier setting for degree axis" of fixed parameter and "interpolation control unit" of parameter block are set as follows. • Speed control 10 multiplier setting for degree axis Axis Speed control 10 multiplier setting for degree axis Axis 1...
Page 134 4 PARAMETERS FOR POSITIONING CONTROL Example (b) Long-axis reference specification <K 50> 2 axes linear interpolation control INC-2 Axis used ..Axis 1, Axis 2 Axis 360.00000 Axis 1 ..360.00000[degree] Axis 20000.00000 Travel value to stop position...
Page 135: Parameter Block
4 PARAMETERS FOR POSITIONING CONTROL 4.3 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 64 blocks can be set as parameter blocks. (3) Parameter blocks can be set using MT Developer2.
Page 136 4 PARAMETERS FOR POSITIONING CONTROL Table 4.2 Parameter Block Setting List (Continued) Setting range Initial pulse Item inch degree Units Remarks Section value Setting range Units Setting range Units Setting range Units Setting range Units Torque limit • Set the torque limit value in 1 to 1000[%] —...
Page 137 4 PARAMETERS FOR POSITIONING CONTROL POINTS (b) The parameter block No. used in the home position return or JOG operation is set at the setting of the "home position return data" or "JOG operation data" using MT Developer2. Refer to Section "6.23.1 Home position return data" or "6.21.1 JOG operation data"...
Page 138: Relationships Between The Speed Limit Value, Acceleration Time, Deceleration Time And Rapid Stop Deceleration Time
4 PARAMETERS FOR POSITIONING CONTROL 4.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop deceleration time The speed limit value is the maximum speed at the positioning/home position return. The acceleration time is the time taken to reach the set speed limit value from the start of positioning.
Page 139 4 PARAMETERS FOR POSITIONING CONTROL (b) The rapid stop deceleration time can be set to a value larger than the deceleration time by turning ON the rapid stop deceleration time setting error invalid flag (SM805). Ver.! 1) Turn ON the rapid stop deceleration time setting error invalid flag (SM805) before operation to use the rapid stop deceleration time setting error invalid.
Page 140: S-Curve Ratio
4 PARAMETERS FOR POSITIONING CONTROL 4.3.2 S-curve ratio S-curve ratio can be set as the acceleration/deceleration processing method for S- curve acceleration/deceleration processing. (Refer to Section 6.1.7 for details of S-curve acceleration/deceleration processing.) Setting range of the S-curve ratio is 0 to 100[%]. If it is set outside the range, an error occurs at the start and control is executed with the S-curve ratio set as 0[%] (Trapezoidal acceleration/deceleration).
Page 141 4 PARAMETERS FOR POSITIONING CONTROL POINTS The S-curve pattern is recreated in the cases shown below during S-curve deceleration processing for the S-curve ratio. In these cases the deceleration pattern may not continue or an overrun may occur. (1) When the same speed control command turns ON the stop command or the skip signal during S-curve deceleration processing for the end point End point n (Small travel value)
Page 142: Advanced S-Curve Acceleration/Deceleration
4 PARAMETERS FOR POSITIONING CONTROL 4.3.3 Advanced S-curve acceleration/deceleration Ver.! Processing for smooth acceleration/deceleration can be executed by using the advanced S-curve acceleration/deceleration function. The acceleration section is set as a sine curve as shown in the diagram below. Each section of acceleration/deceleration is set as a ration using the advanced S-curve acceleration/deceleration setting.
Page 143 4 PARAMETERS FOR POSITIONING CONTROL Processing for advanced S-curve acceleration/deceleration is shown below. Operation Section Processing At the start of acceleration, acceleration continuously changes in a sinusoidal manner until reaching Acceleration section 1 the maximum acceleration for trapezoidal acceleration/deceleration. Set this section in acceleration section 1 ratio (A1R). Maximum acceleration section The maximum acceleration for trapezoidal acceleration/deceleration —...
Page 144 4 PARAMETERS FOR POSITIONING CONTROL (1) There are patterns (below pattern 1 to 4 respectively) that depends on the positioning speed of the acceleration pattern/deceleration pattern of advanced S- curve acceleration/deceleration. Speed S.R. Pattern 1): Positioning speed = S.R. Trapezoidal acceleration Pattern 2): Vacc <...
Page 145 4 PARAMETERS FOR POSITIONING CONTROL The maximum acceleration and advanced S-curve acceleration time/ deceleration time are calculated by parameters. Speed Speed Trapezoidal acceleration/deceleration Trapezoidal acceleration/deceleration S.R. S.R. Time Time Maximum Maximum negative acceleration acceleration Acceleration Acceleration section section AmaxA Time Trapezoidal acceleration /deceleration Trapezoidal acceleration...
Page 146 4 PARAMETERS FOR POSITIONING CONTROL The actual acceleration/deceleration time for each pattern (Fig.4.5 pattern 1 to 4) based on positioning speed is shown below. [Actual acceleration time] Pattern Positioning speed Description Actual acceleration time Actual maximum acceleration • It accelerates with the acceleration section Positioning speed = S.R.
Page 147 4 PARAMETERS FOR POSITIONING CONTROL (3) Advanced S-curve acceleration/deceleration time is calculated as a function of the acceleration/deceleration time set in the parameter block by using the parameter setting of advanced S-curve acceleration/deceleration as shown below. • Advanced S-curve acceleration time Condition Advanced S-curve acceleration time Same as acceleration time of the parameter block...
Page 148 4 PARAMETERS FOR POSITIONING CONTROL POINTS Set the advanced S-curve acceleration/deceleration setting using the parameter block on the following screen of MT Developer2. The Advanced S-curve Acceleration time and maximum acceleration are displayed by setting acceleration section 1 ratio, acceleration section 2 ratio and the acceleration time. The advanced S-curve deceleration time and advanced S-curve rapid stop deceleration time, maximum negative acceleration and maximum negative at rapid stop are displayed by setting deceleration section 1 ratio, deceleration section 2...
Page 149 4 PARAMETERS FOR POSITIONING CONTROL [Error] In the following cases, the servo program setting error (error code: 45 to 50) will occur, and controls will be executed as trapezoidal acceleration/deceleration (A1R = A2R = D1R = D2R = 0.0). • Acceleration section 1 ratio is outside the range of 0.0 to 100.0[%]. •...
Page 150 4 PARAMETERS FOR POSITIONING CONTROL [Operation] (1) Stop processing When the stop command turns ON during acceleration, the acceleration is decreased until it reaches zero according to acceleration section 2 ratio setting. Therefore, the speed will continue to increase for a while before deceleration stop processing is executed.
Page 151 4 PARAMETERS FOR POSITIONING CONTROL (2) Rapid stop processing (a) Rapid stop during acceleration When the rapid stop command turns ON during acceleration, acceleration immediately goes to zero, and rapid stop deceleration processing is executed. (Deceleration is abrupt.) Speed Setting speed Control during rapid stop command OFF Time...
Page 152 4 PARAMETERS FOR POSITIONING CONTROL POINTS When the rapid stop command turns ON during deceleration stop processing of advanced S-curve acceleration/deceleration, timing may be such that a rapid stop will take longer than the advanced S-curve deceleration. In this case, the advanced S-curve deceleration stop processing will automatically continue instead of using the rapid stop processing.
Page 153 4 PARAMETERS FOR POSITIONING CONTROL (4) Speed control with fixed position stop processing The "fixed position stop acceleration/deceleration time" set in the servo program is used during acceleration/deceleration processing when a positioning start, speed change request (CHGV) or fixed position stop command ON occurs. It operates in the fixed acceleration/deceleration time method.
Page 154 4 PARAMETERS FOR POSITIONING CONTROL (5) Speed change (fixed time method) Operation in which a speed change during deceleration is executed is shown below. Speed change V (Deceleration) Speed Before speed change Command speed V (Before speed change) Deceleration from speed V to V Command speed V...
Page 155 4 PARAMETERS FOR POSITIONING CONTROL (6) Automatic decelerating flag (M2128 to M2159) When the automatic deceleration processing is started during acceleration, the acceleration is decreased according to the acceleration section 2 ratio setting until the acceleration reaches zero. Therefore, the speed increases for a while before deceleration stop processing is executed.
Page 156: Allowable Error Range For Circular Interpolation
4 PARAMETERS FOR POSITIONING CONTROL 4.3.4 Allowable error range for circular interpolation The locus of the arc calculated from the start point address and central point address may not coincide with the set end point address for the central-specified control. The allowable error range for circular interpolation sets the allowable range for the error between the locus of the arc determined by calculation and the end point address.
Page 157: Expansion Parameters
4 PARAMETERS FOR POSITIONING CONTROL 4.4 Expansion Parameters (1) The expansion parameters are data to execute the following operation by the parameters set in each axis. • Monitor individually the positive and negative direction torque limit value. • Change the acceleration/deceleration time when changing speed. (2) The expansion parameters are set using MT Developer2.
Page 158 4 PARAMETERS FOR POSITIONING CONTROL (4) Indirect setting of expansion parameter (a) Word devices for indirect setting The word devices for indirect setting are the data registers (D), link registers (W), Motion registers (#) and Multiple CPU area device (U \G). Word devices except the above devices cannot be used.
Page 159: Positive Direction Torque Limit Value Monitor Device/Negative Direction Torque Limit Value Monitor Device
4 PARAMETERS FOR POSITIONING CONTROL 4.4.1 Positive direction torque limit value monitor device/negative direction torque limit value monitor device The positive direction torque limit value monitor device and negative direction torque limit value monitor device are set for every axis, and the positive and negative direction torque limit value are monitored (0.1 to 1000.0[%]) individually.
Page 160: Acceleration/Deceleration Time Change Parameter
4 PARAMETERS FOR POSITIONING CONTROL 4.4.2 Acceleration/deceleration time change parameter Ver.! The acceleration/deceleration time change parameter arbitrarily changes the acceleration/deceleration time at speed change, when changing speed with the Motion dedicated function (CHGV) of Motion SFC program (and also the Motion dedicated PLC instruction (D(P).
Page 161 4 PARAMETERS FOR POSITIONING CONTROL POINTS (1) When the setting of acceleration/deceleration time change enable device is omitted, change of acceleration/deceleration time at a speed change request is not executed. When changing acceleration/deceleration time at a speed change, set this parameter. (2) When the setting of new acceleration time value device and new deceleration time value device is omitted, change of acceleration/deceleration time of the omitted devices is not executed.
Page 162: Servo Programs For Positioning Control
5 SERVO PROGRAMS FOR POSITIONING CONTROL 5. SERVO PROGRAMS FOR POSITIONING CONTROL Servo programs specify the type of the positioning data required to execute the positioning control in the Multiple CPU system. This chapter describes the configuration and setting method of the servo programs. Refer to Chapter "6 POSITIONING CONTROL"...
Page 163: Servo Program Area
5 SERVO PROGRAMS FOR POSITIONING CONTROL (3) Positioning data ..This is the data required to execute servo instructions. The data required to execute is fixed for each servo instruction. Refer to Section 5.3 for details. The follows applies for the servo program shown in Figure 5.1: •...
Page 164: Servo Instructions
5 SERVO PROGRAMS FOR POSITIONING CONTROL 5.2 Servo Instructions The servo instructions used in the servo programs are shown below. Refer to Chapter 6 for details of the servo instruction. Refer to Chapter 7 of the "Q173D(S)CPU/Q172D(S)CPU Motion Controller (SV13/SV22) Programming Manual (Motion SFC)" for details of the current value change control (CHGA, CHGA-E, CHGA-C).
Page 165 5 SERVO PROGRAMS FOR POSITIONING CONTROL (2) Servo instruction list The servo instructions that can be used in servo programs and the positioning data set in the servo instruction are shown in Table 5.2. Refer to Section 5.3 for details of the positioning data set in the servo instructions. Table 5.2 Servo instruction list Positioning data Common...
Page 166 5 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Parameter block Others (Note-1) Advanced S-curve acceleration/deceleration Number of steps — — — — — (Note-2) (Note-2) (Note-2) (Note-2) (Note-2) — 1(B) 1(B) 1(B) 1(B) 1(B) 4 to 17 5 to 20 7 to 21 8 to 22 7 to 22...
Page 167 5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.2 Servo instruction list (continued) Positioning data Common Arc/Helical Processing Positioning Instruction control symbol Virtual enable — — — — Number of steps Number of indirect words — Absolute central point-specified circular interpolation CW Absolute central point-specified circular Central interpolation CCW...
Page 168 5 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Parameter block Others (Note-1) Advanced S-curve acceleration/deceleration Number of steps — — — — — (Note-2) (Note-2) (Note-2) (Note-2) (Note-2) — 1(B) 1(B) 1(B) 1(B) 1(B) 7 to 22 10 to 27 9 to 26 10 to 27 : Must be set.
Page 169 5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.2 Servo instruction list (continued) Positioning data Common Arc/Helical Processing Positioning Instruction control symbol Virtual enable — — — — Number of steps Number of indirect words — FEED-1 1 axis 1-axis fixed-pitch feed start 2-axes linear interpolation FEED-2 2 axes...
Page 170 5 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Parameter block Others (Note-1) Advanced S-curve acceleration/deceleration Number of steps — — — — — (Note-2) (Note-2) (Note-2) (Note-2) (Note-2) — 1(B) 1(B) 1(B) 1(B) 1(B) 4 to 17 5 to 19 7 to 21 3 to 15 3 to 16...
Page 171 5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.2 Servo instruction list (continued) Positioning data Common Arc/Helical Processing Positioning Instruction control symbol Virtual enable — — — — Number of steps Number of indirect words — Forward rotation Speed control with fixed position stop absolute specification Reverse rotation...
Page 172 5 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Parameter block Others (Note-1) Advanced S-curve acceleration/deceleration Number of steps — — — — — (Note-2) (Note-2) (Note-2) (Note-2) (Note-2) — 1(B) 1(B) 1(B) 1(B) 1(B) 6 to 19 4 to 16 3 to 15 3 to 17 4 to17...
Page 173 5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.2 Servo instruction list (continued) Positioning data Common Arc/Helical Processing Positioning Instruction control symbol Virtual enable — — — — Number of steps Number of indirect words — INC-1 INC-2 INC-3 INC-4 Constant-speed control passing point incremental specification Constant-speed control...
Page 174 5 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Parameter block Others (Note-1) Advanced S-curve acceleration/deceleration Number of steps — — — — — (Note-2) (Note-2) (Note-2) (Note-2) (Note-2) — 1(B) 1(B) 1(B) 1(B) 1(B) 2 to 10 3 to 11 4 to 12 5 to 13 5 to 14...
Page 175 5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.2 Servo instruction list (continued) Positioning data Common Arc/Helical Processing Positioning Instruction control symbol Virtual enable — — — — Number of steps Number of indirect words — FOR-TIMES Repetition of same control FOR-ON Repeat range start setting (used in speed...
Page 176 5 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Parameter block Others (Note-1) Advanced S-curve acceleration/deceleration Number of steps — — — — — (Note-2) (Note-2) (Note-2) (Note-2) (Note-2) — 1(B) 1(B) 1(B) 1(B) 1(B) 2 to 3 5 to 10 : Must be set.
Page 177: Positioning Data
5 SERVO PROGRAMS FOR POSITIONING CONTROL 5.3 Positioning Data The positioning data set in the servo programs is shown in Table 5.3. Table 5.3 Positioning data Setting value using MT Developer2 Setting range Name Explanation Default value inch degree pulse •...
Page 178 5 SERVO PROGRAMS FOR POSITIONING CONTROL Setting value using the Motion SFC program (Indirect setting) Indirect setting Processing at the setting error Setting range Error item information Possible/ Number of Control using (Stored in SD517) Not start inch degree pulse not possible used words default value...
Page 179 5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.3 Positioning data (Continued) Setting value using MT Developer2 Setting range Name Explanation Default value inch degree pulse • Set at the auxiliary point-specified circular -214748364.8 to Absolute -21474.83648 -2147483648 interpolation. 214748364.7 0 to 359.99999 data method to 21474.83647 to 2147483647...
Page 180 5 SERVO PROGRAMS FOR POSITIONING CONTROL Setting value using the Motion SFC program (Indirect setting) Indirect setting Processing at the setting error Setting range Error item information Possible/ Number of Control using (Stored in SD517) Not start not possible used words default value inch degree...
Page 181 5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.3 Positioning data (Continued) Setting value using MT Developer2 Setting range Name Explanation Default value inch degree pulse Repeat condition Set the repeat conditions between FOR-TIMES (Number of instruction and NEXT instruction. — 1 to 32767 repetitions) Repeat condition...
Page 182 5 SERVO PROGRAMS FOR POSITIONING CONTROL Setting value using the Motion SFC program (Indirect setting) Indirect setting Processing at the setting error Setting range Error item information Possible/ Number of Control using (Stored in SD517) Not start not possible used words default value inch degree...
Page 183: Setting Method For Positioning Data
5 SERVO PROGRAMS FOR POSITIONING CONTROL 5.4 Setting Method for Positioning Data This section describes how to set the positioning data used in the servo program. There are two ways to set positioning data, as follows: (1) Setting by specifying numerical values … Refer to Section 5.4.1 (2) Indirect setting by devices ……….……….
Page 184: Indirect Setting Method By Devices
5 SERVO PROGRAMS FOR POSITIONING CONTROL 5.4.2 Indirect setting method by devices In the indirect setting method by devices, the device No. is specified to the (Note-1) positioning data specified with the servo program. By using the contents (data) of specified device using the Motion SFC program (Automatic refresh, etc.), multiple positioning controls can be executed in one servo program.
Page 185 5 SERVO PROGRAMS FOR POSITIONING CONTROL (1) Word devices for indirect setting The word devices for indirect setting are the data registers (D), link registers (W), motion registers (#) and Multiple CPU area device (U \G). Word devices except the above devices cannot be used. The usable setting range of word devices is shown below.
Page 186 5 SERVO PROGRAMS FOR POSITIONING CONTROL (2) Bit devices for indirect setting The bit devices for indirect setting are the input (X), output (Y), internal relay (M), link relay (B), annunciator (F) and Multiple CPU area device (U \G). Bit devices except the above devices cannot be used. The usable setting range of bit devices is shown below.
Page 187 5 SERVO PROGRAMS FOR POSITIONING CONTROL (4) Program example that uses the Multiple CPU high speed transmission memory Program example to control by the data transmitted from the PLC CPU to Motion CPU is shown below. Program that starts the servo program (positioning) by the DP.SVST instruction after the data is written to the Multiple CPU high speed transmission memory (U3E0\G10000 to U3E0\G10003) from the PLC CPU (CPU No.1).
Page 188: Positioning Control
6 POSITIONING CONTROL 6. POSITIONING CONTROL This section describes the positioning control methods. 6.1 Basics of Positioning Control This section describes the common items for positioning control, which is described in detail after Section 6.2. 6.1.1 Positioning speed The positioning speed is set using the servo program. Refer to Chapter 5 for details of the servo programs.
Page 189: Positioning Speed At The Interpolation Control
6 POSITIONING CONTROL 6.1.2 Positioning speed at the interpolation control The positioning speed of the Motion CPU sets the travel speed of the control system. (1) 1 axis linear control Travel speed is the positioning speed of the specified axis at the 1 axis positioning control.
Page 190 6 POSITIONING CONTROL (b) Long-axis speed specification It is controlled based on the positioning speed (Long-axis speed: V) of the largest travel value axis among address set as each axis. The Motion CPU calculates the positioning speed of other axes (V to V using each axis travel value (D to D...
Page 191 6 POSITIONING CONTROL 2) Discrepancy between interpolation control units and control units • Travel value: The travel value of each axis is converted into [pulse] unit with the electronic gear of self axis. • Speed : The largest travel value axis is controlled with the long- axis speed and the other axes are controlled with the speed based on the long-axis speed, as the result of conversion.
Page 192 6 POSITIONING CONTROL POINTS (1) Speed limit value and positioning speed • The setting speed limit value applies to the long-axis speed. • Be careful that the vector speed may exceed the speed limit value at the long-axis speed specification. Example The following settings at the 2 axes linear interpolation, the vector speed exceeds the speed limit value.
Page 193 6 POSITIONING CONTROL (c) Reference-axis speed specification The Motion CPU calculates the positioning speed of other axes (V to V based on the positioning speed (reference-axis speed : V) of the setting reference-axis using each axis travel value (D to D Set the reference-axis No., reference-axis speed and each axis travel value using the servo program.
Page 194: Control Units For 1 Axis Positioning Control
6 POSITIONING CONTROL (3) Circular interpolation control The angular speed is controlled with the setting speed at the circular interpolation control. Control with the setting speed 6.1.3 Control units for 1 axis positioning control It is controlled in the control units specified with the fixed parameters at the 1 axis positioning control.
Page 195 6 POSITIONING CONTROL (2) The combinations of each axis control units for interpolation control are shown in the table below. inch degree pulse inch degree pulse 1): Same units 2): Combination of [mm] and [inch] 3): Unit mismatch (a) Same units ( 1) ) The position command is calculated with the setting address (travel value), positioning speed or electronic gear, the positioning is executed.
Page 196: Control In The Control Unit "Degree
6 POSITIONING CONTROL 6.1.5 Control in the control unit "degree" If the control units are "degree", the following items differ from other control units. (1) Current value address The current addresses in the control unit "degree" are ring addresses from 0° to 360°.
Page 197 6 POSITIONING CONTROL POINTS (1) Circular interpolation including the axis which set the stroke limit as invalid cannot be executed. (2) When the upper/lower limit value of the axis which set the stroke limit as valid are changed, perform the home position return after that. (3) When the stroke limit is set as valid in the incremental data system, perform the home position return after power supply on.
Page 198 6 POSITIONING CONTROL (3) Positioning control Positioning control method in the control unit "degree" is shown below. (a) Absolute data method (ABS instructions) Positioning in a near direction to the specified address is performed based on the current value. Example (1) Positioning is executed in a clockwise direction to travel from the current value of 315.00000°...
Page 199: Stop Processing And Restarting After Stop
6 POSITIONING CONTROL 6.1.6 Stop processing and restarting after stop This section describes the stop processing after a stop cause is input during positioning and restarting after stop. (1) Stop processing (a) Stop processing methods Stop processing during positioning by stop cause are as follows. 1) Deceleration stop (Process 1)..Deceleration stop by "stop deceleration time"...
Page 200 6 POSITIONING CONTROL 4) Stop using the manual pulse generator (Process 4) ....Deceleration stop by the "deceleration time" of (Smoothing magnification + 1) 56.8[ms]. (b) Priority for stop processing Priority for stops when a stop cause is input is as follows: Process 1 <...
Page 201 6 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 (stop cause) during the Axis 1 and Axis 2 interpolation control.
Page 202 6 POSITIONING CONTROL (2) Re-starting after stop (a) If it stopped by the stop command or stop cause (except change speed to speed "0"), re-starting is not possible. However, it stopped by the STOP input of the Q172DLX ON, the stop command (M3200+20n) ON or the rapid stop command (M3201+20n) ON during speed-position switching control, re-starting is possible using VPSTART instruction.
Page 203 6 POSITIONING CONTROL (3) Continuation of positioning control This section describes the processing which performed servo program No. which was being performed before the stop, after stop by turning on the STOP input of the Q172DLX ON, the stop command (M3200+20n) ON or the rapid stop command (M3201+20n) ON.
Page 204 6 POSITIONING CONTROL [Processing in the Motion SFC Program] 1) Transfer the start address to word devices of the Motion CPU before starting. 2) Calculate the target address by applying the travel value to the address before starting. 3) Calculate the residual travel value by subtracting the stop address from the target address.
Page 205: Acceleration/Deceleration Processing
6 POSITIONING CONTROL 6.1.7 Acceleration/deceleration processing Acceleration/deceleration are processed by the following three methods. (1) Trapezoidal acceleration/deceleration processing This is a conventional linear acceleration/deceleration processing. The acceleration/deceleration graph resembles a trapezoid, as shown in the diagram below. Positioning speed Time Acceleration time Deceleration time (2) S-curve acceleration/deceleration processing...
Page 206 6 POSITIONING CONTROL S-curve ratio can be set by the servo program is following two methods. (a) Direct specification S-curve ratio is set directly as a numeric value from 0 to 100. <K 10> 2 axes linear interpolation control INC-2 Axis used .
Page 207 6 POSITIONING CONTROL (3) Advanced S-curve acceleration/deceleration processing Ver.! Processing for smooth acceleration/deceleration can be executed by using the Advanced S-curve acceleration/deceleration function. The acceleration section is set as a sine curve as shown in the diagram below. Set the advanced S-curve acceleration/deceleration by the parameter block (Refer to Section 4.3.3) or servo program.
Page 208 6 POSITIONING CONTROL Advanced S-curve acceleration/deceleration can be set by the servo program is following two methods. (a) Direct specification Advanced S-curve acceleration/deceleration system and advanced S-curve acceleration/deceleration ratio are set directly as a numeric value. Setting items Setting range 0: Trapezoidal/S-curve acceleration/deceleration ASC System 1: Advanced S-curve acceleration/deceleration...
Page 209: Axis Linear Positioning Control
6 POSITIONING CONTROL 6.2 1 Axis Linear Positioning Control Positioning control from the current stop position to the fixed position for specified axis is executed. Positioning is controlled using ABS-1 (Absolute data method) or INC-1 (Incremental data method) servo instructions. Items set using MT Developer2 Common Parameter block...
Page 210 6 POSITIONING CONTROL Control using INC-1 (Incremental data method) (1) Positioning control of the specified travel value from the current stop position address is executed. (2) The travel direction is set by the sign (+/ -) of the travel value, as follows: •...
Page 211 6 POSITIONING CONTROL (3) Operation timing Operation timing for the servo program No.0 is shown below. 10000 Servo Program No.0 PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 4 servo ready (M2475) Start command (PX000) Servo program start Axis 4 start accept flag...
Page 212: Axes Linear Interpolation Control
6 POSITIONING CONTROL 6.3 2 Axes Linear Interpolation Control Linear interpolation control from the current stop position with the specified 2 axes is executed. ABS-2 (Absolute data method) and INC-2 (Incremental data method) servo instructions are used in the 2 axes linear interpolation control. Items set using MT Developer2 Common Parameter block...
Page 213 6 POSITIONING CONTROL (2) The travel direction is set by the stop address (starting address) and positioning address of each axis. Forward Current stop address direction Operation for X-axis, Y-axis Y-axis travel value linear interpolation Positioning address (X Reverse Forward direction direction Reverse X-axis travel value...
Page 214 6 POSITIONING CONTROL Control using INC-2 (Incremental data method) (1) Positioning control from the current stop address to the position which combined travel direction and travel value specified with each axis is executed. (2) The travel direction for each axis is set by the sign (+/ -) of the travel value for each axis, as follows: •...
Page 215 6 POSITIONING CONTROL (2) Positioning operation details The positioning is used the Axis 3 and Axis 4 servo motors. The positioning operation by the Axis 3 and Axis 4 servo motors is shown in the diagram below. Positioning using the servo program No.11 Axis 3 positioning (40000, 50000)
Page 216 6 POSITIONING CONTROL (5) Servo program Servo program No.11 for 2 axes linear interpolation control is shown below. <K 11> 2 axes linear interpolation control ABS-2 Axis 50000 Axis used ..Axis 3, Axis 4 Axis 40000 Travel value to...
Page 217: Axes Linear Interpolation Control
6 POSITIONING CONTROL 6.4 3 Axes Linear Interpolation Control Linear interpolation control from the current stop position with the specified 3 axes is executed. Items set using MT Developer2 Common Parameter block Others Servo Positioning Number of Speed instruction method control axes change ABS-3...
Page 218 6 POSITIONING CONTROL [Control details] Control using ABS-3 (Absolute data method) (1) 3 axes linear interpolation from the current stop address (X or Z ) based on the home position to the specified positioning address (X ) is executed. (2) The travel direction is set by the stop address and specified address of each axis. Address after positioning Forward direction Linear interpolation control...
Page 219 6 POSITIONING CONTROL Control using INC-3 (Incremental data method) (1) Positioning control from the current stop address to the position which combined travel direction and travel value specified with each axis is executed. (2) The travel direction for each axis is set by the sign (+/ -) of the travel value for each axis, as follows: •...
Page 220 6 POSITIONING CONTROL [Program] Program for 3 axes linear interpolation control is shown as the following conditions. (1) System configuration 3 axes linear interpolation control of Axis 1, Axis 2 and Axis 3. Motion CPU control module Q61P Q03UD Q172D QX41 QY41P Q172D Positioning start command (PX000)
Page 221 6 POSITIONING CONTROL (4) Operation timing Operation timing for 3 axes linear interpolation control is shown below. Servo program No.21 PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 1 servo ready (M2415) Axis 2 servo ready (M2435) Axis 3 servo ready (M2455) Start command (PX000)
Page 222 6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. 3 axes linear interpolation control 3 axes linear interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] Wait until PX000, Axis 1 servo ready, Axis 2 servo PX000*M2415*M2435*M2455 ready and Axis 3 servo ready turn on.
Page 223: Axes Linear Interpolation Control
6 POSITIONING CONTROL 6.5 4 Axes Linear Interpolation Control Linear interpolation control from the current stop position with 4 axes specified with the positioning command of the sequence program is executed. Items set using MT Developer2 Common Parameter block Others Servo Positioning Number of...
Page 224 6 POSITIONING CONTROL [Program] Program for 4 axes linear interpolation control is shown as the following conditions. (1) System configuration 4 axes linear interpolation control of Axis 1, Axis 2, Axis 3 and Axis 4. Motion CPU control module Q61P Q03UD Q172D QX41 QY41P Q172D...
Page 225 6 POSITIONING CONTROL Axis 2 positioning direction (Forward direction) Axis 3 positioning direction (Forward direction) Positioning using the servo program No.22 (Forward direction) 5000 Axis 4 positioning direction 5000 (Forward direction) Axis 1 positioning direction (Reverse direction) 5000 (Forward direction) (Reverse direction) (Reverse direction) Fig.6.8 Positioning for 4 axes linear interpolation control...
Page 226 6 POSITIONING CONTROL (4) Operation timing Operation timing for 4 axes linear interpolation control is shown below. Servo program No.22 PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 1 servo ready (M2415) Axis 2 servo ready (M2435) Axis 3 servo ready (M2455) Axis 4 servo ready (M2475)
Page 227 6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. 4 axes linear interpolation control 4 axes linear interpolation control [F10] Turn on all axes servo ON command. SET M2042 [G10] PX000*M2415*M2435*M2455 Wait until PX000, Axis 1 servo ready, Axis 2 servo ready, Axis 3 servo ready and Axis 4 servo ready turn on.
Page 228: Auxiliary Point-Specified Circular Interpolation Control
6 POSITIONING CONTROL 6.6 Auxiliary Point-Specified Circular Interpolation Control Circular interpolation control by specification of the end point address and auxiliary point address (a point on the arc) for circular interpolation is executed. Auxiliary point-specified circular uses ABS (Absolute data method) and INC (Incremental data method) servo instructions.
Page 229 6 POSITIONING CONTROL (3) The setting range of the end point address and auxiliary point address is (-2 ) to -1). (4) The maximum arc radius is 2 Maximum arc Radius R Arc central point Fig.6.10 Maximum arc Control using INC (Incremental data method) (1) Circular interpolation from the current stop address through the specified auxiliary point address to the end point address is executed.
Page 230 6 POSITIONING CONTROL (4) The maximum arc radius is 2 If the end point and auxiliary point are set more than a radius of 2 -1, an error occurs at the start and minor error (error code: 107) is stored in the data register. Maximum arc Arc central point Radius R...
Page 231 6 POSITIONING CONTROL (3) Positioning conditions (a) Positioning conditions are shown below. Servo program No. Item No.31 Positioning method Absolute data method Positioning speed 1000 (b) Positioning start command ..PX000 Leading edge (OFF (4) Operation timing Operation timing for auxiliary point-specified circular interpolation control is shown below.
Page 232 6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. Auxiliary point-specified circular interpolation control Auxiliary point-specified circular interpolation control [F10] SET M2042 Turn on all axes servo ON command. Waits until PX000, Axis 1 servo ready and Axis 2 servo [G10] PX000*M2415*M2435 ready turn on.
Page 233: Radius-Specified Circular Interpolation Control
6 POSITIONING CONTROL 6.7 Radius-Specified Circular Interpolation Control Circular interpolation control by specification of the end point address and radius for circular interpolation is executed. Radius-specified circular interpolation control uses ABS , ABS , ABS (Absolute data method) and INC , INC , INC and INC...
Page 234 6 POSITIONING CONTROL [Control details] Details for the servo instructions are shown in the table below. Rotation direction of Maximum controllable Instruction Positioning path the servo motors angle of arc Positioning path Start End point <180 point Clockwise Radius R Central point 0°...
Page 235 6 POSITIONING CONTROL (4) The setting range for the radius is 1 to (2 -1). (5) The maximum arc radius is (2 -1). Maximum arc Radius R Arc central point Fig.6.14 Maximum arc Control using INC , INC , INC , INC (Incremental data method) (1) Circular interpolation from the current stop address (0, 0) to the specified end...
Page 236 6 POSITIONING CONTROL [Program] Program for radius-specified circular interpolation control is shown as the following conditions. (1) System configuration Radius-specified circular interpolation control of Axis 1 and Axis 2. Motion CPU control module Q61P Q03UD Q172D QX41 QY41P Q172D Positioning start command (PX000) Axis Axis Axis...
Page 237 6 POSITIONING CONTROL (4) Operation timing Operation timing for radius-specified circular interpolation control is shown below. Servo Program No.41 Vector speed PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 1 servo ready (M2415) Axis 2 servo ready (M2435) Start command (PX000) Servo program start...
Page 238 6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. Radius specified-circular interpolation control Radius specified-circular interpolation control [F10] SET M2042 Turn on all axes servo ON command. Wait until PX000, Axis 1 servo ready and Axis 2 servo [G10] PX000*M2415*M2435 ready turn on.
Page 239: Central Point-Specified Circular Interpolation Control
6 POSITIONING CONTROL 6.8 Central Point-Specified Circular Interpolation Control Circular interpolation control by specification of the end point for circular interpolation and arc central point is executed. Central point-specified circular interpolation control uses ABS and ABS (Absolute data method) and INC and INC (Incremental data method) servo instructions.
Page 240 6 POSITIONING CONTROL Control using ABS , ABS (Absolute data method) (1) Circular interpolation of an arc with a radius equivalent to the distance between the start point and central point, between the current stop address (address before positioning) based on the home position and the specified end point address. Operation by circular interpolation Forward direction End address (X...
Page 241 6 POSITIONING CONTROL Control using INC , INC (Incremental method) (1) Circular interpolation from the current stop address (0, 0) with a radius equivalent to the distance between the start point (0, 0) and central point. Forward direction Operation by circular interpolation (for INC End point Positioning speed Start...
Page 242 6 POSITIONING CONTROL [Program] Program for central point-specified circular interpolation control is shown as the following conditions. (1) System configuration Central point-specified circular interpolation control of Axis 1 and Axis 2. Motion CPU control module Q61P Q03UD Q172D QX41 QY41P Q172D Positioning start command (PX000) Axis...
Page 243 6 POSITIONING CONTROL (4) Operation timing Operation timing for central point-specified circular interpolation is shown below. Servo Program No.51 Vector speed PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 1 servo ready (M2415) Axis 2 servo ready (M2435) Start command (PX000) Servo program start...
Page 244 6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. Central point specified-circular interpolation control Central point specified- circular interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] Wait until PX000, Axis 1 servo ready and Axis 2 servo PX000*M2415*M2435...
Page 245: Helical Interpolation Control
6 POSITIONING CONTROL 6.9 Helical Interpolation Control The linear interpolation control with linear axis is executed simultaneously while the circular interpolation specified with any 2 axes is executed, the specified number of pitches rotates spirally and performs the locus control to command position. Items set using MT Developer2 Common Arc/Helical...
Page 246: Circular Interpolation Specified Method By Helical Interpolation
6 POSITIONING CONTROL 6.9.1 Circular interpolation specified method by helical interpolation The following method of circular interpolation is possible for the helical interpolation. The specified method of circular interpolation connected start point and end point at the seeing on the plane for which performs circular interpolation are as follows. Servo instruction Positioning method Circular interpolation specified method...
Page 247 6 POSITIONING CONTROL (5) Specified the speed which executes speed change by CHGV instruction during helical interpolation operation with the vector speed of circular interpolation axis 2. If speed change is requested by specifying negative speed by CHGV instruction during helical interpolation operation, deceleration starts from the time and it is possible to return to reverse direction at the deceleration completion.
Page 248 6 POSITIONING CONTROL Control details for the servo instructions are shown below. Rotation direction Controllable angle of Instruction Positioning pass of servo motor Positioning path Start Radius-specified End point <180 point Clockwise (CW) helical interpolation Radius R Central point less than CW 180° 0°...
Page 249 6 POSITIONING CONTROL (6) All of the circular interpolation axis, linear axis and point address, command speed, radius (2 word data above) and number of pitches (1 word data) are set indirectly by the word devices. [Program] (1) Servo program Servo program No.52 for absolute radius-specified helical interpolation control is shown below.
Page 250 6 POSITIONING CONTROL , INH , INH , INH Incremental radius-specified helical interpolation control [Control details] The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X or linear axis end point relative address (Z ), and the incremental helical interpolation control is executed so that it may become a spiral course.
Page 251 6 POSITIONING CONTROL Control details for the servo instructions are shown below. Rotation direction Controllable angle of Instruction Positioning pass of servo motor Positioning path Start Radius-specified End point <180 point Clockwise (CW) helical interpolation Radius R Central point less than CW 180° 0°...
Page 252 6 POSITIONING CONTROL (3) Set the command speed with the vector speed for 2 axes circular interpolation axis. (4) The command speed unit is specified in the parameter block. (5) Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the servo program setting error (error code: 28) occurs and operation does not start.
Page 253 6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. Incremental radius-specified helical interpolation control Incremental radius-specified helical interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and PX000*M2415*M2435*M2455 Axis 3 servo ready turn on.
Page 254 6 POSITIONING CONTROL , ABH Absolute central point-specified helical interpolation control [Control details] The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X ) to specified circular end address ) or linear axis end point address (Z ), and the absolute helical interpolation is executed so that it may become a spiral course.
Page 255 6 POSITIONING CONTROL (3) The maximum arc radius on the circular interpolation plane is 2 For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[ µm]. Maximum arc Arc central point Radius R (4) Set the command speed with the vector speed for 2 axes circular interpolation axis.
Page 256 6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. Absolute central point-specified helical interpolation control Absolute central point-specified helical interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] Wait until PX000, Axis 1 servo ready, Axis 2 servo ready PX000*M2415*M2435*M2455...
Page 257 6 POSITIONING CONTROL , INH Incremental central point-specified helical interpolation control [Control details] The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X or linear axis end point relative address (Z ), and the incremental helical interpolation control is executed so that it may become a spiral course.
Page 258 6 POSITIONING CONTROL (3) The maximum arc radius on the circular interpolation plane is (2 -1). For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[ µm]. Maximum arc Arc central point Radius R (4) Set the command speed with the vector speed for 2 axes circular interpolation axis.
Page 259 6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. Incremental central point-specified helical interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and PX000*M2415*M2435*M2455 Axis 3 servo ready turn on.
Page 260 6 POSITIONING CONTROL Absolute auxiliary point-specified helical interpolation control [Control details] The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X ) to specified circular end address ) or linear axis end point address (Z ), and the absolute helical interpolation is executed so that it may become a spiral course.
Page 261 6 POSITIONING CONTROL (3) The maximum arc radius on the circular interpolation plane is 2 For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[ µm]. Maximum arc Arc central point Radius R (4) Set the command speed with the vector speed for 2 axes circular interpolation axis.
Page 262 6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. Absolute auxiliary point-specified helical interpolation control Absolute auxiliary point-specified helical interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] Wait until PX000, Axis 1 servo ready, Axis 2 servo ready PX000*M2415*M2435*M2455...
Page 263 6 POSITIONING CONTROL Incremental auxiliary point-specified helical interpolation control [Control details] The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X or linear axis end point relative address (Z ), and the incremental helical interpolation control is executed so that it may become a spiral course.
Page 264 6 POSITIONING CONTROL (3) The maximum arc radius on the circular interpolation plane is (2 -1). For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[ µm]. Maximum arc Arc central point Radius R (4) Set the command speed with the vector speed for 2 axes circular interpolation axis.
Page 265 6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. Incremental auxiliary point-specified helical interpolation control Incremental auxiliary point-specified helical interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and PX000*M2415*M2435*M2455...
Page 266: Axis Fixed-Pitch Feed Control
6 POSITIONING CONTROL 6.10 1 Axis Fixed-Pitch Feed Control Positioning control for specified axis of specified travel value from the current stop point. Fixed-pitch feed control uses the FEED-1servo instruction. Items set using MT Developer2 Common Parameter block Others Servo Positioning Number of Speed...
Page 267 6 POSITIONING CONTROL [Cautions] (1) The feed current value is changed to "0" at the start. When fixed-pitch feed control is executed in the absolute position system, the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power supply is turned ON again, may be different from the feed current value before the power supply was turned ON again.
Page 268 6 POSITIONING CONTROL (3) Operation timing Operation timing for fixed-pitch feed control is shown below. Servo program No.300 10000 Dwell 1second Dwell 1second Dwell 1second PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 4 servo ready (M2475) Start command (PX000)
Page 269 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. 1 axis fixed-pitch feed control 1 axis fixed-pitch feed control [F10] Turn on all axes servo ON command. SET M2042 Wait until PX000 and Axis 4 servo ready turn on. [G10] PX000*M2475 [K300]...
Page 270: Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation
6 POSITIONING CONTROL 6.11 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 specified 2 axes. Fixed-pitch feed control using 2 axes linear interpolation uses the FEED-2 servo instruction.
Page 271 6 POSITIONING CONTROL POINT Do not set the travel value to "0" for fixed-pitch feed control. The following results if the travel value is set to "0": (1) If the travel value of both is set to "0", fixed-pitch feed completion without fixed- pitch feed.
Page 272 6 POSITIONING CONTROL (3) Operation timing Operation timing for fixed-pitch feed control using 2 axes linear interpolation is shown below. Servo program No.310 10000 PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 2 servo ready (M2435) Axis 3 servo ready (M2455)
Page 273 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the speed-switching control is shown below. Fixed-pitch feed using 2 axes linear interpolation Fixed-pitch feed using 2 axes linear interpolation Turn on all axes servo ON command. SET M2042 Wait until PX000, Axis 2 servo ready and Axis 3 PX000*M2435*M2455...
Page 274: Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation
6 POSITIONING CONTROL 6.12 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 specified 3 axes. Fixed-pitch feed control using 3 axes linear interpolation uses the FEED-3 servo instruction.
Page 275 6 POSITIONING CONTROL POINT Do not set the travel value to "0" for fixed-pitch feed control. The following results if the travel value is set to "0": (1) If the travel value of all axes are set to "0", fixed-pitch feed completion without fixed-pitch feed.
Page 276 6 POSITIONING CONTROL (3) Operation timing Operation timing for fixed-pitch feed control using 3 axes linear interpolation is shown below. Servo program No.320 1000 PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 1 servo ready (M2415) Axis 2 servo ready (M2435)
Page 277 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Fixed-pitch feed using 3 axes linear interpolation Fixed-pitch feed using 3 axes linear interpolation [F10] Turn on all axes servo ON command. SET M2042 Wait until PX000, Axis 1 servo ready, Axis 2 servo ready [G10]...
Page 278: Speed Control ( )
6 POSITIONING CONTROL 6.13 Speed Control ( ) (1) Speed control for the specified axis is executed. (2) Control includes positioning loops for control of servo amplifiers. POINT Refer to Section 7.7 for performing speed control that does not include positioning loops without using the servo program.
Page 279 6 POSITIONING CONTROL (b) Q173DCPU(-S1)/Q172DCPU(-S1) Current value does not change at "0". Stop command accept Setting speed Speed control Operation speed start Stop Fig.6.26 Speed control ( ) (3) Stop commands and stop processing The stop commands and stop processing for speed control are shown in the table.6.1.
Page 280 6 POSITIONING CONTROL [Cautions] (1) The operation for feed current value is as follows. When speed control ( ) is executed in the absolute position system, the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power supply is turned ON again, may be different from the feed current value before the power supply was turned ON again.
Page 281 6 POSITIONING CONTROL (3) Operation timing Operation timing for speed control ( ) is shown below. Speed control by servo program No.91 Stop command accept 3000 PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 1 servo ready (M2415) Start command (PX000)
Page 282 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Speed control ( ) Speed control ( ) [F10] Turn on all axes servo ON command. SET M2042 [G10] PX000*M2415 Wait until PX000 and Axis 1 servo ready turn on. [K91] Speed control ( ) (Forward rotation) Axis used .
Page 283: Speed Control ( )
6 POSITIONING CONTROL 6.14 Speed Control ( ) (1) Speed control for the specified axis is executed. (2) Speed control not includes positioning loops for control of servo amplifiers. It can be used for stopper control, etc. so that it may not become error excessive. POINT Refer to Section 7.7 for performing speed control that does not include positioning loops without using the servo program.
Page 284 6 POSITIONING CONTROL [Cautions] (1) The feed current value is changed to "0" at the start. When speed control ( ) is executed in the absolute position system, the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power supply is turned ON again, may be different from the feed current value before the power supply was turned ON again.
Page 285 6 POSITIONING CONTROL (3) Operation timing Operation timing for speed control ( ) is shown below. Speed control by servo program No.55 Stop command accept 4000 PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 3 servo ready (M2455) Start command (PX000)
Page 286 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Speed control ( ) Speed control ( ) [F10] Turn on all axes servo ON command. SET M2042 [G10] PX000*M2455 Wait until PX000 and Axis 3 servo ready turn on. [K55] Speed control ( ) (Forward rotation) Axis used .
Page 287: Speed-Position Switching Control
6 POSITIONING CONTROL 6.15 Speed-Position Switching Control 6.15.1 Speed-position switching control start Speed-position switching control for specified axis is executed. Speed-position switching control uses the VPF (Forward rotation), VPR (Reverse rotation) and VPSTART (Re-start) servo instructions. Items set using MT Developer2 Common Parameter block Others...
Page 288 6 POSITIONING CONTROL REMARK (Note): "The external CHANGE signal input from external source" is inputted to CHANGE of signal type set in speed/position switching signal from external source. When "normally open contact input" is set, CHANGE input occurs at the CHANGE signal on, and when "normally closed contact input" is set, CHANGE input occurs at the CHANGE signal off.
Page 289 6 POSITIONING CONTROL (3) Feed current value processing The feed current value is as follows by turning feed current value update command (M3212+20n) on/off at the speed-position switching control start. (a) M3212+20n OFF..• The feed current value is cleared to "0" at the start. •...
Page 290 6 POSITIONING CONTROL (4) Change of the travel value during speed control The travel value for position control can be changed during speed control after speed-position switching control start. (a) The travel value is set in indirect specification by optional device (2-word data) in the servo program.
Page 291 6 POSITIONING CONTROL [Cautions] (1) Item check at the CHANGE signal ON from external source When the external CHANGE signal turns on, speed control switches to position control if the following conditions are met: Start accept flag (M2001+n) is turning on. •...
Page 292 6 POSITIONING CONTROL (4) Stroke limit check Stroke limit range is not checked during the speed mode. If the travel value exceeds the stroke limit range, a minor error (error code: 210) occurs when position mode is selected, and performs a deceleration stop. (5) When feed current value update command (M3212+20n) is OFF, the feed current value is changed to "0"...
Page 293 6 POSITIONING CONTROL (3) Operation timing Operation timing for speed-position switching control is shown below. Speed control Servo program No.101 Position control 1second 1second PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 4 servo ready (M2475) Start command (PX000)
Page 294 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Speed-position switching control Speed-position switching control [F10] Turn on all axes servo ON command. SET M2042 [G10] PX000*M2475 Wait until PX000 and Axis 4 servo ready turn on. [F20] Axis 4 speed/position switching enable command ON.
Page 295: Re-Starting After Stop During Control
6 POSITIONING CONTROL 6.15.2 Re-starting after stop during control Re-starting (continuing) after stop with stop command during speed-position switching control is executed. Re-starting uses VPSTART servo instruction. Items set using MT Developer2 Common Parameter block Others Servo Positioning Number of Speed instruction method...
Page 296 6 POSITIONING CONTROL (b) If the stop occurred during position control, re-start with position, and the positioning control of setting travel value. The travel value after the re-start is calculated as follows: Travel value Travel value Setting travel after re-start before stop value(P) (P1)
Page 297 6 POSITIONING CONTROL [Program] Program for restarting after stop during control with the speed-position switching control is shown as the following conditions. (1) System configuration Speed-position switching control of Axis 4. Motion CPU control module Q61P Q03UD Q172D QX41 QY41P Q172D Start command (PX000), restart command (PX001), stop command (PX002)
Page 298 6 POSITIONING CONTROL (3) Operation timing Operation timing for speed-position switching control and re-starting are shown below. CHANGE signal accept 1000 Speed Position control control PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 4 servo ready (M2475) Start command (PX000)
Page 299 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Re-starting after stop during speed-position switching control Re-starting after stop during control [F10] Turn on all axes servo ON command. SET M2042 [G10] PX000*M2475 Wait until PX000 and Axis 4 servo ready turn on.
Page 300: Speed-Switching Control
6 POSITIONING CONTROL 6.16 Speed-Switching Control (1) Positioning control performs changing the speed on the point beforehand set by one start. (2) The speed-switching points and speed are set using the servo program. (3) Repetition control between any speed-switching points can be performed by using repetition instructions.
Page 301 6 POSITIONING CONTROL [Control details] Start and end of the speed-switching control Speed-switching control is started and ended using the following instructions: (1) VSTART Starts the speed-switching control. (2) VEND Ends the speed-switching control. Travel value setting to end address/end point The travel value to end address/end point with the speed-switching control, positioning control method and positioning speed to the end point are set using the following instructions:...
Page 302 6 POSITIONING CONTROL Procedure of the servo program and operation timing Servo programs for speed-switching control and the operation timing are shown below. [Servo program] Start <K 101> VSTART Start speed-switching control ABS-2 Axis 80000 . . P1 Axis 60000 2000 Speed Specify end address...
Page 303 6 POSITIONING CONTROL [Cautions] (1) The number of control axes cannot be changed during control. (2) The speed-switching point can be specified the absolute data method (VABS) and incremental data method (VINC) by mixed use. (3) The speed-switching point cannot be specified an address which change in travel direction.
Page 304 6 POSITIONING CONTROL (2) Positioning conditions (a) Speed-switching control conditions are shown below. Item Setting Servo program No. Control axis Axis 2 Axis 3 End address 100000 50000 (b) Speed-switching control start command ..PX000 Leading edge (OFF (3) Operation timing and speed-switching positions Operation timing and speed-switching points for speed-switching control are shown below.
Page 305 6 POSITIONING CONTROL (4) Servo program Servo program No.500 for speed-switching control is shown below. <K 500> VSTART Start speed-position switching control ABS-2 2 axes linear interpolation control (absolute data method) Axis 100000 Axis used . . . Axis 2, Axis 3 Axis 50000 Axis 2 .
Page 306: Specification Of Speed-Switching Points Using Repetition Instructions
6 POSITIONING CONTROL 6.16.2 Specification of speed-switching points using repetition instructions Repetition execution between any speed-switching points. Items set using MT Developer2 Common Parameter block Others Servo Positioning Number of Speed instruction method control axes change FOR-TIMES FOR-ON — — —...
Page 307 6 POSITIONING CONTROL (3) FOR-OFF (loop-out trigger condition setting) (a) The repetition range set until the specified bit device turns off is executed repeatedly. (b) The following devices are used as the loop-out trigger condition: 1) Input (X/PX) 2) Output (Y/PY) 3) Internal relay (M) 4) Special relay (SM) 5) Link relay (B)
Page 308 6 POSITIONING CONTROL (3) Operation in condition 3 Minor error [215] occurred 2000 1000 100000 200000 X010 X011 Error occurs because it exceeds the travel value to the stop position. [Program] Program for repetition speed-switching control is shown as the following conditions. (1) System configuration Speed-switching control of Axis 2 and Axis 3.
Page 309 6 POSITIONING CONTROL (3) Operation timing and speed-switching positions Operation timing and speed-switching points for speed-switching control are shown below. Axis 3 positioning direction 100000 50000 Axis 2 positioning 50000 100000 150000 200000 direction 50 0 0 0 PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag...
Page 310 6 POSITIONING CONTROL (4) Servo program Servo program No. 501 for speed-switching control by the repetition instruction is shown below. <K 501> Starts speed-switching control VSTART 2 axes linear interpolation control (incremental data method) INC-2 Axis used ....Axis 2, Axis 3 Axis 230000 Travel value to stop position Axis 2 .
Page 311 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes speed-switching control using repetition instructions is shown below. Specification of speed-switching points using repetition instructions points using repeat Speed-switching control using repetition instructions instructions [F10] Turn on all axes servo ON command. SET M2042 Wait until PX000, Axis 2 servo ready and Axis 3 servo ready [G10]...
Page 312: Constant-Speed Control
6 POSITIONING CONTROL 6.17 Constant-Speed Control (1) Positioning to the pass point beforehand set by one starting is executed with the specified positioning method and positioning speed. (2) The positioning method and positioning speed can be changed for each pass point.
Page 313 6 POSITIONING CONTROL [Operation timing] Operation timing for constant-speed control is shown below. [Example : Operation timing for 2 axes constant-speed control] Axis 3 positioning direction 80000 60000 100000 Axis2 positioning direction 40000 60000 Positioning speed Change speed after speed-switching for 2 axes linear interpolation 15000...
Page 314 6 POSITIONING CONTROL (b) The speed switching and change speed by CHGV instruction are executed toward the same program in the servo program. The lower of the speed change by CHGV instructions and the command speed in the servo program is selected. The speed change by CHGV instructions are executed if the speed is lower than the speed set in the servo program;...
Page 315 6 POSITIONING CONTROL (8) The minimum travel value between constant-speed control pass points is shown below: Command speed per second (control unit/s) Main cycle [s] < Travel distance [control unit] Positioning speed drops if the distance between pass points is short the minimum travel value.
Page 316: Specification Of Pass Points By Repetition Instructions
6 POSITIONING CONTROL 6.17.1 Specification of pass points by repetition instructions This section describes the method of the pass points for which executes between any pass points repeatedly. Items set using MT Developer2 Common Parameter block Others Servo Positioning Number of Speed instruction method...
Page 317 6 POSITIONING CONTROL (3) FOR-OFF (loop-out trigger condition setting) (a) The repetition range set until the specified bit device turns off is executed repeatedly. (b) The following devices are used as the loop-out trigger condition: 1) Input (X/PX) 2) Output (Y/PY) 3) Internal relay (M) 4) Special relay (SM) 5) Link relay (B)
Page 318 6 POSITIONING CONTROL [Caution] (1) During a FOR-ON loop, or a FOR-OFF loop, if the travel value of the specified pass point is smaller than the travel value of one operation cycle shown below, it will not loop-out even when trigger conditions are satisfied. To perform a loop-out, make the travel value of the pass point larger than the travel value of one operation cycle, or set a smaller speed command.
Page 319 6 POSITIONING CONTROL (2) Positioning conditions (a) Constant-speed control conditions are shown below. Item Setting Servo program No. Control axis Axis 2, Axis 3 Positioning speed 10000 (b) Constant-speed control start command ..PX000 Leading edge (OFF (3) Operation timing Operation timing for constant-speed control is shown below.
Page 320 6 POSITIONING CONTROL (4) Servo program Servo program No.510 for constant-speed control is shown below. <K 510> Start constant-speed control CPSTART2 Axis Axis used ..Axis 2, Axis 3 Axis Positioning speed . . . 10000 Speed 10000 Pass point setting...
Page 321: Speed-Switching By Instruction Execution
6 POSITIONING CONTROL 6.17.2 Speed-switching by instruction execution The speed can be specified for each pass point during the constant-speed control instruction. The speed change from a point can be specified directly or indirectly in the servo program. [Cautions] (1) The speed switching during servo instruction is possible at the constant-speed control for 1 to 4 axes.
Page 322 6 POSITIONING CONTROL [Program] Program for which executes the speed-switching control by turning on M2040 during constant-speed instruction is shown as the following conditions. (1) System configuration Switches speed for Axis 1 and Axis 2. Motion CPU control module Q61P Q03UD Q172D QX41 QY41P Q172D...
Page 323 6 POSITIONING CONTROL (3) Operation timing and speed-switching positions Operation timing and positions for speed switching are shown below. Axis 2 positioning direction 40000 20000 Central point Axis 1 positioning 20000 40000 direction 15000 10000 Speed switching point specified flag (M2040) PLC ready flag (M2000) All axes servo ON command (M2042)
Page 324 6 POSITIONING CONTROL (4) Servo program Servo program No.310 for speed-switching is shown below. <K 310> CPSTART2 Axis Axis Speed 10000 Set P1 ABS-2 Axis 20000 Axis 10000 Set P2 Axis 30000 Axis 20000 Center 30000 Center 10000 ABS-2 Set P3 Axis 40000 Axis...
Page 325 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Speed-switching during instruction execution Speed-switching during instruction execution [F10] Turn on all axes servo ON command. SET M2042 Wait until PX000, Axis 1 servo ready and Axis 2 servo [G10] PX000*M2415*M2435 ready turn on.
Page 326: Axis Constant-Speed Control
6 POSITIONING CONTROL 6.17.3 1 axis constant-speed control Constant-speed control for 1 axis. Items set using MT Developer2 Common Parameter block Others Servo Positioning Number of Speed instruction method control axes change Start CPSTART1 — CPEND — — Valid ABS-1 Absolute data Pass point...
Page 327 6 POSITIONING CONTROL [Program] Program for repetition 1 axis constant-speed control is shown as the following conditions. (1) System configuration Axis 4 constant-speed control. Motion CPU control module Q61P Q03UD Q172D QX41 QY41P Q172D Positioning start command (PX000) Axis Axis Axis Axis (2) Positioning conditions...
Page 328 6 POSITIONING CONTROL (4) Operation timing Operation timing for servo program No.500 is shown below. 10000 -10000 PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 4 servo ready (M2475) Start command (PX000) Servo program start Axis 4 start accept flag (M2004) (5) Servo program...
Page 329 6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. 1 axis constant-speed control 1 axis constant-speed control [F10] Turn on all axes servo ON command. SET M2042 [G10] PX000*M2475 Wait until PX000 and Axis 4 servo ready turn on. [K500] CPSTART1 Start constant-speed control...
Page 330: To 4 Axes Constant-Speed Control
6 POSITIONING CONTROL 6.17.4 2 to 4 axes constant-speed control Constant-speed control for 2 to 4 axes. Items set using MT Developer2 Common Parameter block Others Servo Positioning Number of Speed instruction method control axes change CPSTART2 Start CPSTART3 — CPSTART4 CPEND —...
Page 331 6 POSITIONING CONTROL [Control details] Start and end for 2 to 4 axes constant-speed control 2 to 4 axes constant-speed control is started and ended using the following instructions: (1) CPSTART2 Ver.! Starts the 2 axes constant-speed control. Sets the axis No. and command speed. (2) CPSTART3 Ver.! Starts the 3 axes constant-speed control.
Page 332 6 POSITIONING CONTROL (6) ABS/INC , ABS/INC Sets circular interpolation control using center point specification. Refer to Section 6.8 "Central Point-Specified Circular Interpolation Control" for details. [Cautions] (1) For circular interpolation control at the pass points for constant-speed control of 2 to 4 axes, specify any 2 axes among the controlled axes.
Page 333 6 POSITIONING CONTROL (c) Positioning conditions 1) Constant-speed control conditions are shown below. Item Setting Servo program No. Positioning speed 10000 Radius-specified 2 axes linear 2 axes linear Positioning method circular interpolation interpolation interpolation Axis 2 30000 50000 90000 Pass point Axis 3 30000 50000...
Page 334 6 POSITIONING CONTROL (e) Motion SFC program Motion SFC program for which executes the servo program is shown below. 2 axes constant-speed control 2 axes constant-speed control [F10] Turn on all axes servo ON command. SET M2042 Wait until PX000, Axis 2 servo ready and Axis 3 [G10] PX000*M2435*M2455 servo ready turn on.
Page 335 6 POSITIONING CONTROL (b) Positioning conditions 1) Constant-speed control conditions are shown below. Item Setting Servo program No. Positioning speed 10000 4 axes linear 4 axes linear 4 axes linear Positioning method interpolation interpolation interpolation Axis 1 3000 5000 5000 Axis 2 4000 3500...
Page 336 6 POSITIONING CONTROL (d) Motion SFC program Motion SFC program for which executes the servo program is shown below. 4 axes constant speed control 4 axes constant speed control [F10] SET M2042 Turn on all axes servo ON command. Wait until PX000, Axis 1 servo ready, Axis 2 servo [G10] PX000*M2415*M2435*M2455 ready, Axis 3 servo ready and Axis 4 servo ready...
Page 337: Constant Speed Control For Helical Interpolation
6 POSITIONING CONTROL 6.17.5 Constant speed control for helical interpolation The helical interpolation can be specified as the positioning control method to pass point for 3 or 4 axes constant-speed control. Starting or ending instruction for constant-speed control uses the same CPSTART3, CPSTART4 or CPEND as 3 or 4 axes constant-speed control instruction.
Page 338 6 POSITIONING CONTROL Helical interpolation specified methods for constant-speed control are shown below. Servo instruction Positioning method Circular interpolation specified method Absolute Radius-specified method less than CW180° Incremental Absolute Radius-specified method Incremental less than CCW180° Absolute Radius-specified method Incremental CW180° or more. Absolute Radius-specified method CCW180°...
Page 339 6 POSITIONING CONTROL (7) Speed-switching point-specified flag is effective toward the helical interpolation- specified each pass point for constant-speed control. [Program1] (1) Servo program Servo program for which helical interpolation specified pass point for constant- speed control is shown below. <K 510>...
Page 340 6 POSITIONING CONTROL (2) Positioning operation details The operation to start as the following figure from start point and witch keeps a nozzle at right angles toward the contour of line and that it goes around the contour and witch is returned to start point. It is the following program when a helical interpolation function is used.
Page 341 6 POSITIONING CONTROL (4) Motion SFC program Motion SFC program for is shown below. Helical interpolation [F10] SET M2042 Turn ON all axes servo ON command. Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and [G10] PX000*M2415*M2435*M2455 Axis 3 servo ready turn ON 3 axes linear interpolation control (Travel to start point) [K61]...
Page 342: Pass Point Skip Function
6 POSITIONING CONTROL 6.17.6 Pass point skip function This function stops positioning to the executing point and executes positioning to the next point by setting a skip signal for each pass point for constant-speed control. [Data setting] (1) Skip signal devices The following devices can be specified as skip signal devices.
Page 343 6 POSITIONING CONTROL CAUTION When a skip is specified during constant-speed control and the axis which has no stroke range [degree] is included, the operation at the execution of skip is described. (Note-1): If there is an ABS instruction after the skip in these conditions, the end positioning point and the travel distance in the program as a whole will be the same regardless of whether the skip is executed or not.
Page 344: Fin Signal Wait Function
6 POSITIONING CONTROL 6.17.7 FIN signal wait function By selecting the FIN signal wait function and setting a M-code at each executing point, a process end of each executing point is synchronized with the FIN signal, the FIN signal turns ON to OFF and then the next positioning is executed. Turn the FIN signal on/off using the Motion SFC program or sequence program.
Page 345 6 POSITIONING CONTROL [Program example] (1) FIN signal wait function by the PLC program (a) System configuration FIN signal wait function toward constant-speed control for Axis 1 and Axis 2. PLC CPU control module Q61P Q03UD Q172D QX41 QY41P Positioning start command : X0 (PLC CPU device) Axis Axis...
Page 346 6 POSITIONING CONTROL (c) Servo program Servo program No.0 for constant-speed control is shown below. Start constant-speed control <K 0> Axis used ..Axis 1, Axis 2 CPSTART2 Axis Positioning speed . . . 10000[pulse/s] Axis FIN acceleration/ .
Page 347 6 POSITIONING CONTROL (e) Sequence program Sequence program for FIN signal wait function is shown below. Sequence program Motion SFC program start request DP.SFCS H3E1 K110 Substitutes 1 for D51 after program MOVP start. M2419 Reads data of D13 for Multiple CPU system No.2 by turning M2419 on, DP.DDRD H3E1 and stores in the data area D1 of...
Page 348 6 POSITIONING CONTROL (f) Parameter setting The automatic refresh setting example for FIN signal wait function is shown below. [Example of allocating the devices allocated as Motion dedicated devices to the PLC CPU] • CPU No. 1 (PLC CPU) (GX Works2/GX Developer) •...
Page 349 6 POSITIONING CONTROL POINT Set the following operation for automatic refresh setting using GX Works2/ GX Developer. 1) Select tab "Multiple CPU high speed communication area setting". 2) Set "Use multiple CPU high speed communication". <Screen: GX Works2> (2) FIN signal wait function using the Motion SFC program (a) System configuration FIN signal wait function toward constant-speed control for Axis 1 and Axis 2.
Page 350 6 POSITIONING CONTROL (b) Positioning conditions 1) Constant-speed control conditions are shown below. Item Setting Servo program No. Positioning speed 10000 100[ms] acceleration/deceleration time Positioning method 2 axes linear interpolation control Axis 1 200000 300000 350000 400000 Pass point Axis 2 200000 250000 300000...
Page 351 6 POSITIONING CONTROL (d) Motion SFC program 1) Motion SFC program for constant-speed control is shown below. Constant-speed control [F10] SET M2042 Turn on all axes servo ON command. Wait until PX000, Axis 1 servo ready and Axis 2 [G10] PX000*M2415*M2435 servo ready turn on.
Page 352 6 POSITIONING CONTROL 2) Motion SFC program which outputs M-code of each point for constant- speed control to PY20 to PY2F by BCD code is shown below. FIN signal wait (Note): Details of #0 is used as control. FIN signal wait [G50] Turn on Axis 1, Axis 2 M-code outputting signal.
Page 353 6 POSITIONING CONTROL POINTS (1) The fixed acceleration/deceleration time method is acceleration/deceleration processing that the time which acceleration/deceleration takes is fixed, even if the command speed differs. Acceleration/deceleration time is fixed (a) The following processing and parameters are invalid in the fixed acceleration/deceleration time method.
Page 354: Position Follow-Up Control
6 POSITIONING CONTROL 6.18 Position Follow-Up Control Positioning to the address set in the word device of the Motion CPU specified with the servo program at one start is executed. Position follow-up control is started using the PFSTART servo program instruction. Items set using MT Developer2 Common Parameter block...
Page 355 6 POSITIONING CONTROL [Cautions] (1) Number of control axes is 1 axis. (2) Only the absolute data method (ABS ) is used for positioning control to the pass points. (3) The speed can be changed during the start. The changed speed is effective until the stop command is input. (4) Set the positioning address in the servo program using indirect setting with the word devices.
Page 356 6 POSITIONING CONTROL (3) Operation timing Operation timing for position follow-up control is shown below. Positioning address (D4000) PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 3 servo ready (M2455) Start command (X0) Servo program start Axis 3 start accept flag...
Page 357 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program, sequence program and parameter setting for position follow-up control is shown below. (a) Motion SFC program Motion SFC program example for position follow-up control is shown below. This program is started using D(P).SFCS instruction from PLC CPU (CPU No.1).
Page 358 6 POSITIONING CONTROL (b) Sequence program Sequence program example for position follow-up control is shown below. Sequence program SM400 Substitute 2 for D1 after program MOVP start. Starts by turning X0 on. Substitute 150000 for D1000 . DMOV K150000 D1000 D1300 Substitute 0 for D1300 .
Page 359 6 POSITIONING CONTROL (c) Parameter setting The automatic refresh setting example for position follow-up control is shown below. [Allocation example of devices allocated in the Motion dedicated device to the PLC CPU] • CPU No. 1 (PLC CPU) (GX Works2/GX Developer) •...
Page 360 6 POSITIONING CONTROL POINT Set the following operation for automatic refresh setting using GX Works2/ GX Developer. 1) Select tab "Multiple CPU high speed communication area setting". 2) Set "Use multiple CPU high speed communication". <Screen: GX Works2> 6 - 173...
Page 361: Speed Control With Fixed Position Stop
6 POSITIONING CONTROL 6.19 Speed Control with Fixed Position Stop Speed control with fixed position stop of the specified axis is executed. Speed control with fixed position stop is started using the PVF (forward rotation) or PVR (reverse rotation) of servo program instruction. Items set using MT Developer2 Common Arc/Helical...
Page 362 6 POSITIONING CONTROL (4) Address setting range is 0 to 35999999 (0 to 359.99999[degree]) in the indirect setting of positioning address. If it is set outside the setting range, a servo program setting error (error code: n03) occurs and it does not start. Positioning address is input at the program start.
Page 363 6 POSITIONING CONTROL (10) Deceleration speed by the stop command (M3200+20n)/rapid stop command (M3201+20n) is controlled with fixed inclination (deceleration speed). Deceleration processing is executed using the speed limit value or deceleration/ rapid stop deceleration time set in the parameter block. Rapid stop by fixed inclination (deceleration speed).
Page 364 6 POSITIONING CONTROL [Program] Program for speed control with fixed position stop is shown as the following conditions. (1) System configuration Speed control with fixed position stop for "Axis 1". Motion CPU control module Q61P Q03UD Q172D QX41 QY41P Q172D Positioning start command (PX000) Axis Axis...
Page 365 6 POSITIONING CONTROL (3) Operation timing Operation timing for speed control with fixed position stop is shown below. Stop command of speed control with fixed position stop (PX000 Leading edge) 359.99999[degree] Current value 120.00000[degree] 0[degree] 20[ms] PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag...
Page 366 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Speed control with fixed position stop Speed control with fixed position stop [F10] Turn on all axes servo ON command. SET M2042 [G10] Wait until PX000, Axis 1 servo ready turn on.
Page 367: Simultaneous Start
6 POSITIONING CONTROL 6.20 Simultaneous Start Simultaneous start of the specified servo program at one start is executed. Simultaneous start is started using the START servo program instruction. Items set using MT Developer2 Common Parameter block Others Servo Positioning Number of Speed instruction method...
Page 368 6 POSITIONING CONTROL [Program] Program for simultaneous start is shown as the following conditions. (1) System configuration Simultaneous start for "Axis 1 and Axis 2", Axis 3 and Axis 4. Motion CPU control module Q61P Q03UD Q172D QX41 QY41P Q172D Start command (PX000) Axis Axis...
Page 369 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Simultaneous start control Simultaneous start control [F10] Turn on all axes servo ON command. SET M2042 [G10] Wait until PX000, Axis 1 servo ready, Axis 2 servo ready, PX000*M2415*M2435*M2455 Axis 3 servo ready and Axis 4 servo ready turn on.
Page 370: Jog Operation
6 POSITIONING CONTROL 6.21 JOG Operation The setting JOG operation is executed. Individual start or simultaneous start can be used in the JOG operation. JOG operation can be executed using the Motion SFC program or test mode of MT Developer2. (Refer to the help of MT Developer2 for JOG operation method in the test mode of MT Developer2.) JOG operation data must be set for each axis for JOG operation.
Page 371: Individual Start
6 POSITIONING CONTROL POINT Start to outside the range of stroke limit of fixed parameter cannot be executed. However, JOG operation is possible in the direction from outside the stroke limit range to back inside the stroke limit range. Stroke limit lower Stroke limit upper .
Page 372 6 POSITIONING CONTROL (2) The setting range for JOG speed setting registers (D640+2n, D641+2n) are shown below. Setting range JOG operation JOG speed setting register Axis inch degree pulse Setting Setting Setting Setting (Note-2) Forward JOG Reverse JOG Most significant Least significant Units Units Units...
Page 373 6 POSITIONING CONTROL [Cautions] (1) If the forward JOG start command (M3202+20n) and reverse JOG start command (M3203+20n) turn on simultaneously for a single axis, the forward JOG operation is executed. When a deceleration stop is made by the forward JOG start command (M3202+20n) OFF the reverse JOG operation is not executed even if the reverse JOG start command (M3203+20n) is ON.
Page 374 6 POSITIONING CONTROL (3) JOG operation by the JOG start command (M3202+20n/M3203+20n) is not executed during the test mode using MT Developer2. After release of test mode, the JOG operation is executed by turning the JOG start command off to on. JOG operation is impossible JOG operation because not leading edge of...
Page 375 6 POSITIONING CONTROL (3) Motion SFC program Motion SFC program for which executes JOG operation is shown below. JOG operation-individual start JOG operation-individual start [F10] Turn on all axes servo ON command. SET M2042 Wait until Axis 1 servo ready and Axis 2 servo ready [G10] M2415*M2435 turn on.
Page 376: Simultaneous Start
6 POSITIONING CONTROL 6.21.3 Simultaneous start Simultaneous start JOG operation for specified multiple axes. [Control details] (1) JOG operation continues at the JOG speed setting register value for each axis while the JOG operation simultaneous start command (M2048) turns on, and a deceleration stop is made by the M2048 OFF.
Page 377 6 POSITIONING CONTROL (3) The setting range for JOG speed setting registers (D640+2n, D641+2n) are shown below. Setting range JOG operation JOG speed setting register Axis inch degree pulse Setting Setting Setting Setting (Note-2) Forward JOG Reverse JOG Most significant Least significant Units Units Units...
Page 378 6 POSITIONING CONTROL [Program] Program for simultaneous start of JOG operations are shown as the following conditions. (1) System configuration JOG operation for Axis 1 and Axis 2. Motion CPU control module Q61P Q03UD Q172D QX41 QY41P Q172D JOG start command (PX000) Axis Axis Axis...
Page 379: Manual Pulse Generator Operation
6 POSITIONING CONTROL 6.22 Manual Pulse Generator Operation Positioning control based on the number of pulses inputted from the manual pulse generator is executed. Simultaneous operation for 1 to 3 axes is possible with one manual pulse generator, the number of connectable modules are shown below. Number of connectable to the manual pulse generator POINT •...
Page 380 6 POSITIONING CONTROL (b) Output speed The output speed is the positioning speed corresponding to the number of pulses input from a manual pulse generator in unit time. [Output speed] = [Number of input pulses per 1[ms]] [Manual pulse generator 1- pulse input magnification setting] (3) Setting of the axis operated by the manual pulse generator The axis operated by the manual pulse generator is set in the manual pulse...
Page 381 6 POSITIONING CONTROL (5) The setting manual pulse generator 1- pulse input magnification checks the "1- pulse input magnification setting registers of the manual pulse generator" of the applicable axis at leading edge of manual pulse generator enable flag. If the value is outside of range, the manual pulse generator axis setting error register (SD513 to SD515) and manual pulse generator axis setting error flag (SM513) are set and a value of "1"...
Page 382 6 POSITIONING CONTROL (7) Errors details at the data setting for manual pulse generator operation are shown below. Error details Error processing Manual pulse generator operation is executed Axis setting is 4 axes or more according to valid for 3 axes from the lowest manual pulse generator axis setting register.
Page 383 6 POSITIONING CONTROL [Procedure for manual pulse generator operation] Procedure for manual pulse generator operation is shown below. Start Set the manual pulse generator 1- pulse input magnification Set the manual pulse generator Using the Motion SFC program operation axis Turn the manual pulse generator enable flag ON Execute the positioning by...
Page 384 6 POSITIONING CONTROL [Program] Program executes manual pulse generator operation is shown as the following conditions. (1) System configuration Manual pulse generator operation of Axis 1 and Axis 2. Motion CPU control module Q61P Q03UD Q172D QX41 QY41P Q173D Manual pulse generator P1 Manual pulse generator Manual pulse generator P2 enable flag...
Page 385: Home Position Return
6 POSITIONING CONTROL 6.23 Home Position Return (1) Use the home position return at the power supply ON and other times where decision of axis is at the machine home position is required. (2) The home position return data must be set for each axis to execute the home position return.
Page 386 6 POSITIONING CONTROL Home position return Reference External signal Applications methods position FLS (for forward home position return Limit switch combined • It is used in a system where the proximity dog signal cannot be used direction)/RLS (for method and only external limit switch can be used. reverse home position return direction) Motor zero...
Page 387: Home Position Return Data
6 POSITIONING CONTROL 6.23.1 Home position return data This data is used to execute the home position return. Set this data using MT Developer2. Table 6.3 Home position return data list Setting range inch degree pulse Initial Item Units value Setting range Units Setting range...
Page 388 6 POSITIONING CONTROL Indirect setting Explanatory Remarks section Valid/invalid Number of words • The home position return direction is set. — — — • The home position return method is set. • The proximity dog method or count method are recommended for the servo amplifier which does not support absolute value.
Page 389 6 POSITIONING CONTROL (1) Travel value after proximity dog ON (a) The travel value after proximity dog ON is set to execute the count method home position return. (b) After the proximity dog ON, the home position is the first zero-point after travel by the setting travel value.
Page 390 6 POSITIONING CONTROL (2) Home position return retry function/dwell time at the home position return retry (a) Valid/invalid of home position return retry is set. (b) When the valid of home position return retry function is set, the time to stop at return of travel direction is set with dwell time at the home position return retry.
Page 391 6 POSITIONING CONTROL (3) Home position shift amount/speed set at the home position shift (a) The shift (travel) amount from position stopped by home position return is set. (b) If the home position shift amount is positive value, it shifts from detected zero point signal to address increase direction.
Page 392 6 POSITIONING CONTROL (d) Valid/invalid of the setting value for home position shift amount by the home position return method is shown below. Home position return methods Valid/invalid of home position shift amount Proximity dog method Count method Data set method Dog cradle method Stopper method Limit switch combined method...
Page 393 6 POSITIONING CONTROL (5) Operation setting for incompletion of home position return (a) Operation in selecting "1: Not execute servo program" 1) Servo program cannot be executed if the home position return request signal (M2409+20n) is ON. However, the servo program can be executed even if the home position return request signal (M2409+20n) is ON in the case of only servo program of home position return instruction (ZERO).
Page 394 6 POSITIONING CONTROL (6) Indirect setting of home position return data A part of home position return data can be executed the indirect setting by the word devices of Motion CPU. (a) Word devices for indirect setting The word devices for indirect setting are the data registers (D), link registers (W), Motion registers (#) and Multiple CPU area device (U \G).
Page 395 6 POSITIONING CONTROL (7) Setting items for home position return data Home position return methods Dogless home position signal reference method Items Home position return direction Home position address Home position return speed — — — — Creep speed — —...
Page 396: Home Position Return By The Proximity Dog Method 1
6 POSITIONING CONTROL 6.23.2 Home position return by the proximity dog method 1 (1) Proximity dog method 1 Zero point position after proximity dog ON to OFF is home position in this method. When it does not pass (zero pass signal: M2406+20n OFF) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, an error will occur and home position return is not executed.
Page 397 6 POSITIONING CONTROL (4) Cautions (a) Keep the proximity dog ON during deceleration from the home position return speed to the creep speed. If the proximity dog turns OFF before deceleration to the creep speed, a deceleration stop is made and the next zero point is set as the home position.
Page 398 6 POSITIONING CONTROL (c) When it does not pass (zero pass signal: M2406+20n ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, a minor error (error code: 120) will occur, a deceleration stop is made and home position return does not end normally.
Page 399 6 POSITIONING CONTROL 6.23.3 Home position return by the proximity dog method 2 (1) Proximity dog method 2 Zero point position after proximity dog ON to OFF is home position in this method. When it passed (zero pass signal: M2406+20n ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, operation for "proximity dog method 2"...
Page 400 6 POSITIONING CONTROL (3) Home position return execution Home position return by the proximity dog method 2 is executed using the servo program in Section 6.23.19. (4) Cautions (a) A system in which the servo motor can rotate one time or more is required. (b) When a servo motor stops with the specified condition enabled and rotates to reverse direction one time after proximity dog ON, make a system which does not turn OFF the external upper/lower stroke limit.
Page 401: Home Position Return By The Count Method 1
6 POSITIONING CONTROL 6.23.4 Home position return by the count method 1 (1) Count method 1 After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. When the zero point is not passed (zero pass signal: M2406+20n OFF) until it travels the distance set in the "travel value after proximity dog ON"...
Page 402 6 POSITIONING CONTROL (4) Cautions (a) Home position return and continuously start of home position return are also possible in the proximity dog ON in the count method 1. When the home position return or continuously start of home position return are executed in the proximity dog ON, the home position return is executed after return the axis once to position of the proximity dog OFF.
Page 403: Home Position Return By The Count Method 3
6 POSITIONING CONTROL 6.23.5 Home position return by the count method 2 (1) Count method 2 After the proximity dog ON, the position which traveled the specified distance (travel value after proximity dog ON) is home position in this method. It is not related for zero point pass or not pass.
Page 404 6 POSITIONING CONTROL REMARK The signal types that can be used with home position return by the count method 2 are shown below. Q173DSCPU/ Q173DCPU(-S1)/ Signal type Q172DSCPU Q172DCPU(-S1) DOG signal of Q172DLX External input signal (DOG) of servo amplifier Ver.! (Note-1) (DOG)
Page 405 6 POSITIONING CONTROL 6.23.6 Home position return by the count method 3 (1) Count method 3 After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. When the zero point is passed (zero pass signal: M2406+20n ON) during travel of specified distance set in the "travel value after proximity dog ON"...
Page 406 6 POSITIONING CONTROL (3) Home position return execution Home position return by the count method 3 is executed using the servo program in Section 6.23.19. (4) Cautions (a) A system in which the servo motor can rotate one time or more is required. (b) After the proximity dog ON, when a servo motor rotates one time to reverse direction after stop with travel value set in the "travel value after proximity dog ON", make a system which does not turn OFF the external upper/lower...
Page 407: Home Position Return By The Data Set Method 1
6 POSITIONING CONTROL 6.23.7 Home position return by the data set method 1 (1) Data set method 1 The proximity dog is not used in this method. (2) Home position return by the data set method 1 Home position is the command position at the home position return operation. The address at the home position return operation is registered as the home position address.
Page 408 6 POSITIONING CONTROL 6.23.8 Home position return by the data set method 2 (1) Data set method 2 The proximity dog is not used in this method. (2) Home position return by the data set method 2 Home position is the real position of the servo motor at the home position return operation.
Page 409: Home Position Return By The Dog Cradle Method
6 POSITIONING CONTROL 6.23.9 Home position return by the dog cradle method (1) Dog cradle method After deceleration stop by the proximity dog ON, if the zero point is passed (zero pass signal: M2406+20n ON) after traveling to reverse direction and turning the proximity dog OFF, the deceleration stop is made.
Page 410 6 POSITIONING CONTROL (b) If the home position return is executed in the proximity dog, it travels to reverse direction of home position return. If proximity dog turns OFF, a deceleration stop is made, it travels to direction of home position return again with the creep speed and the first zero point after proximity dog ON is home position.
Page 411 6 POSITIONING CONTROL (c) When the proximity dog is set in the home position return direction, the proximity dog is turned OFF during travel to reverse direction of home position return, and the zero point is not passed (zero pass signal: M2406+20n OFF), it continues to travel in the reverse direction of home position return with home position return speed until the zero point is passed.
Page 412 6 POSITIONING CONTROL (d) When it starts in the proximity dog, the zero point is not passed (zero pass signal: M2406+20n OFF) at the time of the proximity dog is turned OFF during travel to reverse direction of home position return, it continues to travel with home position return speed until the zero point is passed.
Page 413 6 POSITIONING CONTROL (e) If the zero point is passed during deceleration, the nearest zero point from deceleration stop position to home position return direction is set as the home position. Acceleration time Deceleration time 1) It travels to preset direction of home Home position Home position return direction...
Page 414: Home Position Return By The Stopper Method 1
6 POSITIONING CONTROL 6.23.10 Home position return by the stopper method 1 (1) Stopper method 1 Position of stopper is home position in this method. It travels to the direction set in the "home position return direction" with the "home position return speed", after a deceleration starts by proximity dog OFF to ON and it presses against the stopper and makes to stop with the torque limit value set in the "torque limit value at the creep speed"...
Page 415 6 POSITIONING CONTROL (4) Cautions (a) A zero point does not must be passed (zero pass signal: M2406+20n ON) between turning on the power supply and executing home position return. (b) Home position return retry function cannot be used in the stopper method 1. (c) Set the torque limit value after reaching the creep speed for system.
Page 416 6 POSITIONING CONTROL 6.23.11 Home position return by the stopper method 2 (1) Stopper method 2 Position of stopper is home position in this method. It travels the direction set in the "home position return direction" with the "creep speed", and it presses against the stopper and makes to stop with the "creep speed".
Page 417: Home Position Return By The Limit Switch Combined Method
6 POSITIONING CONTROL 6.23.12 Home position return by the limit switch combined method (1) Limit switch combined method The proximity dog is not used in this method. Home position return can be executed by using the external upper/lower limit switch. When the home position return is started, it travels to direction of home position return with "home position return speed".
Page 418 6 POSITIONING CONTROL (4) Cautions (a) For the axis which executes the home position return by the limit switch combined method, if the external input signal has not set in the system settings, a minor error (error code: 142) will occur and home position return is not executed.
Page 419: Home Position Return By The Scale Home Position Signal Detection Method
6 POSITIONING CONTROL 6.23.13 Home position return by the scale home position signal detection method Ver.! (1) Scale home position signal detection method Home position return is executed using home position signal (zero point). After detecting the proximity dog, it makes to travel to reverse direction of home position return.
Page 420 6 POSITIONING CONTROL (4) Cautions (a) When home position is in the proximity dog, if home position return is executed again after home position return end, a minor error (error code: 123) will occur, the home position return is not executed. (b) Set "0: Need to pass motor Z phase after the power supply is switched on"...
Page 421 6 POSITIONING CONTROL (e) If the zero point is passed during deceleration, the nearest position of home position signal (zero point) of home position return direction from deceleration stop position is set as the home position. Home position Home position return speed return direction 1) It travels to preset direction of home...
Page 422: Home Position Return By The Dogless Home Position Signal Reference Method
6 POSITIONING CONTROL 6.23.14 Home position return by the dogless home position signal reference method Ver.! (1) Dogless home position signal reference method Home position return is executed using home position signal (zero point). This is a home position return method that does not use proximity dogs. Home position, home position return operation, home position return data (home position return retry function, dwell time at the home position return retry) differ by the servo amplifier connected as shown below.
Page 423 6 POSITIONING CONTROL (2) Home position return by the dogless home position signal reference method (Operation A) "Operation A" of a home position return by the dogless home position signal reference type is shown in Fig. 6.45 and Fig. 6.46. (a) When the zero point is in the home position return direction.
Page 424 6 POSITIONING CONTROL (b) When the zero point is not in the home position return direction. Home position Home position 1) It travels to preset direction of home Home position return speed return speed position return with the home position return direction return speed.
Page 425 6 POSITIONING CONTROL (4) Home position return by the dogless home position signal reference method (Operation C) "Operation C" of a home position return by the dogless home position signal reference method is shown in Fig. 6.48 and Fig. 6.49. (a) When the position where address of absolute linear encoder becomes 0 is in the home position return direction.
Page 426 6 POSITIONING CONTROL (b) When the position where address of absolute linear encoder becomes 0 is not in the home position return direction. Home position return direction 1) It travels to reverse of preset direction of home position return with the home Creep speed position return speed.
Page 427 6 POSITIONING CONTROL (6) Cautions (a) If a home position return is started for an axis connected with servo amplifiers other than MR-J3(W)- B, MR-J4(W)- B, a minor error (error code: 192) will occur and the home position return is not executed. (b) If home position return is executed again after home position return end, a minor error (error code: 115) will occur, the home position return is not executed.
Page 428 6 POSITIONING CONTROL (g) Home position return by dogless home position signal reference method (Operation A) 1) Set the servo parameter (expansion parameter) "Function selection C-4 (PC17)" to "0: Need to pass motor Z phase after the power supply is switched on".
Page 429: Home Position Return By The Driver Home Position Return Method
6 POSITIONING CONTROL 6.23.15 Home position return by the driver home position return method Ver.! (1) Driver home position return method The stepping driver performs home position return autonomously based on the positioning patterns set on the stepping driver side. Home position return data is set with the parameters on the stepping driver side.
Page 430: Home Position Return Retry Function
6 POSITIONING CONTROL 6.23.16 Home position return retry function When a current value has been exceeded home position during positioning control, etc., even if it executes the home position return, depending on the position of current value, a current value may not travel to home position direction. In this case, a current value is normally travelled before the proximity dog by the JOG operation, etc, and the home position return is started again.
Page 431 6 POSITIONING CONTROL (2) Home position return retry operation setting a current value outside the range of external limit switch (a) When the direction of "current value home position" and home position return is same, normal home position return is operated. Direction of "current value home position"...
Page 432 6 POSITIONING CONTROL (3) Dwell time setting at the home position return retry Reverse operation by detection of the external upper/lower limit switch and dwell time function at the home position return start after stop by proximity dog OFF are possible with the dwell time at the home position return retry in the home position return retry function.
Page 433 6 POSITIONING CONTROL [Cautions] (1) Valid/invalid of home position return retry function by the home position return method is shown below. Valid/invalid of home position return retry Home position return methods function Proximity dog method Count method Data set method Dog cradle method Stopper method Limit switch combined method...
Page 434: Home Position Shift Function
6 POSITIONING CONTROL 6.23.17 Home position shift function Normally, when the machine home position return is executed, a position of home position is set by using the proximity dog or zero point signal. However, by using the home position shift function, the position to which only the specified travel value was travelled from the position which detected the zero point signal can be regarded as home position.
Page 435 6 POSITIONING CONTROL [Control details] (1) Home position shift operation Operation for the home position shift function is shown below. Home position shift amount is positive value Address decrease Address increase direction direction Home position Home position Set the operation speed at return direction return speed the home position shift with...
Page 436 6 POSITIONING CONTROL (2) Setting range of home position shift amount Set the home position shift amount within the range of from the detected zero signal to external upper/lower limit switch (FLS/RLS). If the range of external upper/lower limit switch is exceeded, a major error (error code: 1102, 1103) will occur at that time and the home position return is not ended.
Page 437 6 POSITIONING CONTROL (b) Home position shift operation with the "creep speed" Home position return direction Home position shift amount is positive Creep speed Home position Home position Home position return start Home position shift Proximity dog amount is negative Zero point Fig.
Page 438: Home Position Set Condition Selection
6 POSITIONING CONTROL 6.23.18 Home position set condition selection A home position return must be made after the servo motor has been rotated more than one revolution to pass the axis through the Z-phase (motor reference position signal) and the zero pass signal (M2406+20n) has been turned ON. When "1 : Not need to pass motor Z phase after the power supply is switched on"...
Page 439 6 POSITIONING CONTROL POINT (1) Set "0: Need to pass motor Z phase after the power supply is switched on" in the "function selection C-4 (PC17)" of servo parameter (expansion setting parameter) for the home position return by the scale home position signal detection method.
Page 440: Servo Program For Home Position Return
6 POSITIONING CONTROL 6.23.19 Servo program for home position return The home position return executed using the ZERO servo instruction. Items set using MT Developer2 Common Parameter block Others Servo Positioning Number of Speed instruction method control axes change ZERO —...
Page 441 6 POSITIONING CONTROL [Program] Servo program No. 0 for home position return is shown as the following conditions. (1) System configuration Home position return of Axis 4. Motion CPU control module Q61P Q03UD Q172D QX41 QY41P Q172D Home position return command (PX000) Axis Axis Axis...
Page 442 6 POSITIONING CONTROL (3) Motion SFC program Motion SFC program for which executes the servo program is shown below. Home position return Home position return [F10] Turn on all axes servo ON command. SET M2042 Wait until PX000, Axis 4 servo ready and [G10] PX000*M2475*M2462 in-position signal turn on.
Page 443: High-Speed Oscillation
6 POSITIONING CONTROL 6.24 High-Speed Oscillation Positioning of a specified axis is caused to oscillate on a sine wave. Items set using MT Developer2 Common Parameter block Others Servo Positioning Number of Speed instruction method control axes change — Invalid : Must be set : Set if required [Control details]...
Page 444 6 POSITIONING CONTROL [Cautions] (1) If the amplitude setting is outside the range, the servo program setting error (error code: 25) occurs and operation does not start. (2) If the starting angle setting is outside the range, the servo program setting error (error code: 26) occurs and operation does not start.
Page 445 6 POSITIONING CONTROL MEMO 6 - 258...
Page 446: Auxiliary And Applied Functions
7 AUXILIARY AND APPLIED FUNCTIONS 7. AUXILIARY AND APPLIED FUNCTIONS This section describes the auxiliary and applied functions for positioning control in the Multiple CPU system. 7.1 M-code Output Function M-code is a code No. between 0 and 32767 which can be set for every positioning control.
Page 447 7 AUXILIARY AND APPLIED FUNCTIONS (c) When the M-code is read at positioning completion, use the positioning complete signal (M2401+20n) as the read command. At the position control or speed control Dwell time PLC ready flag (M2000) Servo program start Start accept flag (M2001+n) Positioning start complete signal (M2400+20n)
Page 448 7 AUXILIARY AND APPLIED FUNCTIONS (4) Program example (a) The Motion SFC program to read M-codes is shown as the following conditions. 1) Axis used No............Axis 3 2) Processing at the positioning start by M-code ..M-code No. is output as BCD code to Y110 to Y11F 3) Processing at the positioning completion by M-code...
Page 449: Backlash Compensation Function
7 AUXILIARY AND APPLIED FUNCTIONS 7.2 Backlash Compensation Function This function compensates for the backlash amount in the machine system. When the backlash compensation amount is set, extra feed pulses equivalent to the backlash compensation amount set up whenever the travel direction is generated at the positioning control, JOG operation or manual pulse generator operation.
Page 450 7 AUXILIARY AND APPLIED FUNCTIONS (2) Backlash compensation processing Details of backlash compensation processing are shown below. Table 7.1 Details of backlash compensation processing Condition Processing • If travel direction is equal to home position return direction, the backlash compensation is not executed. First start after power on •...
Page 451: Torque Limit Function
7 AUXILIARY AND APPLIED FUNCTIONS 7.3 Torque Limit Function This function restricts the generating torque of the servo motor within the setting range. If the torque required for control exceeds the torque limit value during positioning control, it restricts with the setting torque limit value. (1) Default of the torque limit value The default 300[%] is set as torque limit value at the servo amplifier's power supply or Multiple CPU system's power supply ON.
Page 452 7 AUXILIARY AND APPLIED FUNCTIONS Setting method Setting details Setting range Setting units Reference Torque limit value By executing the torque limit value change request change request instruction (D(P).CHGT) in the PLC CPU, the torque limit 1 to 1000 instruction value of specified axis is changed to same value for both Motion (D(P).CHGT)
Page 453 7 AUXILIARY AND APPLIED FUNCTIONS (5) Operation description (a) When using Q173DSCPU/Q172DSCPU : Positive direction torque limit value (Forward rotation (CCW) driving torque and Torque limit value [%] reverse rotation (CW) regenerative torque) 60.0 : Negative direction torque limit value (Reverse rotation (CW) regenerative torque and forward rotation (CCW) driving torque) 40.0 20.0...
Page 454: Skip Function In Which Disregards Stop Command
7 AUXILIARY AND APPLIED FUNCTIONS 7.4 Skip Function in which Disregards Stop Command When the current positioning is stopped by input from external source and the next positioning control is performed, it enables starting of the next positioning control even if the input from external source is on (continuation).
Page 455 7 AUXILIARY AND APPLIED FUNCTIONS (2) Operation timing The operation timing for the skip function is shown below. Positioning to point A Positioning Deceleration stop by STOP input start to point A (The external STOP signal is ignored during M3209+20n is on.) Positioning start of the next servo program by skip function PLC ready flag (M2000)
Page 456: Cancel Of The Servo Program
7 AUXILIARY AND APPLIED FUNCTIONS 7.5 Cancel of the Servo Program This function performs a deceleration stop of executing servo program during execution by turning on the cancel signal. [Control details] (1) When the cancel signal is turned on during execution of a program for which the cancel has been specified, the positioning processing is suspended, and a deceleration stop is executed.
Page 457: Cancel/Start
7 AUXILIARY AND APPLIED FUNCTIONS 7.5.1 Cancel/start When a cancel/start has been set in the setting items of the servo program which was started at the motion control step of the Motion SFC program, the cancel of the running servo program is valid but the servo program specified to start after a cancel is ignored, without being started.
Page 458: Synchronous Encoder
7 AUXILIARY AND APPLIED FUNCTIONS 7.6 Synchronous Encoder Ver.! The synchronous encoder can be used in real mode by setting the synchronous encoder used in the system setting. The synchronous encoder set in the system setting can be used the following functions in both of the real mode and virtual mode regardless of whether or not the synchronous encoder is set in the mechanical program.
Page 459: Speed-Torque Control
7 AUXILIARY AND APPLIED FUNCTIONS 7.7 Speed-Torque Control This function is used to execute the speed control or torque control that does not include the position loop for the command to servo amplifier. The "continuous operation to torque control mode" switches the control mode to torque control mode without stopping the servo motor during positioning operation when tightening a bottle cap or a screw.
Page 460 7 AUXILIARY AND APPLIED FUNCTIONS CAUTION If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal relay protection.
Page 461: Speed-Torque Control Data
7 AUXILIARY AND APPLIED FUNCTIONS 7.7.1 Speed-torque control data Speed-torque control data are for executing "speed-torque control". Set the data using servo data setting of MT Developer2. Table 7.2 Speed-torque control data list Setting necessity Setting value using MT Developer2 Continuous Setting range Setting item...
Page 462 7 AUXILIARY AND APPLIED FUNCTIONS Setting value using the Motion SFC program (Indirect setting) Indirect setting Setting range Valid/ Number of Remarks invalid words inch degree pulse — 0 : Position control mode 10 : Speed control mode 20 : Torque control mode 30 : Continuous operation to torque control mode 1 to 2147483647 1 to 600000000...
Page 463 7 AUXILIARY AND APPLIED FUNCTIONS A part of speed-torque control data can be executed the indirect setting by the word devices of Motion CPU • Word devices for indirect setting The word devices for indirect setting are the data registers (D), link registers (W), motion registers (#) and Multiple CPU area device (U \G).
Page 464 7 AUXILIARY AND APPLIED FUNCTIONS (1) Control mode switching request device Set the device to request switching of the control mode. When the control mode switching request device is turned OFF to ON, the mode is switched to the control mode set in the control mode setting device. (2) Control mode setting device Set the device to set the control mode after switching.
Page 465 7 AUXILIARY AND APPLIED FUNCTIONS (6) Command speed acceleration time, Command speed deceleration time Set the acceleration time for the speed to increase from "0" to reach the speed limit value at speed-torque control and deceleration time taken to stop from the speed limit value at speed-torque control during speed control or continuous operation to torque control.
Page 466 7 AUXILIARY AND APPLIED FUNCTIONS (7) Torque command device Set the command torque at torque control and continuous operation to torque control. Command torque can be changed at any time. (a) Torque control The relation between setting of command torque and torque generation direction of servo motor differs from the setting of servo parameter "Rotation direction selection (PA14)"...
Page 467 7 AUXILIARY AND APPLIED FUNCTIONS (8) Command torque time constant (positive direction), Command torque time constant (negative direction) Set the time (positive direction) for torque to increase from "0" to reach the torque limit value at speed-torque control and the time (negative direction) to decrease to "0"...
Page 468 7 AUXILIARY AND APPLIED FUNCTIONS (9) Speed initial value selection at control mode switching Set the speed initial value at the following control mode switching. • Position control to speed control • Position control to continuous operation to torque control •...
Page 469: Operation Of Speed-Torque Control
7 AUXILIARY AND APPLIED FUNCTIONS 7.7.2 Operation of speed-torque control (1) Switching of control mode (Speed control/Torque control) (a) Switching method of control mode Turn OFF to ON the control mode switching request device after setting the control mode (10: Speed control mode, 20: Torque control mode) in the control mode setting device to switch to the speed control or torque control.
Page 470 7 AUXILIARY AND APPLIED FUNCTIONS (b) Precautions at control mode switching 1) The positioning start complete signal (M2400+20n) and positioning complete signal (M2401+20n) do not turn ON at control mode switching. 2) During speed control or torque control, the start accept flag (M2001+n) turns ON.
Page 471 7 AUXILIARY AND APPLIED FUNCTIONS (d) Operation for "Position control mode ↔ Speed control mode switching" When the mode is switched from position control mode to torque control mode, the command torque immediately after switching is the torque set in "torque initial value selection at control mode switching".
Page 472 7 AUXILIARY AND APPLIED FUNCTIONS (e) Operation for "Speed control mode ↔ Torque control mode switching" When the mode is switched from speed control mode to torque control mode, the command torque immediately after switching is the torque set in "Torque initial value selection at control mode switching".
Page 473 7 AUXILIARY AND APPLIED FUNCTIONS (2) Switching of control mode (Continuous operation to torque control) (a) Switching method of control mode Turn OFF to ON the control mode switching request device after setting the control mode in the control mode setting device (30: Continuous operation to torque control mode) to switch from position control mode or speed control mode to continuous operation to torque control.
Page 474 7 AUXILIARY AND APPLIED FUNCTIONS Confirm the status of continuous operation to torque control mode with "Continuous operation to torque control (b14)" of servo status3 (#8012+20n). When the mode is switched to continuous operation to torque control mode, the value in "control mode (b2, b3)" of servo status1 (#8010+20n) will stay the same before control mode switching.
Page 475 7 AUXILIARY AND APPLIED FUNCTIONS (c) Operation for "Position control mode ↔ Continuous operation to torque control mode switching When the mode is switched from position control mode to continuous operation to torque control mode, the command torque and command speed immediately after switching are the values set in "Torque initial value selection at control mode switching"...
Page 476 7 AUXILIARY AND APPLIED FUNCTIONS The following chart shows the operation timing. Continuous operation to torque Position control mode control mode Position control mode Contact with target 1000 Torque 30.0% Control mode switching request device Control mode setting device 30: Continuous operation to torque control mode 0: Position control mode Speed command device (During continuous operation...
Page 477 7 AUXILIARY AND APPLIED FUNCTIONS (d) Operation for "Speed control mode ↔ Continuous operation to torque control mode switching" When the mode is switched from speed control mode to continuous operation to torque control mode, the command torque and command speed immediately after switching are the values set in "Torque initial value selection at control mode switching"...
Page 478 7 AUXILIARY AND APPLIED FUNCTIONS POINT When the mode is switched from continuous operation to torque control mode to speed control mode, the torque command during continuous operation to torque control is invalid. As shown in the figure above, when the target is pressed in continuous operation to torque control direction, if the mode is switched to speed control, torque is output to the torque limit value.
Page 479 7 AUXILIARY AND APPLIED FUNCTIONS (c) Stop cause during speed control mode The operation for stop cause during speed control mode is shown below. Item Operation during speed control mode The stop command (M3200+20n) turned ON. The motor decelerates to speed "0" by setting value of The rapid stop command (M3201+20n) "command speed deceleration time".
Page 480 7 AUXILIARY AND APPLIED FUNCTIONS (4) Torque control mode (a) Operation for torque control mode The torque control is executed at command torque set in "Torque command device" in the torque control mode. Command torque can be changed any time during torque control mode. Set time that reaches "Torque limit value at speed-torque control"...
Page 481 7 AUXILIARY AND APPLIED FUNCTIONS (c) Current feed value during torque control mode Feed current value (D0+20n, D1+20n) and real current value (D2+20n, D3+20n) are updated even in torque control. If the current feed value exceeds the software stroke limit, a minor error (error code: 207) will occur and the operation is switched to position control mode.
Page 482 7 AUXILIARY AND APPLIED FUNCTIONS (5) Continuous operation to torque control mode (a) Operation for continuous operation to torque control mode In continuous operation to torque control, the torque control can be executed by the speed limit command value after acceleration/deceleration processing without stopping the operation during the positioning in position control mode or speed command in speed control mode.
Page 483 7 AUXILIARY AND APPLIED FUNCTIONS (c) Acceleration/deceleration processing at continuous operation to torque control mode Acceleration/deceleration is a trapezoidal acceleration/deceleration processing. Set acceleration/deceleration time toward "Speed limit value at speed-torque control" in "Command speed acceleration time" and "Command speed deceleration time". The value when the control mode switching request device turns OFF to ON is valid.
Page 484 7 AUXILIARY AND APPLIED FUNCTIONS (e) Speed during continuous operation to torque control mode The speed during continuous operation to torque control mode is limited with the absolute value of speed limit command value after acceleration/ deceleration processing with signed value set in "Speed command device". Speed direction depends on the torque command.
Page 485 7 AUXILIARY AND APPLIED FUNCTIONS (g) Stop cause during continuous operation to torque control mode The operation for stop cause during continuous operation to torque control mode is shown below. Item Operation during torque control mode The speed limit command value commanded to servo The stop command (M3200+20n) turned ON.
Page 486: Acceleration/Deceleration Time Change Function
7 AUXILIARY AND APPLIED FUNCTIONS 7.8 Acceleration/Deceleration Time Change Function Ver.! This function arbitrarily changes the acceleration/deceleration time at speed change, when changing speed with Motion dedicated functions (CHGV, CHGVS) of Motion SFC program (and also the Motion dedicated PLC instruction D(P).CHGV, D(P).CHGVS).
Page 487 7 AUXILIARY AND APPLIED FUNCTIONS (a) Set the change value of acceleration/deceleration time in the device set by acceleration time change value device/deceleration time change value device. Name Setting range New acceleration time value device 0: Time change invalid 1 to 65535[ms] New deceleration time value device (b) Device set by the acceleration/deceleration time change enable device turns ON (valid).
Page 488 7 AUXILIARY AND APPLIED FUNCTIONS (3) Cautions (a) In the following cases acceleration time or deceleration time does not change when a speed change is executed. The acceleration time or deceleration time at the time of speed change accept is maintained. •...
Page 489 7 AUXILIARY AND APPLIED FUNCTIONS (e) If a negative speed change request is executed acceleration/deceleration time change function is only valid for axes executing speed control ( ), or speed control ( ). If a negative speed change request is executed for axes executing other instructions, acceleration/deceleration time change function becomes invalid.
Page 490 7 AUXILIARY AND APPLIED FUNCTIONS (h) During a positioning operation where acceleration/deceleration time is changed, and the deceleration distance to the final positioning address for the output speed is not enough, a minor error (error code: 211) occurs and the operation immediately stops at the final positioning address. Execute a speed change at a position where enough movement amount until the stop position is ensured.
Page 491 7 AUXILIARY AND APPLIED FUNCTIONS (k) For control with changed acceleration/deceleration time, even if acceleration/deceleration time change enable device is turned OFF (invalid), control at acceleration/deceleration time after change continues until the operation ends. Control at acceleration/ deceleration time after change Acceleration/deceleration time change enable device New acceleration time...
Page 492: Appendices
APPENDICES APPENDICES APPENDIX 1 Error Codes Stored Using the Motion CPU The servo program setting errors and positioning errors are detected in the Motion CPU side. (1) Servo program setting errors These are positioning data errors set in the servo program, and it checks at the start of each servo program.
Page 493 APPENDICES (b) The error detection signal of the erroneous axis turns on at the error occurrence, and the error codes are stored in the minor error code, major error code or servo error code storage register. Table 1.1 Error code storage registers, error detection signals Error code storage register Device Error...
Page 494: Appendix 1.1 Servo Program Setting Errors (Stored In Sd517)
APPENDICES APPENDIX 1.1 Servo program setting errors (Stored in SD517) The error codes, error contents and corrective actions for servo program setting errors are shown in Table 1.2. In the error codes marked with "Note" indicates the axis No. (1 to 32). Table 1.2 Servo program setting error list Error code Error name...
Page 495 APPENDICES Table 1.2 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in SD517 Auxiliary point (1) The auxiliary point address is Positioning control does not (1) If the control unit is setting error outside the setting range at the start.
Page 496 APPENDICES Table 1.2 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in SD517 Rapid stop The rapid stop deceleration time Control with the default value Set the rapid stop deceleration deceleration time is set to "0".
Page 497 APPENDICES Table 1.2 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in D517 High-Speed Operation cannot be started Positioning control does not Start after set the command oscillation command because the amplitude specified start.
Page 498 APPENDICES Table 1.2 Servo program setting error list (Continued) Error code Error name Error contents Error processing Corrective action stored in SD517 Start error A virtual mode program was Positioning control does not Check the program mode started in the real mode. start.
Page 499: Appendix 1.2 Minor Errors
APPENDICES APPENDIX 1.2 Minor errors These errors are detected in the sequence program or servo program, and the error codes of 1 to 999 are used. Minor errors include the setting data errors, starting errors, positioning control errors and current value/speed/target position change errors and system errors. (1) Setting data errors (1 to 99) These errors occur when the data set in the parameters for positioning control is not correct.
Page 500 APPENDICES Table 1.3 Setting data error (1 to 99) list (Continued) Error Erroneous Error Check timing Error cause Corrective action code data processing Home Dwell time at the home position Home position Set the dwell time at the home Home position return start position return is outside the range of 0 return is not...
Page 501 APPENDICES (2) Positioning control start errors (100 to 199) These errors are detected at the positioning control start. The error codes, causes, processing, and corrective actions are shown in Table 1.4. Table 1.4 Positioning control start error (100 to 199) list Control mode Error Error...
Page 502 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Error Error Error cause Corrective action code processing • The address that does not • Correct the addresses of the generate an arc is set at servo program.
Page 503 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Error Error Error cause Corrective action code processing • The address that does not • Correct the addresses of the generate an arc is set at servo program.
Page 504 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Error Error Error cause Corrective action code processing • The home position return • Do not start continuously for complete signal the home position return. (M2410+20n) turned on at (1) At the home position return the home position return of of proximity dog method,...
Page 505 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Error Error Error cause Corrective action code processing • ZCT not set • Execute the home position The zero pass signal return after the zero point (M2406+20n) turned off at Home passed.
Page 506 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Error Error Error cause Corrective action code processing • Speed control with fixed • Set the unit [degree] in the axis position stop with was which starts speed control with started for the axis set in fixed position stop.
Page 507 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Error Error Error cause Corrective action code processing • It started at the virtual mode • Start in the virtual mode again Positioning and during deceleration by after correct the error cause in control does occurrence of the output...
Page 508 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Error Error Error cause Corrective action code processing • The dogless home position • Start the dogless home signal reference method position signal reference home position return was method home position return started for the axis which is for the axis which is connected...
Page 509 APPENDICES (3) Positioning control errors (200 to 299) These are errors detected during the positioning control. The error codes, causes, processing and corrective actions are shown in Table 1.5. Table 1.5 Positioning control error (200 to 299) list Control mode Error Error Error cause...
Page 510 APPENDICES Table 1.5 Positioning control error (200 to 299) list (Continued) Control mode Error Error Error cause Corrective action code processing • All axes rapid stop is • Return to a point before the executed using the test proximity dog signal ON using mode of MT Developer2 JOG operation or positioning during the home position...
Page 511 APPENDICES Table 1.5 Positioning control error (200 to 299) list (Continued) Control mode Error Error Error cause Corrective action code processing • The setting travel value • Correct the stroke limit range exceeded the stroke limit or setting travel value so that range at the speed/position positioning control is within the switching (CHANGE) signal...
Page 512 APPENDICES Table 1.5 Positioning control error (200 to 299) list (Continued) Control mode Error Error Error cause Corrective action code processing • During the speed control • Set the command address with fixed position stop, the within the range of 0 to setting address exceeded Deceleration 35999999.
Page 513 APPENDICES Table 1.5 Positioning control error (200 to 299) list (Continued) Control mode Error Error Error cause Corrective action code processing • At the target position change • Set the speed so that an request (CHGP), since the overrun will not occur. travel to the target position •Set the target position so that after the change was shorter...
Page 514 APPENDICES (4) Current value/speed/target position change errors (300 to 399) These are errors detected at current value change, speed change or target position change. The error codes, causes, processing and corrective actions are shown in Table 1.6. Table 1.6 Current value/speed/target position change error (300 to 399) list Control mode Error Error...
Page 515 APPENDICES Table 1.6 Current value/speed/target position change error (300 to 399) list(Continued) Control mode Error Error Error cause Corrective action code processing • The value outside the range • Set the change request within of 1 to 1000[%] was set in the range of 1 to 1000[%] in the torque limit value change the torque limit value change...
Page 516 APPENDICES Table 1.6 Current value/speed/target position change error (300 to 399) list(Continued) Control mode Error Error Error cause Corrective action code processing • Switching to the stopper Position • Use the servo amplifier where control was requested to the control: the continuous operation to servo amplifier which is not Deceleration...
Page 517 APPENDICES (5) System errors (900 to 999) These are errors detected at the power-on. The error codes, causes, processing and corrective actions are shown in Table 1.7. Table 1.7 System error (900 to 999) list Control mode Error Error Error cause Corrective action code processing...
Page 518: Appendix 1.3 Major Errors
APPENDICES APPENDIX 1.3 Major errors These errors occur by control command from the external input signal or Motion SFC program, and the error codes 1000 to 1999 are used. Major errors include the positioning control start errors, positioning control errors, absolute position system errors and system errors.
Page 519 APPENDICES (2) Positioning control errors (1100 to 1199) These errors are detected at the positioning control. The error codes, causes, processing and corrective actions are shown in Table 1.9. Table 1.9 Positioning control error (1100 to 1199) list Control mode Error Error Error cause...
Page 520 APPENDICES Table 1.9 Positioning control error (1100 to 1199) list (Continued) Control mode Error Error Error cause Corrective action code processing • Q172DEX or encoder • Check (replace) the Q172DEX Immediate hardware error. or encoder. input stop • Disconnected encoder cable. •...
Page 521 APPENDICES (3) Absolute position system errors (1200 to 1299) These errors are detected at the absolute position system. The error codes, causes, processing and corrective actions are shown in Table 1.10. Table 1.10 Absolute position system error (1200 to 1299) list Control mode Error Error...
Page 522 APPENDICES Table 1.10 Absolute position system error (1200 to 1299) list (Continued) Control mode Error Error Error cause Corrective action code processing • The amount of change in • Check the motor and encoder encoder current value is cables. excessive during operation. A continual check is 1203 performed (both of servo ON...
Page 523 APPENDICES (4) System errors (1300 to 1399) These errors are detected at the power-on. The error codes, causes, processing and corrective actions are shown in Table 1.11. Table 1.11 System error (1300 to 1399) list Control mode Error Error Error cause Corrective action code processing...
Page 524: Appendix 1.4 Servo Errors
APPENDICES APPENDIX 1.4 Servo errors (1) Servo errors (2000 to 2999) These errors are detected by the servo amplifier, and the error codes are [2000] to [2999]. The servo error detection signal (M2408+20n) turns on at the servo error occurrence. Eliminate the error cause, reset the servo amplifier error by turning on the servo error reset command (M3208+20n) and perform re-start.
Page 525 APPENDICES (a) MR-J4(W)- B Table 1.12 Servo error (2000 to 2999) list (MR-J4(W)- B) Servo amplifier Error code Name Details name Remarks LED display 10.1 Voltage drop in the control power 2010 Undervoltage 10.2 Voltage drop in the main circuit power 11.1 Axis number setting error/Station number setting error 2011...
Page 526 APPENDICES Table 1.12 Servo error (2000 to 2999) list (MR-J4(W)- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display 19.1 Flash-ROM error 1 Memory error 3 2019 19.2 Flash-ROM error 2 (Flash-ROM) 19.3 Flash-ROM error 3 20.1 Encoder normal communication - Receive data error 1 20.2 Encoder normal communication - Receive data error 2...
Page 527 APPENDICES Table 1.12 Servo error (2000 to 2999) list (MR-J4(W)- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display 34.1 SSCNET receive data error 34.2 SSCNET connector connection error 34.3 SSCNET communication data error SSCNET receive error 34.4 Hardware error signal detection 2034...
Page 528 APPENDICES Table 1.12 Servo error (2000 to 2999) list (MR-J4(W)- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display 1A.1 Servo motor combination error Servo motor 2060 1A.2 Servo motor control mode combination error combination error 1A.4 Servo motor combination error 2 2A.1 Linear encoder error 1-1...
Page 529 APPENDICES Table 1.12 Servo error (2000 to 2999) list (MR-J4(W)- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display 2068 68.1 STO diagnosis error Mismatched STO signal error Load-side encoder initial communication - Receive 70.1 data error 1 Load-side encoder initial communication - Receive 70.2 data error 2...
Page 530 APPENDICES Table 1.12 Servo error (2000 to 2999) list (MR-J4(W)- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display 79.1 Functional safety unit power voltage error 79.2 Functional safety unit internal error 79.3 Abnormal temperature of functional safety unit 79.4 Servo amplifier error Functional safety unit...
Page 531 APPENDICES Table 1.12 Servo error (2000 to 2999) list (MR-J4(W)- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display E6.1 Forced stop warning SS1 forced stop warning 1 (safety observation E6.2 Servo forced stop 2146 function) warning SS1 forced stop warning 2 (safety observation E6.3 function)
Page 532 APPENDICES Table 1.12 Servo error (2000 to 2999) list (MR-J4(W)- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display Encoder diagnosis error 1 (safety observation 7B.1 function) Encoder diagnosis error 2 (safety observation 7B.2 Encoder diagnosis function) 2943 error (safety Encoder diagnosis error 3 (safety observation...
Page 533 APPENDICES (b) MR-J3- B Table 1.13 Servo error (2000 to 2999) list (MR-J3- B) Servo amplifier Error code Name Remarks LED display 2010 Undervoltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 (At power on) 2017 Board error 2019...
Page 534 APPENDICES Table 1.14 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail Parameter Parameter Error code Name Error code Name Vibration suppression control resonance 2301 2601 PA01 Control mode 2339 2639 PB20 frequency setting 2302 2602 PA02 Regenerative option 2340 2640 PB21 For manufacturer setting...
Page 535 APPENDICES Table 1.14 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name Analog monitor feedback position output Driver communication setting 2377 2677 PC13 2416 2716 PD20 standard data Low Master axis No.
Page 536 APPENDICES Table 1.14 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name 2455 2755 PE27 Filter coefficient 2-2 2462 2762 PE34 2456 2756 PE28 Filter coefficient 2-3 2463 2763 PE35 2457 2757 PE29...
Page 537 APPENDICES (c) MR-J3W- B Table 1.15 Servo error (2000 to 2999) list (MR-J3W- B) Servo amplifier Error code Name Details name Remarks LED display Voltage drop in the control circuit power 10.1 supply 2010 Undervoltage 10.2 Voltage drop in the main circuit power 11.1 Rotary switch setting error 11.2...
Page 538 APPENDICES Table 1.15 Servo error (2000 to 2999) list (MR-J3W- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display Magnetic pole detection abnormal 27.1 termination 27.2 Magnetic pole detection time out error 27.3 Magnetic pole detection limit switch error 27.4 Initial magnetic pole detection Magnetic pole detection estimated error...
Page 539 APPENDICES Table 1.15 Servo error (2000 to 2999) list (MR-J3W- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display 46.1 Abnormal temperature of servo motor Linear servo motor Linear servo motor thermal sensor error 46.2 (Note-2) Servo motor overheat 2046 Direct drive motor thermal sensor error Direct drive motor use...
Page 540 APPENDICES Table 1.15 Servo error (2000 to 2999) list (MR-J3W- B) (Continued) Servo amplifier Error code Name Details name Remarks LED display Thermal overload warning 1 during E1.1 operation Thermal overload warning 2 during E1.2 operation Thermal overload warning 3 during E1.3 operation 2141...
Page 541 APPENDICES Table 1.16 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail Parameter Parameter Error code Name Error code Name 2301 2601 PA01 Control mode 2340 2640 PB21 For manufacturer setting 2302 2602 PA02 Regenerative option 2341 2641 PB22 2303 2603 PA03...
Page 542 APPENDICES Table 1.16 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name 2379 2679 PC15 Station number selection 2412 2712 PD16 2380 2680 PC16 For manufacturer setting 2413 2713 PD17 2381 2681 PC17...
Page 543 APPENDICES (d) MR-J3- B-RJ004 (For linear servo) Table 1.17 Servo error (2000 to 2999) list (MR-J3- B-RJ004) Servo amplifier Error code Name Remarks LED display 2010 Undervoltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 (At power on) 2017...
Page 544 APPENDICES Table 1.18 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail Parameter Parameter Error code Name Error code Name 2301 2601 PA01 For manufacturer setting 2341 2641 PB22 For manufacturer setting 2302 2602 PA02 Regenerative option 2342 2642 PB23 Low-pass filter selection Slight vibration suppression control...
Page 545 APPENDICES Table 1.18 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name 2381 2681 PC17 Function selection C-4 2427 2727 PD31 2382 2682 PC18 2428 2728 PD32 2383 2683 PC19 For manufacturer setting 2429 2729...
Page 546 APPENDICES Table 1.18 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name Linear servo motor control position 2505 2805 PS05 2519 2819 PS19 deviation error detection level Linear servo motor control speed deviation 2506 2806 PS06 2520 2820...
Page 547 APPENDICES (e) MR-J3- B-RJ006 (For fully closed control) Table 1.19 Servo error (2000 to 2999) list (MR-J3- B-RJ006) Servo amplifier Error code Name Remarks LED display 2010 Undervoltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 (At power on) 2017...
Page 548 APPENDICES Table 1.20 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail Parameter Parameter Error code Name Error code Name 2301 2601 PA01 Control mode 2341 2641 PB22 For manufacturer setting 2302 2602 PA02 Regenerative option 2342 2642 PB23 Low-pass filter selection Slight vibration suppression control...
Page 549 APPENDICES Table 1.20 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name 2381 2681 PC17 Function selection C-4 2425 2725 PD29 2382 2682 PC18 2426 2726 PD30 For manufacturer setting For manufacturer setting 2383 2683 PC19...
Page 550 APPENDICES (f) MR-J3- B-RJ080W (For direct drive motor) Table 1.21 Servo error (2000 to 2999) list (MR-J3- B-RJ080W) Servo amplifier Error code Name Remarks LED display 2010 Undervoltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 2017...
Page 551 APPENDICES Table 1.22 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail Parameter Parameter Error code Name Error code Name 2301 2601 PA01 For manufacturer setting 2340 2640 PB21 For manufacturer setting 2302 2602 PA02 Regenerative option 2341 2641 PB22 2303 2603 PA03...
Page 552 APPENDICES Table 1.22 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name 2379 2679 PC15 2426 2726 PD30 2380 2680 PC16 2427 2727 PD31 2381 2681 PC17 For manufacturer setting 2428 2728 PD32 2382 2682...
Page 553 APPENDICES Table 1.22 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name Servo control position deviation error 2505 2805 PS05 2519 2819 PS19 detection level Servo control speed deviation error 2506 2806 PS06 2520 2820...
Page 554 APPENDICES (g) MR-J3- B Safety (For safety servo) Table 1.23 Servo error (2000 to 2999) list (MR-J3- B Safety) Servo amplifier Error code Name Remarks LED display 2010 Undervoltage 2012 Memory error 1 (RAM) 2013 Clock error 2015 Memory error 2 (EEP-ROM) 2016 Encoder error 1 (At power on) 2017...
Page 555 APPENDICES Table 1.23 Servo error (2000 to 2999) list (MR-J3- B Safety) (Continued) Servo amplifier Error code Name Remarks LED display 2601 to 2899 Parameter error (Refer to the table 1.24) 2948 USB communication time-out error 2952 USB communication error APP - 64...
Page 556 APPENDICES Table 1.24 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail Parameter Parameter Error code Name Error code Name 2301 2601 PA01 Control mode 2340 2640 PB21 For manufacturer setting 2302 2602 PA02 Regenerative option 2341 2641 PB22 2303 2603 PA03...
Page 557 APPENDICES Table 1.24 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name 2379 2679 PC15 For manufacturer setting 2421 2721 PD25 2380 2680 PC16 Function selection C-3A 2422 2722 PD26 2381 2681 PC17...
Page 558 APPENDICES Table 1.24 Parameter warning (2301 to 2599)/Parameter error (2601 to 2899) error detail (Continued) Parameter Parameter Error code Name Error code Name Fully closed loop feedback pulse 2463 2763 PE35 2466 2766 PE38 electronic gear 2 denominator For manufacturer setting 2464 2764 PE36 2467 2767...
Page 559: Appendix 2 Example Programs
APPENDICES APPENDIX 2 Example Programs APPENDIX 2.1 Reading M-code The program example for reading M-code at the completion of positioning start or positioning is shown below. The judgement of the positioning start completion and positioning completion is made with the following signals. •...
Page 560: Appendix 2.2 Reading Error Code
APPENDICES APPENDIX 2.2 Reading error code The program example for reading error code at the error occurrence is shown below. The following signals are used to determine whether or not an error has occurred: • Minor errors, major errors ………. Error detection signal (M2407+20n) •...
Page 561: Appendix 3 Setting Range For Indirect Setting Devices
APPENDICES APPENDIX 3 Setting Range for Indirect Setting Devices Positioning address, command speed or M-code, etc. (excluding the axis No.) set in the servo program can be set indirectly by the word. (1) Device range The number of device words and device range at indirect setting are shown below.
Page 562 APPENDICES POINT (1) Be sure to set even-numbered devices of the items set as 2-word. Be sure to set as 32-bit integer type when the data is set in these devices using the Motion SFC programs. (Example : #0L, D0L) (2) Refer to Chapter 2 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)"...
Page 563: Appendix 4 Processing Times Of The Motion Cpu
APPENDICES APPENDIX 4 Processing Times of the Motion CPU The processing time of each signal and each instruction for positioning control in the Multiple CPU system is shown below. (1) Motion operation cycle [ms] (Default) (a) Q173DSCPU/Q172DSCPU Q173DSCPU Q172DSCPU Number of setting axes (SV22) —...
Page 564 APPENDICES (2) CPU processing time [ms] The instruction processing time means the time until the content is reflected to servo amplifier side after each instruction is executed. (Including the transmission time between Motion controller and servo amplifier.) (a) Q173DSCPU/Q172DSCPU Q173DSCPU/Q172DSCPU Operation cycle [ms] 0.22 0.44...
Page 565 APPENDICES (b) Q173DCPU(-S1)/Q172DCPU(-S1) Q173DCPU(-S1)/Q172DCPU(-S1) Operation cycle [ms] 0.44 0.88 1.77 3.55 7.11 14.2 "WAIT ON/OFF" 0.88 1.77 2.66 4.44 7.99 15.11 + Motion control step Servo program start processing Only Motion control step 1.0 to 1.4 1.9 to 2.8 2.8 to 4.6 4.6 to 8.2 8.1 to 15.2 15.2 to 29.4...
Page 566: Appendix 5 Device List
APPENDICES APPENDIX 5 Device List (1) Axis status list Axis No. Device No. Signal name M2400 to M2419 M2420 to M2439 Signal name Refresh cycle Fetch cycle Signal direction M2440 to M2459 M2460 to M2479 Positioning start complete M2480 to M2499 Positioning complete M2500 to M2519 In-position...
Page 567 APPENDICES (2) Axis command signal list Axis No. Device No. Signal name M3200 to M3219 M3220 to M3239 Signal Signal name Refresh cycle Fetch cycle direction M3240 to M3259 M3260 to M3279 Stop command Operation cycle M3280 to M3299 Rapid stop command M3300 to M3319 Forward rotation JOG start command Command...
Page 568 APPENDICES (3) Common device list Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-7) (Note-7) direction direction Command M2000 PLC ready flag Main cycle M3072 M2055 signal M2001 Axis 1 M2056 Unusable M2002 Axis 2...
Page 569 APPENDICES Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-7) (Note-7) direction direction M2110 Axis 10 Synchronous Status M2179 encoder current signal M2111 Axis 11 M2180 Operation cycle (Note-2), value changing flag...
Page 570 APPENDICES Common device list (Continued) Remark Remark Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle (Note-7) (Note-7) direction direction M2248 Axis 9 M2284 Axis 13 M2249 Axis 10 M2285 Axis 14 M2250 Axis 11 M2286 Axis 15 M2251 Axis 12 M2287 Axis 16...
Page 571 APPENDICES (4) Common device list (Command signal) Remark Device No. Signal name Refresh cycle Fetch cycle Signal direction (Note-1), (Note-2) Main cycle M3072 PLC ready flag M2000 M3073 Speed switching point specified flag At start M2040 Operation cycle M3074 All axes servo ON command M2042 Real mode/virtual mode switching request At virtual mode...
Page 572 APPENDICES (5) Axis monitor device list Axis Device No. Signal name D0 to D19 D20 to D39 Signal Signal name Refresh cycle Fetch cycle Unit direction D40 to D59 D60 to D79 Feed current value D80 to D99 Command D100 to D119 unit Real current value Operation cycle...
Page 573 APPENDICES (6) Control change register list Axis Device No. Signal name D640, D641 D642, D643 Signal Signal name Refresh cycle Fetch cycle Unit direction D644, D645 D646, D647 Command Command JOG speed setting At start unit device D648, D649 D650, D651 D652, D653 D654, D655 D656, D657...
Page 574 APPENDICES (7) Common device list Device Signal Device Signal Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle direction direction Manual pulse generator 1 D704 PLC ready flag request D752 smoothing magnification setting register Manual pulse generator 2 At the manual pulse Speed switching point D705...
Page 575 APPENDICES (8) Motion register list (#) Axis Device No. Signal name #8000 to #8019 #8020 to #8039 Signal name Refresh cycle Signal direction #8040 to #8059 #8060 to #8079 Servo amplifier type When the servo amplifier power-on #8080 to #8099 Motor current value Operation cycle 1.7[ms] or less : Operation cycle #8100 to #8119...
Page 576 APPENDICES (10) Special relay list Device No. Signal name Refresh cycle Fetch cycle Signal type SM500 PCPU READY complete flag Main cycle SM501 TEST mode ON flag SM502 External forced stop input flag Operation cycle SM503 Digital oscilloscope executing flag Main cycle SM506 External forced stop input ON latch flag...
Page 577: Appendix 6 Compatible Devices With Sscnet (/H)
APPENDICES APPENDIX 6 Compatible Devices with SSCNET (/H) APPENDIX 6.1 Servo driver VC series/VPH series manufactured by CKD Nikki Denso Co., Ltd. Ver.! The direct drive DISC/iD roll/Servo compass/Linear stage, etc. manufactured by CKD Nikki Denso Co., Ltd. can be controlled by connecting with the servo driver VC series/VPH series manufactured by the same company using the Motion CPU and SSCNET (/H).
Page 578 APPENDICES (2) Parameter setting (a) To connect VC series, set the following in the system setting of MT Developer2. 1) When using Q173DSCPU/Q172DSCPU • Set the following for communication type in SSCNET setting. • When connecting SSCNET /H : "SSCNET /H" •...
Page 579 APPENDICES (4) Comparisons of specifications with MR-J4(W)-B/MR-J3(W)-B (Note-1) (Note-1) VC series VPH series Item MR-J4(W)- B MR-J3(W)- B MR-J3(W)-B, MR-J3- B(S) (For fully closed loop control), Amplifier type VC (CKD Nikki Denso) VPH (CKD Nikki Denso) MR-J4(W)-B(-RJ) MR-J3(W)-B (Linear servo), MR-J3(W)-B (Direct drive motor) Control of servo amplifier...
Page 580 APPENDICES (Note-1) (Note-1) Item VC series VPH series MR-J4(W)- B MR-J3(W)- B Proximity dog method (1, 2), Count method (1 to 3), Proximity dog method (1, 2), Count method (1 to 3), Data set method (1), Dog cradle method, Data set method (1, 2),Dog cradle method, Home position return Limit switch combined method, Stopper method (1, 2), Limit switch combined method,...
Page 581 APPENDICES (5) Precautions during control (a) Absolute position system (ABS)/Incremental system (INC). Match the ABS/INC setting in each setting of VC series and Motion CPU. Otherwise, a minor error (error code: 902) occurs, and it is controlled by the setting of VC series side. ABS/INC setting for the VPH series is set on the VPH series side.
Page 582 APPENDICES 2) Dogless home position signal reference method When performing "dogless home position signal reference method" in VC series, the home position, home position return operation, and home position return data (home position return retry function, dwell time at the home position return retry) is the following. Also, set the VC series parameter "Function select of SSCNET communication mode (P612) (Condition selection of home position set)"...
Page 583 APPENDICES (c) Control mode Control modes that can be used are shown below. • Position control mode (position control, and speed control including position loop) • Speed control mode (speed control not including position loop) • Torque control mode (torque control) However, it is not available to switch to continuous operation to torque control mode of "Speed-torque control".
Page 584 APPENDICES c) "Servo parameter write/read" device Store the value in the following special registers to change or display the servo parameter. Name Meaning Details Set by • The read value (low 1 word) of servo parameter SD552 which executed "4: 2 word read request" in SD804 is System stored.
Page 585 APPENDICES (e) Optional data monitor setting The following table shows data types that can be set. Set the total number of communication data points per 1 axis so there are no more than 6 points on a SSCNET /H line, and no more than 3 points on a SSCNET line.
Page 586 APPENDICES (h) Monitor devices (#8000 to #8639) 1) Servo amplifier type (#8000 + 20n) This register stores the servo amplifier types below when using VC series/VPH series. (Note-1) • 4352 ....VC series (CKD Nikki Denso Co., Ltd. make) (Note-2) •...
Page 587: Appendix 6.2 Inverter Fr-A700 Series
APPENDICES APPENDIX 6.2 Inverter FR-A700 series Ver.! FR-A700 series can be connected via SSCNET by using built-in option FR-A7AP and FR-A7NS. POINT FR-A700 series cannot be used on a line where the communication type in SSCNET setting of MT Developer2 is set to "SSCNET /H". (1) System configuration The system configuration using FR-A700 series is shown below.
Page 588 APPENDICES (2) Parameter setting To connect FR-A700 series, set the following in the system setting of MT Developer2. (a) When using Q173DSCPU/Q172DSCPU • Set " SSCNET " for communication type in SSCNET setting. • Set the amplifier model in amplifier setting to "FR-A700". (b) When using Q173DCPU(-S1)/ Q172DCPU(-S1) •...
Page 589 APPENDICES (4) Reset selection/disconnected PU detection/PU stop selection When PU stop is executed in FR-A700 series, position error excessive, etc. occur because a command from Motion CPU does not stop. Set "0 to 3" in the parameter of the inverter " Pr.75 Reset selection/disconnected PU detection/PU stop selection".
Page 590 APPENDICES (6) Optional data monitor setting The following table shows data types that can be set. Set the data so that the total number of communication points per axis is no more than 3 points. Number of Data types that can be set Number of Data type Unit...
Page 591 APPENDICES (7) External input signal Set as the following to fetch the external input signal (FLS/RLS/DOG) via FR-A700 series. (a) Set the following items with MT Developer2 • When using Q173DSCPU/Q172DSCPU Set "Amplifier input" for every axis with signal type in the servo external signal parameter of servo data setting.
Page 592 APPENDICES (Note-1) Item FR-A700 series MR-J3(W)- B Absolute position detection Unusable Usable system Proximity dog method (1, 2), Count method (1 to 3), Data set method (1, 2), Dog cradle method, Proximity dog method (1, 2), Count method (1 to 3), Stopper method (1, 2), Data set method (1), Dog cradle method, Home position return method...
Page 593 APPENDICES (9) Precautions during control (a) Absolute position system (ABS)/Incremental system (INC) When using FR-A700 series, absolute position system (ABS) cannot be used. (b) Control mode Control modes that can be used are shown below. • Position control mode (position control, and speed control including position loop) •...
Page 594 APPENDICES (10) FR-A700 series detection error When an error occurs on FR-A700 series, the servo error detection signal (M2408+20n) turns ON. Eliminate the error cause, reset the servo amplifier error by turning ON servo error reset command (M3208+20n) and perform re- start.
Page 595 APPENDICES Table 6.2 FR-A700 series error list (2000 to 2199) FR-A700 series Error code Name Remarks LED display 2056 2057 Option fault 2058 2060 2061 CPU fault 2062 Encoder phase fault 2070 E.EP 2088 — Watchdog 2090 E.OP3 2091 E.OP3 Communication option fault 2092 E.OP3...
Page 596: Appendix 6.3 Inverter Fr-A800 Series
APPENDICES APPENDIX 6.3 Inverter FR-A800 series Ver.! FR-A800 series can be connected via SSCNET /H by using built-in option FR-A8AP and FR-A8NS. (1) System configuration The system configuration using FR-A800 series is shown below. Motion CPU module Q17 DSCPU Inverter Servo amplifier FR-A800 series MR-J4(W)- B...
Page 597 APPENDICES (2) Parameter setting To connect FR-A800 series, set the following in the system setting of MT Developer2. • Set " SSCNET /H" for communication type in SSCNET setting. • Set the amplifier model in amplifier setting to "FR-A800-1" or "FR-A800-2". (3) Control of FR-A800 series parameters Parameters set in FR-A800 series are not controlled by Motion CPU.
Page 598 APPENDICES (5) Optional data monitor setting The following table shows data types that can be set. Set the data so that the total number of communication points per axis is no more than 6 points. Number of Number of communication Data type Unit words...
Page 599 APPENDICES (7) Comparisons of specifications with MR-J4(W)-B (Note-1) FR-A800 series Item MR-J4(W)- B Amplifier type FR-A800-1, FR-A800-2 MR-J4(W)-B(-RJ) Control of servo amplifier Set directly by inverter. Controlled by Motion CPU. parameters (Not controlled by Motion CPU.) External input signals of FR-A800 series, and bit External input signals of servo amplifier, and bit External input signal devices are available.
Page 600 APPENDICES (Note-1) Item FR-A800 series MR-J4(W)- B Monitoring of servo Unusable Usable parameter error No. Servo error Error codes detected by FR-A800 series are stored. Error codes detected by servo amplifier are stored. (Motion error history) MR Configurator2 is not available. Programming tool Use FR-DU08/FR-LU08/FR-PU07, or FR MR Configurator2 is available.
Page 601 APPENDICES (e) Command speed If FR-A800 series is operated at a command speed more than the maximum speed, the stop position may be overshoot. (9) FR-A800 series detection error When an error occurs on FR-A800 series, the servo error detection signal (M2408 + 20n) turns ON.
Page 602 APPENDICES Table 6.3 FR-A800 series error list (2000 to 2199) (continued) FR-A800 series Error code Name Remarks LED display 2056 2057 Option fault 2058 2060 2061 CPU fault 2062 Encoder phase fault 2070 E.EP Watchdog 2088 — 2090 E.OP1 2091 E.OP1 Communication option fault 2092...
Page 603: Appendix 6.4 Optical Hub Unit
APPENDICES APPENDIX 6.4 Optical hub unit Ver.! The SSCNET /H Compatible Optical Hub Unit (MR-MV200) is a unit that enables the branching of SSCNET /H communication on 1 line (3 branches for 1 input). SSCNET /H communication can be branched by installing an optical hub unit in a SSCNET /H system.
Page 604 APPENDICES (2) System configuration A connection example using optical hub units is shown below. The transmission route that passes through the optical hub unit IN connector (CN1A connector for servo amplifier) and OUT1 connector (CN1B connector for servo amplifier) is called the "Main route", and the transmission routes that pass through OUT2 connector and OUT3 connectors are called the "Sub route".
Page 605 APPENDICES POINTS (1) If the optical hub unit is connected to a sub route, an error occurs, and the optical hub unit does not communicate with the Motion CPU. (2) A servo amplifier can be connected between two optical hub units, and between a Motion CPU and an optical hub unit.
Page 606 APPENDICES (4) Driver communication function Driver communication function is only supported between servo amplifiers on the same route starting from the Motion CPU until the last module. Driver communication is not performed between servo amplifiers on different sub routes, or between a servo amplifier connected on the main route after an optical hub unit and a servo amplifier on a sub route connected to an optical hub unit.
Page 607 APPENDICES (a) Servo amplifier layout for driver communication A connection example showing where driver communication is possible/not possible is shown below. Motion CPU module Driver communication Main route Optical hub Optical hub unit unit Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6...
Page 608: Appendix 6.5 Alphastep/5-Phase Stepping Motor Driver Manufactured By Oriental Motor Co., Ltd
APPENDICES APPENDIX 6.5 AlphaStep/5-phase stepping motor driver manufactured by ORIENTAL MOTOR Co., Ltd. Ver.! The ORIENTAL MOTOR Co., Ltd. made stepping motor driver AlphaStep/5-phase can be connected via SSCNET /H. Contact to ORIENTAL MOTOR Co., Ltd. overseas sales office for details of AlphaStep/5-phase.
Page 609 APPENDICES (2) Parameter setting To connect AlphaStep/5-phase, set the following in the system setting of MT Developer2. • Set "SSCNET /H" for communication type in SSCNET setting. • Set the amplifier model in amplifier setting to "αSTEP/5-Phase (ORIENTAL MOTOR)". (3) Control of AlphaStep/5-phase parameters Parameters set in AlphaStep/5-phase are not controlled by Motion CPU.
Page 610 APPENDICES (Note-1) Item AlphaStep/5-phase MR-J4(W)- B Proximity dog method (1, 2), Count method (1 to 3), Data set method (1, 2),Dog cradle method, Home position return Count method (2), Data set method (1), Stopper method (1, 2), Limit switch combined method, method Driver home position return method Scale home position signal detection method,...
Page 611 APPENDICES (5) Precautions during control (a) Absolute position system (ABS)/Incremental system (INC). Set the ABS/INC settings with the AlphaStep/5-phase 1) Incremental system (INC) When the Multiple CPU system power supply is turned OFF and turned ON again, the home position request turns ON, and the feed current value from the AlphaStep/5-phase is displayed.
Page 612 APPENDICES 2) Servo external signals when using driver home position return method At driver home position return method home position return, check the status of the servo external signals. Also check that external signals are OFF when external signal parameters are not set. For contacts (normally open contact/normally closed contact), match each setting of the AlphaStep/5-phase with the servo external signal parameters of MT Developer2.
Page 613 APPENDICES c) "Servo parameter write/read" device Store the value in the following special registers to change or display the servo parameter. Name Meaning Details Set by • The read value of servo parameter which executed System Servo parameter SD552 "2: Read request" in "servo parameter write/read (At read read value request (SD804)"...
Page 614 APPENDICES (i) Amplifier-less operation Amplifier-less operation cannot be used for axes connected to AlphaStep/5- phase. When amplifier-less operation is executed, the axis changes to a disconnected state, and servo ready does not turn ON. (j) Driver communication The driver communication is not supported. If the driver communication is set in a servo parameter, a major error (error code: 1363) will occur when the power of Multiple CPU system is turned ON.
Page 615: Appendix 6.6 Iai Electric Actuator Controller Manufactured By Iai Corporation
APPENDICES APPENDIX 6.6 IAI electric actuator controller manufactured by IAI Corporation Ver.! The IAI Corporation made IAI electric actuator controller can be connected via SSCNET /H. Contact your nearest IAI sales office for details of IAI electric actuator controller. POINT IAI electric actuator controller cannot be used on a line where the communication type in SSCNET setting of MT Developer2 is set to "SSCNET ".
Page 616 APPENDICES (1) System configuration The system configuration using IAI electric actuator controller is shown below. Motion CPU module Q17 DSCPU SSCNET cable SSCNET /H(CN1) Servo amplifier MR-J3BUS M(-A/-B) MR-J4(W)- B IAI electric actuator controller SSCNET /H(CN2) Servo amplifier MR-J4(W)- B IAI electric actuator controller Q173DSCPU: 2 lines (Up to 32 axes)
Page 617 APPENDICES (3) Control of IAI electric actuator controller parameters Parameters set in IAI electric actuator controller are not controlled by Motion CPU. They are set directly using IAI electric actuator controller data editing software. For details on setting items for IAI electric actuator controller, refer to the instruction manual of the IAI electric actuator controller.
Page 618 APPENDICES (Note-1) Item IAI electric actuator controller MR-J4(W)- B Control loop changing Invalid Valid command Amplifier-less operation Unusable Usable function Servo parameter Usable Usable read/change (Note-2) Usable Driver communication Unusable Servo error Error codes detected by IAI electric actuator controller Error codes detected by servo amplifier are stored.
Page 619 APPENDICES 2) Servo external signals when using driver home position return method At driver home position return method home position return, check the status of the servo external signals. Also check that external signals are OFF when external signal parameters are not set. For contacts (normally open contact/normally closed contact), match each setting of the IAI electric actuator controller with the servo external signal parameters of MT Developer2.
Page 620 APPENDICES b) The parameter changed by the servo parameter change function can be saved by writing to the Motion CPU. The changed parameter becomes valid by turning ON the power supply of the IAI electric actuator controller again. c) "Servo parameter write/read" device Store the value in the following special registers to change or display the servo parameter.
Page 621 APPENDICES (i) Amplifier-less operation Amplifier-less operation cannot be used for axes connected to IAI electric actuator controller. When amplifier-less operation is executed, the axis changes to a disconnected state, and servo ready does not turn ON. (j) Driver communication The driver communication is not supported. If the driver communication is set in a servo parameter, a major error (error code: 1363) will occur when the power of Multiple CPU system is turned ON.
Page 622 WARRANTY Please confirm the following product warranty details before using this product. Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
Page 623 Precautions for Choosing the Products (1) For the use of our Motion controller, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller, and a backup or fail-safe function should operate on an external system to Motion controller when any failure or malfunction occurs.
Page 624 IB(NA)-0300136-K(1912)MEE MODEL: Q173D-P-SV13/22REALE MODEL CODE: 1XB930 HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

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Mitsubishi Electric MELSEC Q Series Programming Manual

1 Overview

2 Positioning Control by the Motion Cpu

3 Positioning Dedicated Signals

4 Parameters for Positioning Control

5 Servo Programs for Positioning Control

6 Positioning Control

7 Auxiliary and Applied Functions

APPENDIX 1 Error Codes Stored Using the Motion CPU

APPENDIX 1.1 Servo Program Setting Errors (Stored in SD517)

APPENDIX 1.2 Minor Errors

APPENDIX 1.3 Major Errors

APPENDIX 1.4 Servo Errors

APPENDIX 2 Example Programs

APPENDIX 2.1 Reading M-Code

APPENDIX 2.2 Reading Error Code

APPENDIX 3 Setting Range for Indirect Setting Devices

APPENDIX 4 Processing Times of the Motion CPU

APPENDIX 5 Device List

APPENDIX 6 Compatible Devices with SSCNET (/H)

APPENDIX 6.1 Servo Driver VC Series/Vph Series Manufactured by CKD Nikki Denso Co., Ltd

APPENDIX 6.2 Inverter FR-A700 Series

APPENDIX 6.3 Inverter FR-A800 Series

APPENDIX 6.4 Optical Hub Unit

APPENDIX 6.5 Alphastep/5-Phase Stepping Motor Driver Manufactured by ORIENTAL MOTOR Co., Ltd

APPENDIX 6.6 IAI Electric Actuator Controller Manufactured by IAI Corporation

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