Mitsubishi Electric MELSEC iQ-FX5 User Manual

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MELSEC iQ-F FX5 Simple Motion Module

User's Manual (Application)

-FX5-40SSC-S

-FX5-80SSC-S

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Troubleshooting

Summary of Contents for Mitsubishi Electric MELSEC iQ-FX5

Page 1 MELSEC iQ-F FX5 Simple Motion Module User's Manual (Application) -FX5-40SSC-S -FX5-80SSC-S...
Page 3: Safety Precautions
SAFETY PRECAUTIONS (Read these precautions before use.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety in order to handle the product correctly. This manual classifies the safety precautions into two categories: [ WARNING] and [ CAUTION].
Page 4 [DESIGN PRECAUTIONS] CAUTION ● When an inductive load such as a lamp, heater, or solenoid valve is controlled, a large current (approximately ten times greater than normal) may flow when the output is turned from off to on. Take proper measures so that the flowing current does not exceed the value corresponding to the maximum load specification of the resistance load.
Page 5 [INSTALLATION PRECAUTIONS] CAUTION ● Do not touch the conductive parts of the product directly. Doing so may cause equipment failures or malfunctions. ● When drilling screw holes or wiring, make sure that cutting and wiring debris do not enter the ventilation slits of the PLC.
Page 6 [WIRING PRECAUTIONS] WARNING ● Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to do so may cause electric shock or damage to the product. ● Make sure to attach the terminal cover, provided as an accessory, before turning on the power or initiating operation after installation or wiring work.
Page 7 CAUTION ● Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to malfunction of the PLC caused by abnormal data written to the PLC due to the effects of noise. Do not bundle the power line, control line and communication cables together with or lay them close to the main circuit, high-voltage line, load line or power line.
Page 8 ● Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative. ● After the first use of the SD memory card, do not insert/remove the memory card more than 500 times.
Page 9 [TRANSPORTATION PRECAUTIONS] CAUTION ● When transporting the PLC with the optional battery, turn on the PLC before shipment, confirm that the battery mode is set using a parameter and the BAT LED is OFF, and check the battery life. If the PLC is transported with the BAT LED ON or the battery exhausted, the battery-backed data may be unstable during transportation.
Page 10: Conditions Of Use For The Product
CONDITIONS OF USE FOR THE PRODUCT (1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions; i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.
Page 11: Introduction
• Since the examples indicated by this manual, technical bulletin, catalog, etc. are used as a reference, please use it after confirming the function and safety of the equipment and system. Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustrative examples.
Page 12: Table Of Contents
CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
Page 13 Speed-position switching control (ABS mode)..........105 Position-speed switching control .
Page 14 CHAPTER 6 EXPANSION CONTROL Speed-torque Control ..............177 Outline of speed-torque control .
Page 15 CHAPTER 8 COMMON FUNCTIONS Outline of Common Functions ............291 Parameter Initialization Function .
Page 16 10.9 Memory Configuration and Data Process ........... 508 Configuration and roles .
Page 17: Related Manuals
RELATED MANUALS Manual name [manual number] Description Available form MELSEC iQ-F FX5 Simple Motion Module User's Manual Functions, input/output signals, buffer memories, parameter Print book (Application) settings, programming, and troubleshooting of the Simple e-Manual [IB-0300253] (This manual) Motion module MELSEC iQ-F FX5 Simple Motion Module User's Manual Specifications, procedures before operation, system Print book (Startup)
Page 18: Terms
TERMS Unless otherwise specified, this manual uses the following terms. Term Description 4-axis module Another term for FX5-40SSC-S 8-axis module Another term for FX5-80SSC-S Axis Another term for a servo amplifier Buffer memory A memory in an intelligent function module, where data (such as setting values and monitoring values) are stored. When using the CPU module, the memory is indicated for storing data (such as setting values and monitored values) of the Ethernet function and data used for data communication of the multiple CPU function.
Page 19: Chapter 1 Start And Stop
START AND STOP This chapter describes start and stop methods of the positioning control for the Simple Motion module. Start The Simple Motion module operates the start trigger in each control, and starts the positioning control. The following table shows the start signals for each control. This section describes the start using the positioning start signal and the external command signal.
Page 20 • Signal state Signal name Signal state Device I/O signal PLC READY signal CPU module preparation completed [Cd.190] PLC READY signal READY signal Preparation completed [Md.140] Module status: b0 All axis servo ON All axis servo ON [Cd.191] All axis servo ON signal Synchronization flag The buffer memory can be accessed.
Page 21 Start by the positioning start signal [Cd.184] The operation at starting by the "[Cd.184] Positioning start signal" is shown below. • When the "[Cd.184] Positioning start signal" turns ON, the start complete signal ([Md.31] Status: b14) and "[Md.141] BUSY signal" turn ON, and the positioning operation starts. It can be seen that the axis is operating when the "[Md.141] BUSY signal"...
Page 22 ■Operation timing and processing time The following shows details about the operation timing and time during position control. • Operation example [Cd.184] Positioning start signal [Md.141] BUSY signal M code ON signal ([Md.31] Status: b12) (WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) Standby...
Page 23 Start by the external command signal (DI) When starting positioning control by inputting the external command signal (DI), the start command can be directly input into the Simple Motion module. This allows the variation time equivalent to one scan time of the CPU module to be eliminated. This is an effective procedure when operation is to be started as quickly as possible with the start command or when the starting variation time is to be suppressed.
Page 24: Multiple Axes Simultaneous Start
Multiple axes simultaneous start The "multiple axes simultaneous start" starts outputting the command to the specified simultaneous starting axis at the same timing as the started axis. The maximum of four axes can be started simultaneously. Control details The multiple axes simultaneous start control is carried out by setting the simultaneous start setting data to the multiple axes simultaneous start control buffer memory of the axis control data, "9004"...
Page 25 Setting method The following shows the setting of the data used to execute the multiple axes simultaneous start control with positioning start signals (The axis control data on the start axis is set). n: Axis No. - 1 Setting item Setting Setting details Buffer memory...
Page 26: Stop
Stop The axis stop signal or stop signal from external input signal is used to stop the control. Create a program to turn ON the axis stop signal [Cd.180] as the stop program. Each control is stopped in the following cases. •...
Page 27 Stop cause Stop process Home position return Major High-level Manual control control positioning positioning control control Machine Fast home JOG/ Manual home position Inching pulse position return operation generator return control operation control  Forced stop "Forced stop input signal" OFF Immediate stop from an external device For the stop method of the servo amplifier, refer to each servo amplifier instruction...
Page 28 Types of stop processes The operation can be stopped with deceleration stop, rapid stop or immediate stop. ■Deceleration stop The operation stops with "deceleration time 0 to 3" ([Pr.10], [Pr.28], [Pr.29], [Pr.30]). Which time from "deceleration time 0 to 3" to use for control is set in positioning data ([Da.4]).
Page 29 Order of priority for stop process The order of priority for the Simple Motion module stop process is as follows. (Deceleration stop) < (Rapid stop) < (Immediate stop) • If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0 (including automatic deceleration), operation changes depending on the setting of "[Cd.42] Stop command processing for deceleration stop selection".
Page 30: Restart
Restart When a stop factor occurs during position control and the operation stops, the positioning can be restarted from the stopped position to the position control end point by using the "restart command" ([Cd.6] Restart command). ("Restarting" is not possible when "continuous operation is interrupted.") This instruction is efficient when performing the remaining positioning from the stopped position in the positioning control of incremental method such as INC linear 1.
Page 31 Time chart for restarting ■Operation example Dwell time [Cd.184] Positioning start signal [Cd.180] Axis stop [Cd.191] All axis servo ON signal [Cd.190] PLC READY signal READY signal ([Md.140] Module status: b0) Start complete signal ([Md.31] Status: b14) [Md.141] BUSY signal Positioning complete signal ([Md.31] Status: b15) Error detection signal...
Page 32: Chapter 2 Home Position Return Control
HOME POSITION RETURN CONTROL The details and usage of "home position return control" are explained in this chapter. Outline of Home Position Return Control Two types of home position return control In "home position return control", a position is established as the starting point (or "home position") when carrying out positioning control, and positioning is carried out toward that starting point.
Page 33 When using an absolute position system • This flag turns on in the following cases: • When not executing a machine home position return even once after the system starts • Machine home position return start (Unless a machine home position return is completed normally, the home position return request flag does not turn off.) •...
Page 34: Machine Home Position Return
Machine Home Position Return Outline of the machine home position return operation Machine home position return operation In a machine home position return, a home position is established. None of the address information stored in the Simple Motion module, CPU module, or servo amplifier is used at this time. The position mechanically established after the machine home position return is regarded as the "home position"...
Page 35: Machine Home Position Return Method
Machine home position return method The method by which the machine home position is established (method for judging the home position and machine home position return completion) is designated in the machine home position return according to the configuration and application of the positioning method.
Page 36: Proximity Dog Method
Proximity dog method The following shows an operation outline of the home position return method "proximity dog method". Operation chart [Pr.46] Home position Deceleration at the proximity dog ON return speed [Pr.47] Creep speed [POINT] After the home position return has been started, the zero point 4.
Page 37 Precautions during operation • When the home position return retry function is not set ("0" is set in "[Pr.48] Home position return retry"), the error "Start at home position" (error code: 1940H) will occur if the machine home position return is attempted again after the machine home position return completion.
Page 38: Count Method1
Count method1 The following shows an operation outline of the home position return method "count method 1". In the "count method 1", the machine home position return can be performed in the following cases: • Where the proximity dog is on •...
Page 39 Precautions during operation • The error "Count method movement amount fault" (error code: 1944H) will occur if the "[Pr.50] Setting for the movement amount after proximity dog ON" is smaller than the deceleration distance from the "[Pr.46] Home position return speed" to "[Pr.47] Creep speed".
Page 40: Count Method2
Count method2 The following shows an operation outline of the home position return method "count method 2". The "count method 2" method is effective when a "zero signal" cannot be received. (Note that compared to the "count method 1" method, using this method will result in more deviation in the stop position during machine home position return.) Operation chart [Pr.46] Home position [Pr.50] Setting for the movement amount...
Page 41 Precautions during operation • The error "Count method movement amount fault" (error code: 1944H) will occur and the operation will not start if the "[Pr.50] Setting for the movement amount after proximity dog ON" is smaller than the deceleration distance from the "[Pr.46] Home position return speed"...
Page 42: Data Set Method
Data set method The following shows an operation outline of the home position return method "data set method". The "Data set method" method is effective when a "Proximity dog" is not used. It can be used with absolute position system. With the data set method home position return, the position where the machine home position return has been carried out, is registered into the Simple Motion module as the home position, and the feed current value and feed machine value is overwritten to a home position address.
Page 43: Scale Origin Signal Detection Method
Scale origin signal detection method The following shows an operation outline of the home position return method "scale origin signal detection method". Set "0: Need to pass servo motor Z-phase after power on" in "Function selection C-4 (PC17)". If "1: Not need to pass servo motor Z-phase after power on"...
Page 44 Precautions during operation • The error "Start at home position" (error code: 1940H) will occur if another machine home position return is attempted immediately after a machine home position return completion when the home position is in the proximity dog ON position. •...
Page 45 • When the zero signal is detected again during deceleration (4.) in the following figure) with detection of zero signal, the operation stops at the zero signal detected lastly to complete the home position return. [Pr.44] Home position return direction [Pr.46] Home position return speed [Pr.47] Creep speed Proximity dog OFF...
Page 46: Driver Home Position Return Method
Driver home position return method The home position return is executed based on the positioning pattern set on the driver (servo amplifier) side (hereafter called the "driver side"). Set the setting values of home position return in the parameters of the driver side. Refer to the manual of the driver because the home position return operation and parameters depend on the specification of the driver.
Page 47: Fast Home Position Return
Fast Home Position Return Outline of the fast home position return operation Fast home position return operation After establishing home position by a machine home position return, positioning control to the home position is executed without using a proximity dog or a zero signal. The following shows the operation during a basic fast home position return start.
Page 48 • Normal timing time (Unit: [ms]) Operation cycle 0.888 0.3 to 1.4 3.83 to 4.59 0 to 0.9 1.777 0.3 to 1.4 4.76 to 6.43 0 to 1.8 *1 The t1 timing time could be delayed by the operation state of other axes. *2 The t2 timing time depends on the setting of the acceleration time, servo parameter, etc.
Page 49: Selection Of The Home Position Return Setting Condition
Selection of the Home Position Return Setting Condition Outline of the home position return setting condition To execute the home position return when selecting "0: Need to pass servo motor Z-phase after power on" with the servo parameter of the servo amplifier "Function selection C-4 (PC17)", it is necessary that the servomotor has been rotated more than one revolution and passed the Z phase (Motor reference position signal) and that the zero point pass signal ([Md.119] Servo status2: b0) has turned ON.
Page 50: Chapter 3 Major Positioning Control
MAJOR POSITIONING CONTROL The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this chapter. The major positioning controls include such controls as "positioning control" in which positioning is carried out to a designated position using the address information, "speed control"...
Page 51 Major positioning control [Da.2] Control method Details Speed-position switching control Forward run speed/position The control is continued as position control (positioning for the designated Reverse run speed/position address or movement amount) by turning ON the "speed-position switching signal" after first carrying out speed control. Position-speed switching control Forward run position/speed The control is continued as speed control by turning ON the "position-speed...
Page 52: Data Required For Major Positioning Control
Data required for major positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "major positioning controls". Setting item Setting details Positioning [Da.1] Operation pattern Set the method by which the continuous positioning data (Ex: positioning data No.1, No.2, data No.1 No.3) will be controlled.
Page 53: Operation Patterns Of Major Positioning Controls
Operation patterns of major positioning controls In "major positioning control" (high-level positioning control), "[Da.1] Operation pattern" can be set to designate whether to continue executing positioning data after the started positioning data. The "operation pattern" includes the following 3 types. Positioning control Operation pattern Positioning complete...
Page 54 Continuous positioning control • The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the Simple Motion module command speed reaches 0 to carry out the next positioning data operation. If a dwell time is designated, the acceleration is carried out after the designated time elapses.
Page 55 Continuous path control ■Continuous path control • The speed is changed without deceleration stop between the command speed of the "positioning data No. currently being executed" and the speed of the "positioning data No. to carry out the next operation". The speed is not changed if the current speed and the next speed are equal.
Page 56 ■Deceleration stop conditions during continuous path control Deceleration stops are not carried out in continuous path control, but the machine will carry out a deceleration stop to speed "0" in the following 3 cases. • When the operation pattern of the positioning data currently being executed is "continuous path control: 11", and the movement direction of the positioning data currently being executed differs from that of the next positioning data.
Page 57 ■Speed handling • Continuous path control command speeds are set with each positioning data. The Simple Motion module carries out the positioning at the speed designated with each positioning data. • The command speed can be set to "-1" in continuous path control. The control will be carried out at the speed used in the previous positioning data No.
Page 58 ■Speed switching (Standard speed switching mode: Switch the speed when executing the next positioning data.) (Page 392 [Pr.19] Speed switching mode) • If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the machine will accelerate or decelerate after reaching the positioning point set in the "positioning data currently being executed"...
Page 59 ■Speed switching (Front-loading speed switching mode: The speed switches at the end of the positioning data currently being executed.) (Page 392 [Pr.19] Speed switching mode) • If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the speed will change over to the speed set in the "positioning data to carry out the next operation"...
Page 60: Designating The Positioning Address
Designating the positioning address The following shows the two methods for commanding the position in control using positioning data. Absolute system Positioning is carried out to a designated position (absolute address) having the home position as a reference. This address is regarded as the positioning address.
Page 61: Confirming The Current Value
Confirming the current value Values showing the current value The following two types of addresses are used as values to show the position in the Simple Motion module. These addresses ("feed current value" and "machine feed value") are stored in the monitor data area, and used in monitoring the current value display, etc.
Page 62 Monitoring the current value The "feed current value" and "machine feed value" are stored in the following buffer memory addresses, and can be read using a "DMOV(P) instruction" from the CPU module. n: Axis No. - 1 Monitor item Buffer memory addresses [Md.20] Feed current value 2400+100n...
Page 63: Control Unit "Degree" Handling
Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. Feed current value and machine feed value addresses The address of "[Md.20] Feed current value" becomes a ring address from 0 to 359.99999. The address of "[Md.21] Machine feed value"...
Page 64 Positioning control method when the control unit is set to "degree" ■Absolute system (When the software stroke limit is invalid) Positioning is carried out in the nearest direction to the designated address, using the current value as a reference. (This is called "shortcut control".) 1) Positioning is carried out in a clockwise direction when the current value is moved from 315...
Page 65 ■Incremental system Positioning is carried out for a designated movement amount in a designated movement direction when in the incremental system of positioning. The movement direction is determined by the sign (+, -) of the movement amount. For a positive (+) movement direction Clockwise For a negative (-) movement direction Counterclockwise...
Page 66: Interpolation Control
Interpolation control Meaning of interpolation control In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2-axis fixed- feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", "2-axis speed control", "3-axis speed control", "4-axis speed control", and "2-axis circular interpolation control", control is carried out so that linear and arc paths are drawn using a motor set in two to four axis directions.
Page 67 *1 The axis No. is set to axis to be interpolated No.1 for 2-axis linear interpolation, to axis to be interpolated No.1 and No.2 for 3-axis linear interpolation, and to axis to be interpolated No.1 to No.3 for 4-axis linear interpolation. If the self-axis is set, the error "Illegal interpolation description command"...
Page 68 Limits to interpolation control There are limits to the interpolation control that can be executed and speed ([Pr.20] Interpolation speed designation method) that can be set, depending on the "[Pr.1] Unit setting" of the reference axis and interpolation axis. (For example, 2-axis circular interpolation control cannot be executed if the reference axis and interpolation axis units differ.) The following table shows the interpolation control and speed designation limits.
Page 69: Setting The Positioning Data
Setting the Positioning Data Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be set differ according to the "[Da.2] Control method". The following table shows the positioning data setting items corresponding to the different types of control. (In this section, it is assumed that the positioning data setting is carried out using an engineering tool.) : Always set : Set as required (""...
Page 70 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1A1EH) will occur at start.) : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning data Speed-position switching control Position-speed switching control...
Page 71 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1A1EH) will occur at start.) : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning data Other control NOP instruction...
Page 72: 1-Axis Linear Control
1-axis linear control In "1-axis linear control" ("[Da.2] Control method" = ABS linear 1, INC linear 1), one motor is used to carry out position control in a set axis direction. 1-axis linear control (ABS linear 1) ■Operation chart In absolute system 1-axis linear control, positioning is carried out from the current stop position (start point address) to the address (end point address) set in "[Da.6] Positioning address/movement amount".
Page 73 1-axis linear control (INC linear 1) ■Operation chart In incremental system 1-axis linear control, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
Page 74: 2-Axis Linear Interpolation Control
2-axis linear interpolation control In "2-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 2, INC linear 2), two motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Page 64 Interpolation control for details on interpolation control.) 2-axis linear interpolation control (ABS linear 2) ■Operation chart...
Page 75 ■Setting positioning data When using 2-axis linear interpolation control (ABS linear 2), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis ...
Page 76 2-axis linear interpolation control (INC linear 2) ■Operation chart In incremental system 2-axis linear interpolation control, the designated 2 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/movement amount".
Page 77 ■Setting positioning data When using 2-axis linear interpolation control (INC linear 2), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis ...
Page 78: 3-Axis Linear Interpolation Control
3-axis linear interpolation control In "3-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 3, INC linear 3), three motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Page 64 Interpolation control for details on interpolation control.) 3-axis linear interpolation control (ABS linear 3) ■Operation chart...
Page 79 ■Setting positioning data When using 3-axis linear interpolation control (ABS linear 3), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis ...
Page 80 3-axis linear interpolation control (INC linear 3) ■Operation chart In the incremental system 3-axis linear interpolation control, the designated 3 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in the "[Da.6] Positioning address/movement amount".
Page 81 ■Setting positioning data When using 3-axis linear interpolation control (INC linear 3), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis ...
Page 82: 4-Axis Linear Interpolation Control
4-axis linear interpolation control In "4-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 4, INC linear 4), four motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Page 64 Interpolation control for details on interpolation control.) 4-axis linear interpolation control (ABS linear 4) In the absolute system 4-axis linear interpolation control, the designated 4 axes are used.
Page 83 4-axis linear interpolation control (INC linear 4) In the incremental system 4-axis linear interpolation control, the designated 4 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in the "[Da.6] Positioning address/movement amount".
Page 84: Fixed-Feed Control
Fixed-feed control In "fixed-feed control" ("[Da.2] Control method" = fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4), the motor of the specified axis is used to carry out fixed-feed control in a set axis direction. In fixed-feed control, any remainder of below control accuracy is rounded down to convert the movement amount designated in the positioning data into the command value to servo amplifier.
Page 85 ■Restrictions • The error "Continuous path control not possible" (error code: 1A1EH) will occur and the operation cannot start if "continuous path control" is set in "[Da.1] Operation pattern". ("Continuous path control" cannot be set in fixed-feed control.) • "Fixed-feed" cannot be set in "[Da.2] Control method" in the positioning data when "continuous path control" has been set in "[Da.1] Operation pattern"...
Page 86 When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the Simple Motion module and reflected at the next positioning. For the fixed-feed control, since the movement distance is maintained constant (= the command number of pulses is maintained constant), the control is carried out after the fraction pulse is cleared to zero at start.
Page 87: 2-Axis Circular Interpolation Control With Sub Point Designation
2-axis circular interpolation control with sub point designation In "2-axis circular interpolation control" ("[Da.2] Control method" = ABS circular sub, INC circular sub), two motors are used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis directions set in each axis.
Page 88 ■Setting positioning data When using 2-axis circular interpolation control with sub point designation (ABS circular sub), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis ...
Page 89 2-axis circular interpolation control with sub point designation (INC circular sub) ■Operation chart In the incremental system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/ movement amount"...
Page 90 ■Setting positioning data When using 2-axis circular interpolation control with sub point designation (INC circular sub), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis ...
Page 91: 2-Axis Circular Interpolation Control With Center Point Designation
2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" ("[Da.2] Control method" = ABS circular right, INC circular right, ABS circular left, INC circular left), two motors are used to carry out position control in an arc path having an arc address as a center point, while carrying out interpolation for the axis directions set in each axis.
Page 92 2-axis circular interpolation control with center point designation (ABS circular) ■Operation chart In the absolute system, 2-axis circular interpolation control with center point designation positioning is carried out from the current stop position (start point address) to the address (end point address) set in "[Da.6] Positioning address/movement amount", in an arc path having as its center the address (arc address) of the center point set in "[Da.7] Arc address".
Page 93 ■Restrictions 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in "[Pr.1] Unit setting" • When the units set in "[Pr.1] Unit setting" are different for the reference axis and interpolation axis. ("mm" and "inch" combinations are possible.) •...
Page 94 2-axis circular interpolation control with center point designation (INC circular) ■Operation chart In the incremental system, 2-axis circular interpolation control with center point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/ movement amount", in an arc path having as its center the address (arc address) of the center point set in "[Da.7] Arc address".
Page 95 ■Restrictions 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in "[Pr.1] Unit setting" • When the units set in "[Pr.1] Unit setting" are different for the reference axis and interpolation axis. ("mm" and "inch" combinations are possible.) •...
Page 96: Speed Control
Speed control In "speed control" ("[Da.2] Control method" = Forward run: speed 1 to 4, Reverse run: speed 1 to 4), control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed"...
Page 97 ■2-axis speed control Operation example Interpolation axis (axis 2) [Da.8] Command speed Reference axis (axis 1) [Da.8] Command speed [Cd.184] Positioning start signal [Md.141] BUSY signal Does not turn ON even when control is stopped by stop command. Positioning complete signal ([Md.31] Status: b15) [Cd.180] Axis stop In speed control flag...
Page 98 Feed current value The following table shows the "[Md.20] Feed current value" during speed control corresponding to the "[Pr.21] Feed current value during speed control" settings. (However, the parameters use the set value of the reference axis.) "[Pr.21] Feed current value during speed control" setting [Md.20] Feed current value 0: Do not update feed current value The feed current value at speed control start is maintained.
Page 99 Setting positioning data When using speed control (forward run: speed 1 to 4, reverse run: speed 1 to 4), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis...
Page 100: Speed-Position Switching Control (Inc Mode)
Speed-position switching control (INC mode) In "speed-position switching control (INC mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output on the axial direction set to the positioning data.
Page 101 Operation chart The following chart shows the operation timing for speed-position switching control (INC mode). The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (INC mode). ■Operation example • When using the external command signal [DI] as speed-position switching signal [Da.8] Command speed Movement amount set in "[Da.6] Positioning address/movement amount"...
Page 102 Operation timing and processing time [Operation example] [Cd.184] Positioning start signal [Md.141] BUSY signal M code ON signal ([Md.31] Status: b12) (WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) Position [Md.26] Axis operation status Standby Speed control Standby control...
Page 103 Feed current value The following table shows the "[Md.20] Feed current value" during speed-position switching control (INC mode) corresponding to the "[Pr.21] Feed current value during speed control" settings. "[Pr.21] Feed current value during speed control" setting [Md.20] Feed current value 0: Do not update feed current value The feed current value at control start is maintained during speed control, and updated from the switching to position control.
Page 104 Speed-position switching signal setting • The following table shows the items that must be set to use the external command signals [DI] as speed-position switching signals. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address [Pr.42] External command function 2: Speed-position, position-speed switching request.
Page 105 Changing the position control movement amount In "speed-position switching control (INC mode)", the position control movement amount can be changed during the speed control section. • The position control movement amount can be changed during the speed control section of speed-position switching control (INC mode).
Page 106 Restrictions • The error "Continuous path control not possible" (error code: 1A1EH) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". • "Speed-position switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
Page 107: Speed-Position Switching Control (Abs Mode)
Speed-position switching control (ABS mode) In case of "speed-position switching control (ABS mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output in the axial direction set to the positioning data.
Page 108 Operation chart The following chart shows the operation timing for speed-position switching control (ABS mode). The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (ABS mode). ■Operation example • When using the external command signal [DI] as speed-position switching signal [Da.8] Command speed Address set in [Da.6] Positioning address/movement amount...
Page 109 Operation timing and processing time ■Operation example [Cd.184] Positioning start signal [Md.141] BUSY signal M code ON signal ([Md.31] Status: b12) (WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) Position control [Md.26] Axis operation status Standby Speed control Standby...
Page 110 Feed current value The following table shows the "[Md.20] Feed current value" during speed-position switching control (ABS mode) corresponding to the "[Pr.21] Feed current value during speed control" settings. "[Pr.21] Feed current value during speed control" setting [Md.20] Feed current value 1: Update feed current value The feed current value is updated during speed control and position control.
Page 111 Speed-position switching signal setting • The following table shows the items that must be set to use the external command signals [DI] as speed-position switching signals. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address [Pr.42] External command function selection 2: Speed-position, position-speed switching request.
Page 112 Restrictions • The error "Continuous path control not possible" (error code: 1A1EH) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". • "Speed-position switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
Page 113 Setting positioning data When using speed-position switching control (ABS mode), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required  [Da.1] Operation pattern  [Da.2] Control method (Set "Forward run: speed/position" or "Reverse run: speed/position".) ...
Page 114: Position-Speed Switching Control
Position-speed switching control In "position-speed switching control" ("[Da.2] Control method" = Forward run: position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in "[Da.6] Positioning address/movement amount" in the axis direction in which the positioning data has been set. When the position- speed switching signal is input, the position control is carried out by continuously outputting the pulses for the speed set in "[Da.8] Command speed"...
Page 115 Operation chart The following chart shows the operation timing for position-speed switching control. The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control of position-speed switching control. ■Operation example • When using the external command signal [DI] as position-speed switching signal [Da.8] Command speed Position Speed control...
Page 116 Operation timing and processing time [Cd.184] Positioning start signal [Md.141] BUSY signal M code ON signal ([Md.31] Status: b12)(WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) Standby Stopped Position control Speed control [Md.26] Axis operation status Position Speed control...
Page 117 Feed current value The following table shows the "[Md.20] Feed current value" during position-speed switching control corresponding to the "[Pr.21] Feed current value during speed control" settings. "[Pr.21] Feed current value during speed control" setting [Md.20] Feed current value 0: Do not update feed current value The feed current value is updated during position control, and the feed current value at the time of switching is maintained as soon as position control is switched to speed control.
Page 118 Position-speed switching signal setting • The following table shows the items that must be set to use the external command signals [DI] as position-speed switching signals. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address [Pr.42] External command function 2: Speed-position, position-speed switching request.
Page 119 Changing the speed control command speed In "position-speed switching control", the speed control command speed can be changed during the position control. • The speed control command speed can be changed during the position control of position-speed switching control. A command speed change request will be ignored unless issued during the position control of the position-speed switching control.
Page 120 Restrictions • The error "Continuous path control not possible" (error code: 1A1EH) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". • "Position-speed switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
Page 121: Current Value Changing
Current value changing When the current value is changed to a new value, control is carried out in which the "[Md.20] Feed current value" of the stopped axis is changed to a random address set by the user. (The "[Md.21] Machine feed value" is not changed when the current value is changed.) The two methods for changing the current value are shown below.
Page 122 ■Setting positioning data When using current value changing, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required  [Da.1] Operation pattern  [Da.2] Control method (Set the current value changing.) ...
Page 123 Changing to a new current value using the current value changing start No. (No.9003) In "current value changing" ("[Cd.3] Positioning start No." = 9003), "[Md.20] Feed current value" is changed to the address set in "[Cd.9] New current value". ■Operation chart The current value is changed by setting the new current value in the current value changing buffer memory "[Cd.9] New current value", setting "9003"...
Page 124 ■Setting method for the current value changing function The following shows an example of a program and data setting to change the current value to a new value with the positioning start signal. (The "[Md.20] Feed current value" value is changed to "5000.0 m" in the example shown.) •...
Page 125 Program example • Add the following program to the control program, and write it to the CPU module. ■For using labels Classification Label name Description Module label FX5SSC_1.stnAxCtrl2_D[0].uPositioningStart_D.0 Axis 1 Positioning start signal FX5SSC_1.stnAxMntr_D[0].uStatus_D.E Axis 1 Start complete FX5SSC_1.stnAxCtrl1_D[0].dNewPosition_D Axis 1 New current value FX5SSC_1.stnAxCtrl1_D[0].uPositioningStartNo_D Axis 1 Positioning start No.
Page 126 ■For using buffer memory 3 MAJOR POSITIONING CONTROL 3.2 Setting the Positioning Data...
Page 127: Nop Instruction
NOP instruction The NOP instruction is used for the nonexecutable control method. Operation The positioning data No. to which the NOP instruction is set transfers, without any processing, to the operation for the next positioning data No. Setting positioning data When using the NOP instruction, set the following positioning data.
Page 128: Jump Instruction
JUMP instruction The JUMP instruction is used to control the operation so it jumps to a positioning data No. set in the positioning data during "continuous positioning control" or "continuous path control". JUMP instruction includes the following two types of JUMP. JUMP instruction Description Unconditional JUMP...
Page 129 Setting positioning data When using the JUMP instruction, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required  [Da.1] Operation pattern  [Da.2] Control method (Set the JUMP instruction.) ...
Page 130: Loop
LOOP The LOOP is used for loop control by the repetition of LOOP to LEND. Operation The LOOP to LEND loop is repeated by set repeat cycles. Setting positioning data When using the LOOP, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required ...
Page 131: Lend
LEND The LEND is used to return the operation to the top of the repeat (LOOP to LEND) loop. Operation When the repeat cycle designated by the LOOP becomes 0, the loop is terminated, and the next positioning data No. processing is started.
Page 132: Chapter 4 High-Level Positioning Control
HIGH-LEVEL POSITIONING CONTROL The details and usage of high-level positioning control (control functions using the "block start data") are explained in this chapter. High-level positioning control is used to carry out applied control using the "positioning data". Examples of applied control are using conditional judgment to control "positioning data"...
Page 133: Data Required For High-Level Positioning Control
Data required for high-level positioning control "High-level positioning control" is executed by setting the required items in the "block start data" and "condition data", then starting that "block start data". Judgment about whether execution is possible, etc., is carried out at execution using the "condition data"...
Page 134: Block Start Data" And "Condition Data" Configuration
"Block start data" and "condition data" configuration The "block start data" and "condition data" corresponding to "block No.7000" can be stored in the buffer memory. 50th point Buffer memory Setting item address 2nd point 1st point Buffer memory Setting item address Buffer memory 22049+400n...
Page 135: High-Level Positioning Control Execution Procedure
High-level Positioning Control Execution Procedure High-level positioning control is carried out using the following procedure. Preparation "High-level positioning control" executes STEP 1 each control ("major positioning control") set Carry out the "major positioning control" setting. in the positioning data with the designated conditions, so first carry out preparations so that "major positioning control"...
Page 136: Setting The Block Start Data
Setting the Block Start Data Relation between various controls and block start data The "block start data" must be set to carry out "high-level positioning control". The setting requirements and details of each "block start data" item to be set differ according to the "[Da.13] Special start instruction"...
Page 137: Block Start
Block start In a "block start (normal start)", the positioning data groups of a block are continuously executed in a set PLC starting from the positioning data set in "[Da.12] Start data No." by one start. The control examples are shown when the "block start data" and "positioning data" are set as shown in the setting examples. Setting examples ■Block start data setting example Axis 1 block start data...
Page 138 Control examples The following shows the control executed when the "block start data" of the 1st point of axis 1 is set as shown in the setting examples and started. • The positioning data is executed in the following order before stopping. Axis 1 positioning data No.1  2  3  4  5  6 ...
Page 139: Condition Start
Condition start In a "condition start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the "block start data" set in "1: condition start"...
Page 140: Wait Start
Wait start In a "wait start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the "block start data" is executed. If the conditions have not been established, the control stops (waits) until the conditions are established.
Page 141: Simultaneous Start
Simultaneous start In a "simultaneous start", the positioning data set in the "[Da.12] Start data No." and positioning data of other axes set in the "condition data" are simultaneously executed (commands are output with the same timing). (The "condition data" is designated with "[Da.14] Parameter".) The control examples are shown when the "block start data"...
Page 142: Repeated Start (For Loop)
Repeated start (FOR loop) In a "repeated start (FOR loop)", the data between the "block start data" in which "4: FOR loop" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT start" is set in "[Da.13] Special start instruction " is repeatedly executed for the number of times set in "[Da.14] Parameter".
Page 143: Repeated Start (For Condition)
Repeated start (FOR condition) In a "repeated start (FOR condition)", the data between the "block start data" in which "5: FOR condition" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT start" is set in "[Da.13] Special start instruction" is repeatedly executed until the establishment of the conditions set in the "condition data".
Page 144: Restrictions When Using The Next Start
Restrictions when using the NEXT start The "NEXT start" is an instruction indicating the end of the repetitions when executing the repeated start (FOR loop) and the repeated start (FOR condition). (Page 140 Repeated start (FOR loop), Page 141 Repeated start (FOR condition)) The following shows the restrictions when setting "6: NEXT start"...
Page 145: Setting The Condition Data
Setting the Condition Data Relation between various controls and the condition data "Condition data" is set in the following cases. • When setting conditions during execution of JUMP instruction (major positioning control) • When setting conditions during execution of "high-level positioning control" The "condition data"...
Page 146 The setting requirements and details of the following "condition data" [Da.16] to [Da.19] and [Da.23] setting items differ according to the "[Da.15] Condition target" setting. The following shows the [Da.16] to [Da.19] and [Da.23] setting items corresponding to the "[Da.15] Condition target". : Setting not required (Set the initial value or a value within the setting range.) **: Value stored in buffer memory designated in [Da.17] [Da.15] Condition...
Page 147: Condition Data Setting Examples
Condition data setting examples The following shows the setting examples for "condition data". Setting the monitor data ON/OFF as a condition [Condition] The monitor data "[Md.141] BUSY signal" (Axis 1) is OFF [Da.15] [Da.16] [Da.17] [Da.18] [Da.19] [Da.23] [Da.24] [Da.25] [Da.26] Condition Condition...
Page 148: Start Program For High-Level Positioning Control
Start Program for High-level Positioning Control Starting high-level positioning control To execute high-level positioning control, a program must be created to start the control in the same method as for major positioning control. The following shows the procedure for starting the "1st point block start data" (regarded as block No.7000) set in axis 1. Simple Motion module Buffer memory Servo amplifier...
Page 149: Example Of A Start Program For High-Level Positioning Control
Example of a start program for high-level positioning control The following shows an example of a start program for high-level positioning control in which the 1st point "block start data" of axis 1 is started. (The block No. is regarded as "7000".) Control data that require setting The following control data must be set to execute high-level positioning control.
Page 150 Start time chart The following chart shows a time chart in which the positioning data No.1, 2, 10, 11, and 12 of the axis 1 are continuously executed as an example. ■Block start data setting example Axis 1 block start data [Da.11] Shape [Da.12] Start data No.
Page 151 Program example ■For using labels Classification Label name Description Module label FX5SSC_1.stSysMntr2_D.bnBusy_D[0] Axis 1 BUSY signal FX5SSC_1.stnAxMntr_D[0].uStatus_D.E Axis 1 Start complete FX5SSC_1.stnAxCtrl1_D[0].uPositioningStartNo_D Axis 1 Positioning start No. FX5SSC_1.stnAxCtrl1_D[0].uPositioningStartingPointNo_D Axis 1 Positioning starting point No. FX5SSC_1.stnAxCtrl2_D[0].uPositioningStart_D.0 Axis 1 Positioning start signal Global label, local Defines the global label or the local label as follows.
Page 152: Chapter 5 Manual Control
MANUAL CONTROL The details and usage of manual control are explained in this chapter. In manual control, commands are issued during a JOG operation and an inching operation executed by the turning ON of the JOG start signal, or from a manual pulse generator connected to the Simple Motion module. Manual control using a program from the CPU module is explained in this chapter.
Page 153 [Manual pulse generator operation] "Manual pulse generator operation" is a control method in which positioning is carried out in response to the number of pulses input from a manual pulse generator (the number of input command is output). This operation is used for manual fine adjustment, etc., when carrying out accurate positioning to obtain the positioning address.
Page 154: Jog Operation
JOG Operation Outline of JOG operation Operation In JOG operation, the forward run JOG start signal [Cd.181] or reverse run JOG start signal [Cd.182] turns ON, causing pulses to be output to the servo amplifier from the Simple Motion module while the signal is ON. The workpiece is then moved in the designated direction.
Page 155 Precautions during operation The following details must be understood before carrying out JOG operation. • For safety, set a small value to "[Cd.17] JOG speed" at first and check the movement. Then gradually increase the value. • The error "Outside JOG speed range" (error code: 1980H) will occur and the operation will not start if the "JOG speed" is outside the setting range at the JOG start.
Page 156 Normal timing time (Unit: [ms]) Operation cycle 0.888 0.1 to 1.1 0 to 0.9 3.78 to 4.45 0 to 0.9 1.777 0.1 to 2.1 0 to 1.8 5.58 to 7.13 0 to 1.8 *1 Delays may occur in the t1 timing time due to the operation status of other axes. *2 The t3 timing time depends on the setting of the acceleration time, servo parameter, etc.
Page 157: Jog Operation Execution Procedure
JOG operation execution procedure The JOG operation is carried out by the following procedure. One of the following two methods can be used. STEP 1 Set the parameters. Preparation ([Pr.1] to [Pr.39]) <Method 1> Directly set (write) the parameters in the Simple Motion module using the engineering tool.
Page 158: Setting The Required Parameters For Jog Operation
Setting the required parameters for JOG operation The "Positioning parameters" must be set to carry out JOG operation. The following table shows the setting items of the required parameters for carrying out JOG operation. Parameters not shown below are not required to be set for carrying out only JOG operation. (Set the initial values or a value within the setting range.) : Setting always required.
Page 159: Creating Start Programs For Jog Operation
Creating start programs for JOG operation A program must be created to execute a JOG operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a JOG operation is started for axis 1. ("[Cd.17] JOG speed" is set to "100.00 mm/min" in the example shown.) Required control data setting The control data shown below must be set to execute a JOG operation.
Page 160 Start time chart ■Operation example Forward JOG run Reverse JOG run [Cd.181] Forward run JOG start [Cd.182] Reverse run JOG start [Cd.190] PLC READY signal [Cd.191] All axis servo ON signal READY signal ([Md.140] Module status: b0) [Md.141] BUSY signal Error detection signal ([Md.31] Status: b13) Program example...
Page 161: Jog Operation Example
JOG operation example Example 1 When the "stop signal" is turned ON during JOG operation, the JOG operation will stop by the "deceleration stop" method. If the JOG start signal is turned ON while the stop signal is ON, the error "Stop signal ON at start" (error code: 1908H) will occur.
Page 162 Example 2 When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis, the "forward run JOG start signal" is given priority. In this case, the "reverse run JOG start signal" is validated when the BUSY signal of Simple Motion module is turned OFF.
Page 163: Inching Operation
Inching Operation Outline of inching operation Operation In inching operation, pulses are output to the servo amplifier at operation cycle to move the workpiece by a designated movement amount after the forward run JOG start signal [Cd.181] or reverse JOG start signal [Cd.182] is turned ON. The following shows the example of inching operation.
Page 164 Precautions during operation The following details must be understood before inching operation is carried out. • Acceleration/deceleration processing is not carried out during inching operation. (Commands corresponding to the designated inching movement amount are output at operation cycle. When the movement direction of inching operation is reversed and backlash compensation is carried out, the backlash compensation amount and inching movement amount are output at the same operation cycle.) The "[Cd.17] JOG speed"...
Page 165 Operation timing and processing times The following drawing shows the details of the inching operation timing and processing time. ■Operation example [Cd.181] Forward run JOG start [Cd.182] Reverse run JOG start [Md.141] BUSY signal [Md.26] Axis operation status Standby (0) JOG operation (3) Standby (0) Arbitrary value...
Page 166: Inching Operation Execution Procedure
Inching operation execution procedure The inching operation is carried out by the following procedure. One of the following two methods can be used. Preparation STEP 1 Set the parameters. ([Pr.1] to [Pr.31]) <Method 1> Directly set (write) the parameters in the Simple Motion module using the engineering tool.
Page 167: Setting The Required Parameters For Inching Operation
Setting the required parameters for inching operation The "Positioning parameters" must be set to carry out inching operation. The following table shows the setting items of the required parameters for carrying out inching operation. Parameters not shown below are not required to be set for carrying out only inching operation. (Set the initial values or a value within the setting range.) : Setting always required.
Page 168: Creating A Program To Enable/Disable The Inching Operation
Creating a program to enable/disable the inching operation A program must be created to execute an inching operation. Consider the "required control data setting", "start conditions", and "start time chart" when creating the program. The following shows an example when an inching operation is started for axis 1. (The example shows the inching operation when a "10.0 m"...
Page 169 Start time chart ■Operation example Forward run inching operation Reverse run inching operation [Cd.181] Forward run JOG start [Cd.182] Reverse run JOG start [Cd.190] PLC READY signal [Cd.191] All axis servo ON signal READY signal ([Md.140] Module status: b0) [Md.141] BUSY signal Error detection signal ([Md.31] Status: b13) Positioning complete signal...
Page 170: Inching Operation Example
Inching operation example Example 1 If the JOG start signal is turned ON while the stop signal is ON, the error "Stop signal ON at start" (error code: 1908H) will occur. The inching operation can be re-started when the stop signal is turned OFF and the JOG start signal is turned ON from OFF. ■Operation example Ignores that the JOG start signal is turned ON from OFF while the stop signal is ON.
Page 171: Manual Pulse Generator Operation
Manual Pulse Generator Operation Outline of manual pulse generator operation Operation In manual pulse generator operations, pulses are input to the Simple Motion module from the manual pulse generator. This causes the same number of input command to be output from the Simple Motion module to the servo amplifier, and the workpiece is moved in the designated direction.
Page 172 Precautions during operation The following details must be understood before carrying out manual pulse generator operation. • If "[Cd.21] Manual pulse generator enable flag" is turned ON while the Simple Motion module is BUSY (BUSY signal ON), the warning "Start during operation" (warning code: 0900H) will occur. •...
Page 173 Operations when stroke limit error occurs When the hardware stroke limit error or the software stroke limit error is detected during operation, the operation will decelerate to a stop. However, in case of "[Md.26] Axis operation status", "Manual pulse generator operation" will continue After stopping, input pulses from a manual pulse generator to the outside direction of the limit range are not accepted, but operation can be executed within the range.
Page 174 Position control by manual pulse generator operation In manual pulse generator operation, the position is moved by a "manual pulse generator 1 pulse movement amount" per pulse. The feed current value in the positioning control by manual pulse generator operation can be calculated using the expression shown below.
Page 175: Manual Pulse Generator Operation Execution Procedure
Manual pulse generator operation execution procedure The manual pulse generator operation is carried out by the following procedure. Preparation STEP 1 One of the following two methods can be used. Set the parameters. ([Pr.1] to [Pr.24], [Pr.89], [Pr.151]) <Method 1> Directly set (write) the parameters in the Simple Motion module using the engineering tool.
Page 176: Setting The Required Parameters For Manual Pulse Generator Operation
Setting the required parameters for manual pulse generator operation The "Positioning parameters" and "Common parameters" must be set to carry out manual pulse generator operation. The following table shows the setting items of the required parameters for carrying out manual pulse generator operation. Parameters not shown below are not required to be set for carrying out only manual pulse generator operation.
Page 177: Creating A Program To Enable/Disable The Manual Pulse Generator Operation
Creating a program to enable/disable the manual pulse generator operation A program must be created to execute a manual pulse generator operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a manual pulse generator operation is started for axis 1. Required control data setting The control data shown below must be set to execute a manual pulse generator operation.
Page 178 Start time chart ■Operation example Forward run Reverse run Pulse input A phase Pulse input B phase [Cd.190] PLC READY signal [Cd.191] All axis servo ON signal READY signal ([Md.140] Module status: b0) Start complete signal ([Md.31] Status: b14) [Md.141] BUSY signal Error detection signal ([Md.31] Status: b13) [Cd.21] Manual pulse generator...
Page 179: Chapter 6 Expansion Control
EXPANSION CONTROL The details and usage of expansion control are explained in this chapter. Expansion control includes the speed-torque control to execute the speed control and torque control not including position loop and the synchronous control to synchronize with input axis using software with "synchronous control parameter" instead of controlling mechanically with gear, shaft, speed change gear or cam, etc.
Page 180: Setting The Required Parameters For Speed-Torque Control
Setting the required parameters for speed-torque control The "Positioning parameters" must be set to carry out speed-torque control. The following table shows the setting items of the required parameters for carrying out speed-torque control. Parameters not shown below are not required to be set for carrying out only speed-torque control. (Set the initial values or a value within the setting range.) : Setting always required.
Page 181: Setting The Required Data For Speed-Torque Control
Setting the required data for speed-torque control Required control data setting for the control mode switching The control data shown below must be set to execute the control mode switching. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address [Cd.138] Control mode...
Page 182 Required control data setting for the torque control mode The control data shown below must be set to execute the torque control. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address  [Cd.143] Command torque at torque control mode Set the command torque at torque control mode.
Page 183: Operation Of Speed-Torque Control
Operation of speed-torque control Switching of control mode (Speed control/Torque control) ■Switching method of control mode To switch the control mode to the speed control or the torque control, set "1" in "[Cd.138] Control mode switching request" after setting the control mode in "[Cd.139] Control mode setting". When the mode is switched to the speed control mode or the torque control mode, the control data used in each control mode must be set before setting "1"...
Page 184 ■Precautions at control mode switching • The start complete signal and the positioning complete signal do not turn ON at control mode switching. • When "30: Control mode switch", "31: Speed control", or "32: Torque control" is set in "[Md.26] Axis operation status", the BUSY signal turns ON.
Page 185 ■Operation for "Position control mode  Torque control mode switching" When the position control mode is switched to the torque control mode, the command torque immediately after the switching is the torque set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque control mode". Torque initial value selection ([Pr.90]: b4 to b7) Command torque to servo amplifier immediately after switching from position control mode to torque control mode 0: Command torque...
Page 186 ■Operation for "Speed control mode  Torque control mode switching" When the speed control mode is switched to the torque control mode, the command torque immediately after the switching is the torque set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque control mode". Torque initial value selection ([Pr.90]: b4 to b7) Command torque to servo amplifier immediately after switching from speed control mode to torque control mode...
Page 187 Switching of control mode (Continuous operation to torque control) ■Switching method of control mode To switch the control mode to the continuous operation to torque control mode, set "1" in "[Cd.138] Control mode switching request" after setting the control mode to switch to "[Cd.139] Control mode setting" (30: Continuous operation to torque control mode) from position control mode or speed control mode.
Page 188 • When the mode is switched from position control mode to continuous operation to torque control mode, only the switching from continuous operation to torque control mode to position control mode is possible. If the mode is switched to other control modes, the warning "Control mode switching not possible" (warning code: 09EBH) will occur, and the control mode is not switched.
Page 189 The following chart shows the operation timing for axis 1. ■Operation example Continuous operation Position control mode Position control mode to torque control mode Contact with target 1000 Torque 30.0% 6 to 11 ms 6 to 11 ms [Cd.138] Control mode switching request [Cd.139] Control mode setting [Md.141] BUSY signal [Md.26] Axis operation status...
Page 190 ■Operation for "Speed control mode  Continuous operation to torque control mode switching" To switch to the continuous operation to torque control mode, set the control data used in the control mode before setting "1" in "[Cd.138] Control mode switching request". When the switching condition is satisfied at control mode switching request, "1: Position control mode - continuous operation to torque control mode, speed control mode - continuous operation to torque control mode switching"...
Page 191 ■Operation for switching from "Position control mode" to "Continuous operation to torque control mode" automatically To switch to the continuous operation to torque control mode automatically when the conditions set in "[Cd.153] Control mode auto-shift selection" and "[Cd.154] Control mode auto-shift parameter" are satisfied, set the control data necessary in the continuous operation to torque control mode, "[Cd.153] Control mode auto-shift selection"...
Page 192 The following chart shows the operation when "1: Feed current value pass" is set in "[Cd.153] Control mode auto-shift selection". Position control mode Continuous operation to torque control mode Contact with target 1000 Feed current value passes the address "adr" set in "[Cd.154] Control mode auto-shift parameter".
Page 193 Speed control mode ■Operation for speed control mode The speed control is executed at the speed set in "[Cd.140] Command speed at speed control mode" in the speed control mode. Set a positive value for forward rotation and a negative value for reverse rotation. "[Cd.140]" can be changed any time during the speed control mode.
Page 194 ■Stop cause during speed control mode The operation for stop cause during speed control mode is shown below. Item Operation during speed control mode "[Cd.180] Axis stop" turned ON. The motor decelerates to speed "0" according to the setting value of "[Cd.142] Deceleration time at speed control mode".
Page 195 Torque control mode ■Operation for torque control mode The torque control is executed at the command torque set in "[Cd.143] Command torque at torque control mode" in the torque control mode. "[Cd.143] Command torque at torque control mode" can be changed any time during torque control mode. The relation between the setting of command torque and the torque generation direction of servomotor varies depending on the setting of servo parameters "Rotation direction selection/travel direction selection (PA14)"...
Page 196 ■Speed during torque control mode The speed during the torque control mode is controlled with "[Cd.146] Speed limit value at torque control mode". At this time, "Speed limit" ("[Md.119] Servo status2": b4) turns ON. n: Axis No. - 1 Monitor item Buffer memory address [Md.119] Servo status2: b4 2476+100n...
Page 197 Continuous operation to torque control mode ■Operation for continuous operation to torque control mode In continuous operation to torque control, the torque control can be executed without stopping the operation during the positioning in position control mode or speed command in speed control mode. During the continuous operation to torque control mode, the torque control is executed at the command torque set in "[Cd.150] Target torque at continuous operation to torque control mode"...
Page 198 ■Speed limit value setting method Acceleration/deceleration is performed based on a trapezoidal acceleration/deceleration processing. Set acceleration/deceleration time toward "[Pr.8] Speed limit value" in "[Cd.148] Acceleration time at continuous operation to torque control mode" and "[Cd.149] Deceleration time at continuous operation to torque control mode". The value at continuous operation to torque control mode switching is valid for "[Cd.148]"...
Page 199 ■Speed during continuous operation to torque control mode The speed during the continuous operation to torque control mode is controlled with an absolute value of the value set in "[Cd.147] Speed limit value at continuous operation to torque control mode" as command speed. When the speed reaches the absolute value of "[Cd.147] Speed limit value at continuous operation to torque control mode", "Speed limit"...
Page 200: Synchronous Control
Synchronous Control "Synchronous control" can be achieved using software instead of controlling mechanically with gear, shaft, speed change gear or cam, etc. "Synchronous control" synchronizes movement with the input axis (servo input axis or synchronous encoder axis), by setting "the parameters for synchronous control" and starting synchronous control on each output axis. Refer to the following for details of synchronous control.
Page 201: Chapter 7 Control Sub Functions
CONTROL SUB FUNCTIONS The details and usage of the "sub functions" added and used in combination with the main functions are explained in this chapter. A variety of sub functions are available, including functions specifically for machine home position return and generally related functions such as control compensation, etc.
Page 202 Sub function Details Functions related to Stop command processing This function selects a deceleration curve when a stop cause occurs during deceleration stop positioning stop for deceleration stop processing to speed 0. function Continuous operation This function interrupts continuous operation. When this request is accepted, the operation stops interrupt function when the execution of the current positioning data is completed.
Page 203: Sub Functions Specifically For Machine Home Position Return
Sub Functions Specifically for Machine Home Position Return The sub functions specifically for machine home position return include the "home position return retry function" and "home position shift function". Each function is executed by parameter setting. Home position return retry function When the workpiece goes past the home position without stopping during positioning control, it may not move back in the direction of the home position although a machine home position return is commanded, depending on the workpiece position.
Page 204 ■Home position return retry operation when the workpiece is outside the range between the upper and lower limits. • When the direction from the workpiece to the home position is the same as the "[Pr.44] Home position return direction", a normal machine home position return is carried out.
Page 205 ■Setting the dwell time during a home position return retry The home position return retry function can perform such function as the dwell time using "[Pr.57] Dwell time during home position return retry" when the reverse run operation is carried out due to detection by the limit signal for upper and lower limits and when the machine home position return is executed after the proximity dog is turned OFF to stop the operation.
Page 206 Setting method To use the "home position return retry function", set the required details in the parameters shown in the following table, and write them to the Simple Motion module. When the parameters are set, the home position return retry function will be added to the machine home position return control.
Page 207: Home Position Shift Function
Home position shift function When a machine home position return is carried out, the home position is normally established using the proximity dog and zero signal. However, by using the home position shift function, the machine can be moved a designated movement amount from the position where the zero signal was detected.
Page 208 Movement speed during home position shift When using the home position shift function, the movement speed during the home position shift is set in "[Pr.56] Speed designation during home position shift". The movement speed during the home position shift is selected from either the "[Pr.46] Home position return speed"...
Page 209 Precautions during control • The following data are set after the home position shift amount is complete. • Home position return complete flag ([Md.31] Status: b4) • [Md.20] Feed current value • [Md.21] Machine feed value • [Md.26] Axis operation status Home position return request flag ([Md.31] Status: b3) is reset after completion of the home position shift.
Page 210: Functions For Compensating The Control
Functions for Compensating the Control The sub functions for compensating the control include the "backlash compensation function", "electronic gear function", and "near pass function". Each function is executed by parameter setting or program creation and writing. Backlash compensation function The "backlash compensation function" compensates the backlash amount in the mechanical system. Control details When the backlash compensation amount is set, an extra amount of command equivalent to the set backlash amount is output every time the movement direction changes.
Page 211 Setting method To use the "backlash compensation function", set the "backlash compensation amount" in the parameter shown in the following table, and write it to the Simple Motion module. The set details are validated at the rising edge (OFF  ON) of the "[Cd.190] PLC READY signal". Setting item Setting Setting details...
Page 212: Electronic Gear Function
Electronic gear function The "electronic gear function" adjusts the actual machine movement amount and number of pulse output to servo amplifier according to the parameters set in the Simple Motion module. The "electronic gear function" has the following three functions ([A] to [C]). [A] During machine movement, the function increments in the Simple Motion module values less than one pulse that could not be output, and outputs the incremented amount when the total incremented value reached one pulse or more.
Page 213 ■For "Ball screw" + "Reduction gear" When the ball screw pitch is 10 mm, the motor is the HG-KR (4194304 pulses/rev) and the reduction ratio of the reduction gear is 9/44. Reduction ratio 9/44 First, find how many millimeters the load (machine) will travel (S) when the motor turns one revolution (AP). AP (Number of pulses per rotation) = 4194304 [pulse] ΔS (Movement amount per rotation)
Page 214 ■When "degree" is set as the control unit for a rotary axis When the rotary axis is used, the motor is HG-KR (4194304 pulses/rev) and the reduction ratio of the reduction gear is 3/11. Reduction ratio 3/11 First, find how many degrees the load (machine) will travel (S) when the motor turns one revolution (AP). AP (Number of pulses per rotation) = 4194304 [pulse] S (Movement amount per rotation) = 360.00000 [degree] ...
Page 215 ■When "mm" is set as the control unit for conveyor drive (calculation including ) When the belt conveyor drive is used, the conveyor diameter is 135 mm, the pulley ratio is 1/3, the motor is HG-KR (4194304 pulses/rev) and the reduction ratio of the reduction gear is 7/53. φ135 mm Belt conveyor Reduction ratio 7/53...
Page 216 ■Number of pulses/movement amount at linear servo use Simple Motion module Linear servo motor pulse Servo Command Control pulse AL × AM unit amplifier value pulse Feedback pulse Linear encoder Calculate the number of pulses (AP) and movement amount (AL  AM) for the linear encoder in the following conditions. Number of pulses (AP) Linear encoder resolution = Movement amount (AL ×...
Page 217 The method for compensating the error When the position control is carried out using the "Electronic gear" set in a parameter, this may produce an error between the command movement amount (L) and the actual movement amount (L'). With Simple Motion module, this error is compensated by adjusting the electronic gear.
Page 218: Near Pass Function
Near pass function When continuous pass control is carried out using interpolation control, the near pass function is carried out. The "near pass function" is a function to suppress the mechanical vibration occurring at the time of switching the positioning data when continuous pass control is carried out using interpolation control.
Page 219 Precautions during control • If the movement amount designated by the positioning data is small when the continuous path control is executed, the output speed may not reach the designated speed. • The movement direction is not checked during interpolation operation. Therefore, a deceleration stops are not carried out even if the movement direction changes.
Page 220: Functions To Limit The Control
Functions to Limit the Control Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit function", "hardware stroke limit function", and "forced stop function". Each function is executed by parameter setting or program creation and writing. Speed limit function The speed limit function limits the command speed to a value within the "speed limit value"...
Page 221 Setting method To use the "speed limit function", set the "speed limit value" in the parameters shown in the following table, and write them to the Simple Motion module. The set details are validated at the next start after they are written to the Simple Motion module. Setting item Setting Setting details...
Page 222: Torque Limit Function
Torque limit function The "torque limit function" limits the generated torque to a value within the "torque limit value" setting range when the torque generated in the servomotor exceeds the "torque limit value". The "torque limit function" protects the deceleration function, limits the power of the operation pressing against the stopper, etc.
Page 223 Control details The following drawing shows the operation of the torque limit function. ■Operation example Each operation [Cd.190] PLC READY signal [Cd.191] All axis servo ON signal [Cd.184] Positioning start signal [Pr.17] Torque limit setting value [Cd.101] Torque output setting value [Cd.112] Torque change function 0 (Forward/reverse torque limit value same setting)
Page 224 Setting method • To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them to the Simple Motion module. The set details are validated at the rising edge (OFF  ON) of the "[Cd.190] PLC READY signal". Setting item Setting value Setting details Factory-set initial value...
Page 225 • Parameters are set for each axis. • It is recommended that the parameters be set whenever possible with the engineering tool. Execution by a program uses many programs and devices. The execution becomes complicated, and the scan times will increase.
Page 226: Software Stroke Limit Function
Software stroke limit function In the "software stroke limit function" the address established by a machine home position return is used to set the upper and lower limits of the moveable range of the workpiece. Movement commands issued to addresses outside that setting range will not be executed.
Page 227 ■Current value changing When the current value is changed by a new current value command from 2000 to 1000, the feed current value will change to 1000, but the machine feed value will stay the same at 2000. • When the machine feed value is set at the limit The machine feed value of 5000 (feed current value: 4000) becomes the upper stroke limit.
Page 228 Relation between the software stroke limit function and various controls : Check valid : Check is not made when the feed current value is not updated (Page 393 [Pr.21] Feed current value during speed control) at the setting of "feed current value" in "[Pr.14] Software stroke limit selection" during speed control. : Check not carried out (check invalid).
Page 229 Precautions during software stroke limit check • A machine home position return must be executed beforehand for the "software stroke limit function" to function properly. • During interpolation control, a stroke limit check is carried out for the every current value of both the reference axis and the interpolation axis.
Page 230 Setting method To use the "software stroke limit function", set the required values in the parameters shown in the following table, and write them to the Simple Motion module. The set details are validated at the rising edge (OFF  ON) of the "[Cd.190] PLC READY signal". Setting item Setting Setting details...
Page 231 Setting when the control unit is "degree" ■Current value address The "[Md.20] Feed current value" address is a ring address between 0 and 359.99999. 359.99999° 359.99999° 0° 0° 0° ■Setting the software stroke limit The upper limit value/lower limit value of the software stroke limit is a value between 0 and 359.99999. •...
Page 232: Hardware Stroke Limit Function
Hardware stroke limit function WARNING • When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic using b-contact. If it is set in positive logic using a-contact, a serious accident may occur. In the "hardware stroke limit function", limit switches are set at the upper/lower limit of the physical moveable range, and the control is stopped (by deceleration stop) by the input of a signal from the limit switch.
Page 233 Wiring the hardware stroke limit When using the hardware stroke limit function, wire the terminals corresponding to the upper/lower stroke limit of the device to be used as shown in the following drawing. ■External input signal of the servo amplifier Refer to the manual of the servo amplifier to be used for details on input and wiring of the signal.
Page 234: Forced Stop Function
Forced stop function WARNING • When the forced stop is required to be wired, ensure to wire it in the negative logic using b-contact. • Provided safety circuit outside the Simple Motion module so that the entire system will operate safety even when the "[Pr.82] Forced stop valid/invalid selection"...
Page 235 Wiring the forced stop When using the forced stop function, wire the terminals of the Simple Motion module forced stop input as shown in the following drawing. As for the 24 V DC power supply, the direction of current can be switched. Simple Motion module 24 V DC EMI.COM...
Page 236: Functions To Change The Control Details
Functions to Change the Control Details Functions to change the control details include the "speed change function", "override function", "acceleration/deceleration time change function", "torque change function" and "target position change function". Each function is executed by parameter setting or program creation and writing. Refer to the following for combination with main function.
Page 237 Precautions during control • At the speed change during continuous path control, when no speed designation (current speed) is provided in the next positioning data, the next positioning data is controlled at the "[Cd.14] New speed value". Also, when a speed designation is provided in the next positioning data, the next positioning data is controlled at its "[Da.8] Command speed".
Page 238 ■Operation example [Cd.184] Positioning start signal [Md.141] BUSY signal [Cd.14] New speed value 1000 [Cd.15] Speed change request Positioning operation Speed change 0 flag ([Md.31] status: b10) • The warning "Deceleration/stop speed change" (warning code: 0990H) occurs and the speed cannot be changed in the following cases.
Page 239 Setting method from the CPU module The following shows the data settings and program example for changing the control speed of axis 1 by the command from the CPU module. (In this example, the control speed is changed to "20.00 mm/min".) •...
Page 240 Setting method using an external command signal The speed can also be changed using an "external command signal". The following shows the data settings and program example for changing the control speed of axis 1 using an "external command signal". (In this example, the control speed is changed to "10000.00 mm/min".) •...
Page 241 Program example ■For using labels • Add the following program to the control program, and write it to the CPU module. Classification Label name Description Module label FX5SSC_1.stnAxPrm_D[0].uExternalCommandFunctionMode_D Axis 1 External command function selection FX5SSC_1.stnAxCtrl1_D[0].uExternalCommandValid_D Axis 1 External command valid FX5SSC_1.stnAxCtrl1_D[0].udNewSpeed_D Axis 1 New speed value Global label, local label...
Page 242: Override Function
Override function The override function changes the command speed by a designated percentage (1 to 300%) for all control to be executed. The speed can be changed by setting the percentage (%) by which the speed is changed in "[Cd.13] Positioning operation speed override".
Page 243 Setting method The following shows the data settings and program example for setting the override value of axis 1 to "200%". • Set the following data. (Set using the program referring to the speed change time chart.) n: Axis No. - 1 Setting item Setting Setting details...
Page 244: Acceleration/Deceleration Time Change Function
Acceleration/deceleration time change function The "acceleration/deceleration time change function" is used to change the acceleration/deceleration time during a speed change to a random value when carrying out the speed change by the "speed change function" and "override function". In a normal speed change (when the acceleration/deceleration time is not changed), the acceleration/deceleration time previously set in the parameters ([Pr.9], [Pr.10], and [Pr.25] to [Pr.30] values) is set in the positioning parameter data items [Da.3] and [Da.4], and control is carried out with that acceleration/deceleration time.
Page 245 Precautions during control • When "0" is set in "[Cd.10] New acceleration time value" and "[Cd.11] New deceleration time value", the acceleration/ deceleration time will not be changed even if the speed is changed. In this case, the operation will be controlled at the acceleration/deceleration time previously set in the parameters.
Page 246 If the speed is changed when an acceleration/deceleration change is enabled, the "new acceleration/ deceleration time" will become the acceleration/deceleration time of the positioning data being executed. The "new acceleration/deceleration time" remains valid until the changeover to the next positioning data. (The automatic deceleration processing at the completion of the positioning will also be controlled by the "new acceleration/deceleration time".) Setting method...
Page 247: Torque Change Function
Torque change function The "torque change function" is used to change the torque limit value during torque limiting. The torque limit value at the control start is the value set in the "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value".
Page 248 Control details The torque value (forward new torque value/reverse new torque value) of the axis control data can be changed at all times. The torque can be limited with a new torque value from the time the new torque value has been written to the Simple Motion module.
Page 249 ■Operation example Each operation [Cd.190] PLC READY signal [Cd.191] All axis servo ON signal [Cd.184] Positioning start signal [Pr.17] Torque limit setting value [Cd.101] Torque output setting value [Cd.112] Torque change function switching request [Cd.22] New torque value/forward new torque value [Md.35] Torque limit stored value/forward torque limit stored value...
Page 250 Setting method To use the "torque change function", write the data shown in the following table to the Simple Motion module using the program. The set details are validated when written to the Simple Motion module. n: Axis No. - 1 Setting item Setting value Setting details...
Page 251: Target Position Change Function
Target position change function The "target position change function" is a function to change a target position to a newly designated target position at any timing during the position control (1-axis linear control). A command speed can also be changed simultaneously. The target position and command speed changed are set directly in the buffer memory, and the target position change is executed by "[Cd.29] Target position change request flag".
Page 252 Precautions during operation • If the positioning movement direction from the stop position to a new target position is reversed, stop the operation once and then position to the new target position. (Page 249 When the direction of the operation is changed:) •...
Page 253 Setting method from the CPU module The following shows the data settings and program example for changing the target position of axis 1 by the command from the CPU module. (In this example, the target position value is changed to "300.0 m" and the command speed is changed to "10000.00 mm/min".) •...
Page 254: Functions Related To Start
Functions Related to Start A function related to start includes the "pre-reading start function". This function is executed by parameter setting or program creation and writing. Pre-reading start function The "pre-reading start function" does not start servo while the execution prohibition flag is ON if a positioning start request is given with the execution prohibition flag ON, and starts servo within operation cycle after OFF of the execution prohibition flag is detected.
Page 255 Program example Refer to the following for the program example. ■For using labels Classification Label name Description Module label FX5SSC_1.stSysMntr2_D.bnBusy_D[0] Axis 1 BUSY signal FX5SSC_1.stnAxCtrl2_D[0].uPositioningStart_D.0 Axis 1 Positioning start signal FX5SSC_1.stnAxMntr_D[0].uStatus_D.D Axis 1 Error detection FX5SSC_1.stnAxMntr_D[0].uStatus_D.E Axis 1 Start complete FX5SSC_1.stnAxCtrl1_D[0].uPositioningStartNo_D Axis 1 Positioning start No.
Page 256 ■For using buffer memory 7 CONTROL SUB FUNCTIONS 7.6 Functions Related to Start...
Page 257: Absolute Position System
Absolute Position System The Simple Motion module can construct an absolute position system by installing the absolute position system and connecting it through SSCNET/H. The following describes precautions when constructing the absolute position system. The configuration of the absolute position system is shown below. Battery Servomotor •...
Page 258: Functions Related To Stop
Functions Related to Stop Functions related to stop include the "stop command processing for deceleration stop function", "Continuous operation interrupt function" and "step function". Each function is executed by parameter setting or program creation and writing. Stop command processing for deceleration stop function The "stop command processing for deceleration stop function"...
Page 259 Precautions for control • In manual control (JOG operation, inching operation, manual pulse generator operation) and speed-torque control, the stop command processing for deceleration stop function is invalid. • The stop command processing for deceleration stop function is valid when "0: Normal deceleration stop" is set in "[Pr.37] Stop group 1 rapid stop selection"...
Page 260: Continuous Operation Interrupt Function
Continuous operation interrupt function During positioning control, the control can be interrupted during continuous positioning control and continuous path control (continuous operation interrupt function). When "continuous operation interruption" is execution, the control will stop when the operation of the positioning data being executed ends. To execute continuous operation interruption, set "1: Continuous operation interrupt request"...
Page 261 Restrictions • When the "continuous operation interrupt request" is executed, the positioning will end. Thus, after stopping, the operation cannot be "restarted". When "[Cd.6] Restart command" is issued, the warning "Restart not possible" (warning code: 0902H) will occur. • Even if the stop command is turned ON after executing the "continuous operation interrupt request", the "continuous operation interrupt request"...
Page 262: Step Function
Step function The "step function" is used to confirm each operation of the positioning control one by one. It is used in debugging work for major positioning control, etc. A positioning operation in which a "step function" is used is called a "step operation". In step operations, the timing for stopping the control can be set.
Page 263 Step start request Control stopped by a step operation can be continued by setting "step continues" (to continue the control) in the "step start information". (The "step start information" is set in the control data "[Cd.36] Step start information".) The following table shows the results of starts using the "step start information" during step operation. Stop status in the step operation [Md.26] Axis operation [Cd.36] Step start information Step start results...
Page 264 Using the step operation The following shows the procedure for checking positioning data using the step operation. Start Turn ON the step valid flag. Write "1" (carry out step operation) in "[Cd.35] Step valid flag". Set the step mode. Set in "[Cd.34] Step mode". Start positioning.
Page 265 Control details • The following drawing shows a step operation during a "deceleration unit step". ■Operation example [Cd.35] Step valid flag [Cd.184] Positioning start signal [Md.141] BUSY signal Positioning complete signal ([Md.31] Status: b15) Positioning Positioning data No. No.10 No.11 [Da.1] Operation pattern No positioning data No.
Page 266 Step function settings To use the "step function", write the data shown in the following table to the Simple Motion module using the program. Refer to the following for the timing of the settings. Page 262 Using the step operation The set details are validated after they are written to the Simple Motion module.
Page 267: Other Functions
Other Functions Other functions include the "skip function", "M code output function", "teaching function", "command in-position function", "acceleration/deceleration processing function", "deceleration start flag function", "speed control 10  multiplier setting for degree axis function" and "operation setting for incompletion of home position return function". Each function is executed by parameter setting or program creation and writing.
Page 268 Precautions during control • If the skip signal is turned ON at the last of an operation, a deceleration stop will occur and the operation will be terminated. • When a control is skipped (when the skip signal is turned ON during a control), the positioning complete signals will not turn •...
Page 269 Setting method using an external command signal The skip function can also be executed using an "external command signal". The following shows the settings and program example for skipping the control being executed in axis 1 using an "external command signal". •...
Page 270: M Code Output Function
M code output function The "M code output function" is used to command sub work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal ([Md.31] Status: b12) is turned ON during positioning execution, a No. called the M code is stored in "[Md.25] Valid M code".
Page 271 M code ON signal OFF request When the M code ON signal is ON, it must be turned OFF by the program. To turn OFF the M code ON signal, set "1" (turn OFF the M code signal) in "[Cd.7] M code OFF request". n: Axis No.
Page 272 Precautions during control • During interpolation control, the reference axis M code ON signal is turned ON. • The M code ON signal will not turn ON if "0" is set in "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions".
Page 273 Program example Refer to the following for the program example. ■For using labels Classification Label name Description Module label FX5SSC_1.stnAxMntr_D[0].uStatus_D.C Axis 1 M code ON FX5SSC_1.stnAxMntr_D[0].uM_Code_D Axis 1 Valid M code Global label, local label Defines the global label or the local label as follows. The settings of Assign (Device/Label) are not required for the label that the assignment device is not set because the unused internal relay and data device are automatically assigned.
Page 274: Teaching Function
Teaching function The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation manual pulse generator operation) in the positioning data addresses ("[Da.6] Positioning address/movement amount", "[Da.7] Arc address"). Control details ■Teaching timing Teaching is executed using the program when the "[Md.141] BUSY signal" is OFF. (During manual control, teaching can be carried out as long as the axis is not BUSY, even when an error or warning has occurred.) ■Addresses for which teaching is possible The addresses for which teaching is possible are "feed current values"...
Page 275 Teaching procedure The following shows the procedure for a teaching operation. • When teaching to the "[Da.6] Positioning address/movement amount" (Teaching example on axis 1) Start Perform machine home position return on axis 1. Move the workpiece to the target Using a JOG operation, inching operation, or manual pulse generator operation.
Page 276 • When teaching to the "[Da.7] Arc address", then teaching to the "[Da.6] Positioning address/movement amount" (Teaching example for 2-axis circular interpolation control with sub point designation on axis 1 and axis 2) Start Perform a machine home position return on axis 1 and axis 2. Move the workpiece to the circular interpolation sub point using a Using a JOG operation, inching operation,...
Page 277 Teaching arc end point address Entering teaching data using "[Cd.38] Teaching data selection" on axis 2. and "[Cd.39] Teaching positioning data No." for axis 2 in the same fashion as for axis 1. End teaching? Turn OFF the "[Cd.190] PLC READY signal".
Page 278 Teaching program example The following shows a program example for setting (writing) the positioning data obtained with the teaching function to the Simple Motion module. ■Setting conditions When setting the feed current value as the positioning address, write it when the BUSY signal is OFF. ■Operation example The following example shows a program to carry out the teaching of axis 1.
Page 279: Command In-Position Function
Command in-position function The "command in-position function" checks the remaining distance to the stop position during the automatic deceleration of positioning control, and sets "1". This flag is called the "command in-position flag". The command in-position flag is used as a front-loading signal indicating beforehand the completion of the position control.
Page 280 Setting method To use the "command in-position function", set the required value in the parameter shown in the following table, and write it to the Simple Motion module. The set details are validated at the rising edge (OFF  ON) of the "[Cd.190] PLC READY signal". Setting item Setting Setting details...
Page 281: Acceleration/Deceleration Processing Function
Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration of each control to the acceleration/ deceleration curve suitable for device. Setting the acceleration/deceleration time changes the slope of the acceleration/deceleration curve. The following two methods can be selected for the acceleration/deceleration curve: •...
Page 282 ■S-curve acceleration/deceleration processing method In this method, the motor burden is reduced during starting and stopping. This is a method in which acceleration/deceleration is carried out gradually, based on the acceleration time, deceleration time, speed limit value, and "[Pr.35] S-curve ratio" (1 to 100%) set by the user. When a speed change request or override request is given during S-curve acceleration/deceleration processing, S-curve acceleration/deceleration processing begins at a speed change request or override request start.
Page 283: Deceleration Start Flag Function
Deceleration start flag function The "deceleration start flag function" turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete". This function can be used as a signal to start the operation to be performed by other equipment at each end of position control or to perform preparatory operation, etc.
Page 284 Precautions during control • The deceleration start flag function is valid for the control method of "1-axis linear control", "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "speed-position switching control" or "position-speed switching control". In the case of linear interpolation control, the function is valid for only the reference axis. (MELSEC iQ-F FX5 Simple Motion Module User's Manual (Startup)) •...
Page 285 Checking of deceleration start flag The "deceleration start flag" is stored into the following buffer memory addresses. n: Axis No. - 1 Monitor item Monitor Storage details Buffer memory address value  [Md.48] Deceleration start flag 0: Status other than below 2499+100n 1: Status from deceleration start to next operation start or manual pulse generator operation enable...
Page 286: Speed Control 10 Times Multiplier Setting For Degree Axis Function
Speed control 10 times multiplier setting for degree axis function The "Speed control 10  multiplier setting for degree axis function" is provided to execute the positioning control by 10  speed of the setting value in the command speed and the speed limit value when the setting unit is "degree". Control details When "Speed control 10 multiplier specifying function for degree axis"...
Page 287 Setting method Set "Valid/Invalid" by "[Pr.83] Speed control 10  multiplier setting for degree axis". Normally, the speed specification range is 0.001 to 2000000.000 [degree/min], but it will be decupled and become 0.01 to 20000000.00 [degree/min] by setting "[Pr.83] Speed control 10  multiplier setting for degree axis" to valid. To use the "Speed control 10 ...
Page 288: Operation Setting For Incompletion Of Home Position Return Function
Operation setting for incompletion of home position return function The "Operation setting for incompletion of home position return function" is provided to select whether positioning control is operated or not when the home position return request flag is ON. Control details When "[Pr.55] Operation setting for incompletion of home position return"...
Page 289 Setting method To use the "Operation setting for incompletion of home position return", set the following parameters using a program. n: Axis No. - 1 Setting item Setting Setting details Buffer memory address value  [Pr.55] Operation setting for incompletion of home Set the operation setting for incompletion of home 87+150n position return...
Page 290: Servo On/Off
7.10 Servo ON/OFF Servo ON/OFF This function executes servo ON/OFF of the servo amplifiers connected to the Simple Motion module. By establishing the servo ON status with the servo ON command, servo motor operation is enabled. The following two signals can be used to execute servo ON/OFF. •...
Page 291 Servo OFF (Servo operation disabled) The following shows the procedure for servo OFF. Set "1" for "[Cd.100] Servo OFF command". (The servo LED indicates "c_".) (If the "[Cd.100] Servo OFF command" set "0" again, after the servo operation enabled.) Turn OFF "[Cd.191] All axis servo ON signal". (The servo LED indicates "b_".) •...
Page 292: Follow Up Function
Follow up function Follow up function The follow up function monitors the number of motor rotations (actual current value) with the servo OFF and reflects the value in the feed current value. If the servomotor rotates during the servo OFF, the servomotor will not just rotate for the amount of droop pulses at switching the servo ON next time, so that the positioning can be performed from the stop position.
Page 293: Chapter 8 Common Functions
COMMON FUNCTIONS The details and usage of the "common functions" executed according to the user's requirements are explained in this chapter. Common functions include functions required when using the Simple Motion module, such as parameter initialization and execution data backup. Read the setting and execution procedures for each common function indicated in this chapter thoroughly, and execute the appropriate function where required.
Page 294: Parameter Initialization Function
Parameter Initialization Function The "parameter initialization function" is used to return the setting data set in the buffer memory/internal memory and flash ROM/internal memory (nonvolatile) of Simple Motion module to the default values. Parameter initialization means • Initialization is executed with a program. •...
Page 295 Parameter initialization method • Parameter initialization can be carried out by writing the data shown in the table below to the buffer memory of Simple Motion module. The initialization of the parameter is executed at the time point the data is written to the buffer memory of Simple Motion module.
Page 296: Execution Data Backup Function
Execution Data Backup Function When the buffer memory data of Simple Motion module is rewritten from the CPU module, "the data backed up in the flash ROM/internal memory (nonvolatile)" of Simple Motion module may differ from "the execution data being used for control (buffer memory data)".
Page 297 Precautions during control • Data can only be written to the flash ROM when the positioning control is not carried out (when the "[Cd.190] PLC READY signal" is OFF). The warning "In PLC READY" (warning code: 0905H) will occur if executed when the "[Cd.190] PLC READY signal"...
Page 298: External Input Signal Select Function
External Input Signal Select Function The "external input signal select function" is used to select from the following signals when using each external input signal of each axis (upper/lower stroke limit signal (FLS/RLS), proximity dog signal (DOG), and stop signal (STOP)). •...
Page 299 Parameter setting ■Upper/lower stroke limit signal, stop signal, and proximity dog signal Use the following parameter to switch the logic of the external input signals from the servo amplifier and buffer memory (upper/lower stroke limit signal (FLS/RLS), proximity dog signal (DOG), and stop signal (STOP)). Setting item Initial value Setting details...
Page 300 Program The following shows the program example to operate "[Cd.44] External input signal operation device (Axis 1 to 8)" of axis 1 using the limit switch connected to the CPU module when "2: Buffer memory" is set in "[Pr.116] FLS signal selection" to "[Pr.119] STOP signal selection".
Page 301 ■For using buffer memory Device name Device Purpose Description when the device is ON External input (command) Axis 1 FLS ON command "[Pr.22] Input signal logic selection" is negative logic: ON "[Pr.22] Input signal logic selection" is positive logic: OFF Axis 1 RLS ON command Axis 1 DOG ON command Axis 1 STOP ON command...
Page 302: History Monitor Function
History Monitor Function This function monitors starting history and current value history stored in the buffer memory of the Simple Motion module on the operation monitor of an engineering tool. Starting history The starting history logs of operations such as positioning operation, JOG operation, and manual pulse generator operation can be monitored.
Page 303 Monitor details Monitor item Home position return data Feed current value The number of backup: Once Servo command value Encoder position within one revolution Encoder multiple revolution counter Time 1 (Year: month) Time 2 (Day: hour) Time 3 (Minute: second) *1 Displays a value set by the clock function of the CPU module.
Page 304: Amplifier-Less Operation Function
Amplifier-less Operation Function The positioning control of Simple Motion module without servo amplifiers connection can be executed in the amplifier-less function. This function is used to debug of user program or simulate of positioning operation at the start. Control details Switch the mode from the normal operation mode (with servo amplifier connection) to the amplifier-less operation mode (without servo amplifier connection) to use the amplifier-less operation function.
Page 305 Restrictions • Some monitor data differ from the actual servo amplifier during amplifier-less operation mode. n: Axis No. - 1 Storage item Storage details Buffer memory address [Md.102] Deviation counter value Always "0". 2452+100n 2453+100n [Md.106] Servo amplifier software No. Always "0".
Page 306 • When the power supply is turned OFF  ON or CPU module is reset during amplifier-less operation mode, the mode is switched to the normal operation mode. • The operation of servo motor or the timing of operation cycle, etc. at the amplifier-less operation is different from the case where the servo amplifiers are connected at the normal operation mode.
Page 307 ■Operation chart The following drawing shows the operation for the switching of the normal operation mode and amplifier-less operation mode [Operation example] Normal operation mode Amplifier-less operation mode Normal operation mode Each operation [Md.141] BUSY signal [Cd.190] PLC READY signal READY signal ([Md.140] Module status: b0) [Cd.137] Amplifier-less operation...
Page 308: Virtual Servo Amplifier Function
Virtual Servo Amplifier Function This function executes the operation virtually without connecting servo amplifiers (regarded as connected). The synchronous control with virtually input command is possible by using the virtual servo amplifier axis as servo input axis of synchronous control. Also, it can be used as simulation operation for axes without servo amplifiers. Control details •...
Page 309 Restrictions • The following monitor data of virtual servo amplifier differ from the actual servo amplifier. n: Axis No. - 1 Storage item Storage details Buffer memory address [Md.102] Deviation counter value Always "0". 2452+100n 2453+100n [Md.106] Servo amplifier software No. Always "0".
Page 310 Setting method Set "[Pr.100] Connected device" as follows based on the value in "[Pr.97] SSCNET setting". Setting value of "[Pr.97] SSCNET setting" Setting value of "[Pr.100] Servo series" 0: SSCNET 4097: Virtual servo amplifier (MR-J3) 1: SSCNET/H 4128: Virtual servo amplifier (MR-J4) 8 COMMON FUNCTIONS 8.7 Virtual Servo Amplifier Function...
Page 311: Driver Communication Function
Driver Communication Function This function uses the "Master-slave operation function" of servo amplifier. The Simple Motion module controls master axis and the slave axis is controlled by data communication between servo amplifiers (driver communication) without Simple Motion module. There are restrictions in the function that can be used by the version of servo amplifier. Refer to each servo amplifier instruction manual for details.
Page 312 • When the communication is disconnected due to a fault in the servo amplifier, it is not possible to communicate with the axis after the faulty axis. Therefore, when connecting the SSCNET cable, connect the master axis in the closest position to the Simple Motion module. •...
Page 313 ■Home position return control, positioning control, manual control, expansion control, and synchronous control • Do not start the slave axis. The command to servo amplifier is invalid even if the slave axis is started. • The home position return request flag ([Md.31] Status: b3) of slave axis is always ON. There is no influence for control of slave axis.
Page 314 Servo parameter Set the following parameters for the axis to execute the driver communication. (Refer to each servo amplifier instruction manual for details.) [MR-J3-_B_/MR-J3-_BS_ use] n: Axis No. - 1 Setting item Setting details Buffer memory address Input/output PA04 Forced stop deceleration function Disable deceleration stop function at the master axis and 28404+100n setting...
Page 315 [MR-J4-_B_/MR-J4-_B_-RJ use] n: Axis No. - 1 Setting item Setting details Buffer memory address Input/output PA04 Forced stop deceleration function selection Disable deceleration stop function at the master 28404+100n setting axis and slave axis. PD15 Driver communication setting Set the master axis and slave axis. 65534+340n PD16 Driver communication setting...
Page 316: Mark Detection Function
Mark Detection Function Any data can be latched at the input timing of the mark detection signal (DI). Also, only data within a specific range can be latched by specifying the data detection range. The following three modes are available for execution of mark detection. Continuous detection mode The latched data is always stored to the first of mark detection data storage area at mark detection.
Page 317 Item Performance specifications FX5-40SSC-S FX5-80SSC-S Number of mark detection Up to 16 settings Input signal Axis 1 to Axis 4 External input signal (DI1 to DI4) Axis 1 to Axis 8 External input signal (DI1 to DI4) Input signal detection Selectable for leading edge or trailing edge in logic setting of external input signal direction Correctable within the range of -32768 to 32767 s...
Page 318 ■Specified number of detection mode (Number of detections: 2) Mark detection is not executed because Confirmation of mark detection data range the number of mark detections is already 2 (Upper/lower limit value setting: Valid) (More than the specified number of detections). Mark detection signal (Leading edge detection setting) Real current value...
Page 319 List of parameters and data The following shows the configuration of parameters and data for mark detection function. Buffer memory address Item Mark detection setting No. 54000 to 54019 Mark detection setting parameter Mark detection setting 1 [Pr.800] to [Pr.807] 54020 to 54039 Mark detection setting 2 54040 to 54059...
Page 320 Mark detection setting parameters k: Mark detection setting No. - 1 Setting item Setting details/setting value Default Buffer memory address value [Pr.800] Mark detection signal Set the external input signal (high speed input request) for mark 54000+20k setting detection. 0: Invalid 1 to 4: External command signal of axis 1 to axis 4 (4-axis module) 1 to 8: External command signal of axis 1 to axis 8 (8-axis module) Fetch cycle: Power supply ON...
Page 321 [Pr.800] Mark detection signal setting Set the input signal for mark detection. Setting value Setting details Invalid 1 to 4 External command signal (DI) of axis 1 to axis 4 (4-axis module) 1 to 8 External command signal (DI) of axis 1 to axis 8 (8-axis module) If a value other than the above is set, the warning "Outside mark detection signal setting range"...
Page 322 [Pr.803] Mark detection data axis No. Set the axis No. of data that latched at mark detection. [Pr.802] Mark detection data type [Pr.803] Mark detection data axis No. Setting Data name Unit 4-axis module 8-axis module value Feed current value [m], 10 [inch], 10 1 to 4...
Page 323 [Pr.805] Latch data range upper limit value, [Pr.806] Latch data range lower limit value Set the upper limit value and lower limit value of the latch data at mark detection. When the data at mark detection is within the range, they are stored in "[Md.801] Mark detection data storage area (1 to 32)" and the "[Md.800] Number of mark detection"...
Page 324 Mark detection control data k: Mark detection setting No. - 1 Setting item Setting details/setting value Default value Buffer memory address [Cd.800] Number of mark Set "1" to execute "0" clear of number of mark detections. 54640+10k detection clear "0" is automatically set after completion by "0" clear of number of request mark detections.
Page 325 Mark detection monitor data k: Mark detection setting No. - 1 Storage item Storage details/storage value Buffer memory address [Md.800] Number of mark detection The number of mark detections is stored. 54960+80k "0" clear is executed at power supply ON. Continuous detection mode: 0 to 65535 (Ring counter) Specified number of detection mode: 0 to 32 Ring buffer mode: 0 to (number of buffers - 1)
Page 326: Optional Data Monitor Function
8.10 Optional Data Monitor Function Registered monitor The data of the registered monitor is refreshed every operation cycle. This function is used to store the data (refer to following table) up to four points per axis to the buffer memory and monitor them.
Page 327 ■List of parameters and data The parameters and data used in the optional data monitor function is shown below. • Extended parameter n: Axis No. - 1 Setting item Setting details/setting value Buffer memory address [Pr.91] Optional data monitor: Data type setting 1 •...
Page 328: Connect/Disconnect Function Of Sscnet Communication
8.11 Connect/Disconnect Function of SSCNET Communication Temporarily connect/disconnect of SSCNET communication is executed during system's power supply ON. This function is used to exchange the servo amplifiers or SSCNET cables. Control details Set the connect/disconnect request of SSCNET communication in "[Cd.102] SSCNET control command", and the status for the command accept waiting or execute waiting is stored in "[Md.53] SSCNET control status".
Page 329 ■System monitor data Monitor item Monitor value Storage details Buffer memory address  [Md.53] SSCNET control status The connect/disconnect status of SSCNET communication is 4233 stored. 1: Disconnected axis existing 0: Command accept waiting -1: Execute waiting -2: Executing Procedure to connect/disconnect Procedure to connect/disconnect at the exchange of servo amplifiers or SSCNET...
Page 330 Program The following shows the program example to connect/disconnect the servo amplifiers connected after Axis 3. Disconnect procedure Connect procedure Turn OFF the servo amplifier's power supply after checking the LED display Resume operation of servo amplifier after checking the "[Md.26] Axis "AA"...
Page 331 • Connect operation Classification Label name Description Module label FX5SSC_1.stSysMntr1_D.wSSCNET_ControlStatus_D Axis 1 SSCNET control status FX5SSC_1.stSysCtrl_D.wSSCNET_ControlCommand_D Axis 1 SSCNET control command Global label, local label Defines the global label or the local label as follows. The settings of Assign (Device/Label) are not required for the label that the assignment device is not set because the unused internal relay and data device are automatically assigned.
Page 332 ■For using buffer memory • Disconnect operation 8 COMMON FUNCTIONS 8.11 Connect/Disconnect Function of SSCNET Communication...
Page 333 • Connect operation 8 COMMON FUNCTIONS 8.11 Connect/Disconnect Function of SSCNET Communication...
Page 334: Hot Line Forced Stop Function
8.12 Hot line forced stop function This function is used to execute deceleration stop safety for other axes when the servo alarm occurs in the servo amplifier MR-JE-B. Control details The hot line forced stop function is set in the servo parameter. This function can execute deceleration stop for other axes without via Simple Motion module by notifying the servo alarm occurrence.
Page 335 • The following shows the timing chart at the servo alarm occurrence. Positioning control Axis in which the servo alarm occurred (axis 2) [Md.108] Servo status1 (b7: Servo alarm) Positioning control Axis in which the servo alarm does not occur (axis 1) [Md.108] Servo status1 (b15: Servo warning) [Cd.5] Axis error reset...
Page 336: Chapter 9 Specifications Of I/O Signals With Cpu Modules
SPECIFICATIONS OF I/O SIGNALS WITH CPU MODULES List of Input/Output Signals with CPU Modules The Simple Motion module uses 10 input points and 10 output points for exchanging data with the CPU module. The input/output signals of the Simple Motion module are shown below. •...
Page 337 MEMO 9 SPECIFICATIONS OF I/O SIGNALS WITH CPU MODULES 9.1 List of Input/Output Signals with CPU Modules...
Page 338: Chapter 10 Data Used For Positioning Control
DATA USED FOR POSITIONING CONTROL The parameters and data used to carry out positioning control with the Simple Motion module are explained in this chapter. With the positioning system using the Simple Motion module, the various parameters and data explained in this chapter are used for control.
Page 339 • The following methods are available for data setting. In this manual, the method using the engineering tool will be explained. (Refer to the next "Point".) • Set using the engineering tool. • Create the program for data setting and execute it. •...
Page 340 Control data The data is used by users to control the positioning system. The setting data is classified as follows. Item Description System control data Writes/initializes the "positioning data" in the module. Sets the setting for operation of all axes. Axis control data Makes settings related to the operation, and controls the speed change during operation, and stops/restarts the operation for each axis.
Page 341: Setting Items For Common Parameters
Setting items for common parameters The setting items for the "common parameters" are shown below. The "common parameters" are independent of axes and related to the overall system. : Always set : Set as required ("" when not required) : Setting not possible : Setting restricted : Setting not required (When the value is the default value or within the setting range, there is no problem.) Common parameter...
Page 342 : Always set : Set as required ("" when not required) : Setting not possible : Setting restricted : Setting not required (When the value is the default value or within the setting range, there is no problem.) Common parameter Manual control Expansion Related sub...
Page 343: Setting Items For Positioning Parameters
Setting items for positioning parameters The setting items for the "positioning parameters" are shown below. The "positioning parameters" are set for each axis for all controls achieved by the Simple Motion module. Home position return control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not possible : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Home position return control...
Page 344 Positioning parameter Home position return control  Detailed parameters 2 [Pr.25] Acceleration time 1  [Pr.26] Acceleration time 2  [Pr.27] Acceleration time 3  [Pr.28] Deceleration time 1  [Pr.29] Deceleration time 2  [Pr.30] Deceleration time 3  [Pr.31] JOG speed limit value ...
Page 345 Major positioning control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not possible : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Major positioning control Position control...
Page 346 Positioning parameter Major positioning control Position control 1 to 4 Speed- Other control axis position or 1-axis linear 1-axis 2-axis Current JUMP speed position- control fixed-feed circular value instruction, control speed 2/3/4-axis control interpolation changing control linear 2/3/4-axis control instruction, interpolation fixed-feed LOOP to...
Page 347 Manual control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not possible : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Manual control Manual pulse...
Page 348 Positioning parameter Manual control Manual pulse Inching operation JOG operation generator operation    Detailed parameters 2 [Pr.25] Acceleration time 1    [Pr.26] Acceleration time 2    [Pr.27] Acceleration time 3    [Pr.28] Deceleration time 1 ...
Page 349 Expansion control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not possible : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Expansion control Speed-torque control...
Page 350 Checking the positioning parameters [Pr.1] to [Pr.90], [Pr.95], [Pr.116] to [Pr.119] and [Pr.127] are checked with the following timing. • When the "[Cd.190] PLC READY signal" changes from OFF to ON "High-level positioning control" is carried out in combination with the "major positioning control". Refer to the "major positioning control"...
Page 351: Setting Items For Home Position Return Parameters
Setting items for home position return parameters When carrying out "home position return control", the "home position return parameters" must be set. The setting items for the "home position return parameters" are shown below. The "home position return parameters" are set for each axis. : Always set : Set as required : Setting not required (When the value is the default value or within the setting range, there is no problem.)
Page 352: Setting Items For Extended Parameters
Setting items for extended parameters The setting items for the "extended parameters" are shown below. The "extended parameters" are set for each axis. Extended parameter Related sub function [Pr.91] Optional data monitor: Data type setting 1 Page 324 Optional Data Monitor Function [Pr.92] Optional data monitor: Data type setting 2 [Pr.93]...
Page 353: Setting Items For Positioning Data
Setting items for positioning data Positioning data must be set for carrying out any "major positioning control". The table below lists the items to be set for producing the positioning data. One to 600 positioning data items can be set for each axis. : Always set : Set as required (""...
Page 354 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1A1EH) will occur at start.) : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning data Speed-position switching control Position-speed switching control...
Page 355 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1A1EH) will occur at start.) : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning data Other control Current value...
Page 356: Setting Items For Block Start Data
Setting items for block start data The "block start data" must be set when carrying out "high-level positioning control". The setting items for the "block start data" are shown below. Up to 50 points of "block start data" can be set for each axis. : Set as required (""...
Page 357: Types And Roles Of Monitor Data
Types and roles of monitor data The monitor data area in the buffer memory stores data relating to the operating state of the positioning system, which are monitored as required while the positioning system is operating. The following data are available for monitoring. Item Description System monitoring...
Page 358 ■Monitoring the speed Monitor details Corresponding item Monitor the During independent axis control Indicates the speed of [Md.22] Feedrate current each axis speed During When "0: Composite speed" is set for "[Pr.20] Indicates the interpolation Interpolation speed designation method" composite speed control When "1: Reference axis speed"...
Page 359 ■Monitoring the state Monitor details Corresponding item Monitor the latest error code that occurred with the axis [Md.23] Axis error No. Monitor the latest warning code that occurred with the axis [Md.24] Axis warning No. Monitor the valid M codes [Md.25] Valid M code Monitor the axis operation state [Md.26] Axis operation status...
Page 360: Types And Roles Of Control Data
Types and roles of control data Operation of the positioning system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the program.) Items that can be controlled are described below.
Page 361 ■Controlling the speed Control details Corresponding item When changing acceleration time during speed change, set new acceleration time. [Cd.10] New acceleration time value When changing deceleration time during speed change, set new deceleration time. [Cd.11] New deceleration time value Set acceleration/deceleration time validity during speed change. [Cd.12] Acceleration/deceleration time change value during speed change, enable/disable Change positioning operation speed between 1 and 300% range.
Page 362 Control details Corresponding item Set the PI-PID switching to servo amplifier. [Cd.136] PI-PID switching request Speed-torque Switch the control mode. [Cd.138] Control mode switching request control Set the control mode to switch. [Cd.139] Control mode setting Set the command speed during speed control mode. [Cd.140] Command speed at speed control mode Set the acceleration time during speed control mode.
Page 363: List Of Buffer Memory Addresses
10.2 List of Buffer Memory Addresses The following shows the relation between the buffer memory addresses and the various items. Do not use the buffer memory address that not been described here for a "Maker setting". For the list of buffer memory addresses for positioning data, refer to the "Simple Motion Module Setting Function Help" of the engineering tool.
Page 364 Item Buffer memory address [Pr.17] Torque limit setting value 26+150n [Pr.18] M code ON signal output timing 27+150n [Pr.19] Speed switching mode 28+150n [Pr.20] Interpolation speed designation method 29+150n [Pr.21] Feed current value during speed control 30+150n [Pr.22] Input signal logic selection 31+150n [Pr.81] Speed-position function selection...
Page 365 ■Home position return parameters: Home position return basic parameters n: Axis No. - 1 Item Buffer memory address [Pr.43] Home position return method 70+150n [Pr.44] Home position return direction 71+150n [Pr.45] Home position address 72+150n 73+150n [Pr.46] Home position return speed 74+150n 75+150n [Pr.47]...
Page 366 Item Buffer memory address [Md.130] F/W version 4006 4007 [Md.131] Digital oscilloscope running flag 4011 [Md.132] Operation cycle setting 4238 [Md.133] Operation cycle over flag 4239 [Md.134] Operation time 4008 [Md.135] Maximum operation time 4009 [Md.140] Module status 31500 [Md.141] BUSY signal 31501 *1 Displays a value set by the clock function of the CPU module.
Page 367 Item Buffer memory address [Md.47] Positioning Positioning identifier 2438+100n data being M code 2439+100n executed Dwell time 2440+100n Command speed 2442+100n 2443+100n Positioning address 2444+100n 2445+100n Arc address 2446+100n 2447+100n Axis to be interpolated 2496+100n 2497+100n [Md.48] Deceleration start flag 2499+100n [Md.100] Home position return re-travel value...
Page 368 [Control data] ■System control data Item Buffer memory address [Cd.1] Flash ROM write request 5900 [Cd.2] Parameter initialization request 5901 [Cd.41] Deceleration start flag valid 5905 [Cd.42] Stop command processing for deceleration stop selection 5907 [Cd.44] External input signal operation device (Axis 1 to 8) 5928 [Cd.102] SSCNET control command...
Page 369 Item Buffer memory address [Cd.32] Simultaneous starting axis start data No.2 4342+100n [Cd.33] Simultaneous starting axis start data No.3 4343+100n [Cd.34] Step mode 4344+100n [Cd.35] Step valid flag 4345+100n [Cd.36] Step start information 4346+100n [Cd.37] Skip command 4347+100n [Cd.38] Teaching data selection 4348+100n [Cd.39] Teaching positioning data No.
Page 370 [Positioning data] ■Positioning data n: Axis No. - 1 Memory area Item Buffer memory address Positioning data No.1 [Da.1] Operation pattern Positioning identifier 6000+1000n [Da.2] Control method [Da.3] Acceleration time No. [Da.4] Deceleration time No. [Da.6] Positioning address/movement amount 6006+1000n 6007+1000n [Da.7] Arc address...
Page 371 [Block start data] ■Positioning data (Block start data) n: Axis No. - 1 Memory area Item Buffer memory address Starting block 0 Block start data [Da.11] Shape 22000+400n  1st point [Da.12] Start data No.  [Da.13] Special start instruction 22050+400n [Da.14] Parameter...
Page 372 Servo parameters The following shows the relation between the buffer memory addresses of servo parameters and the various items. The setting range is different depending on the servo amplifier model. Refer to each servo amplifier instruction manual for details. ■Servo parameters n: Axis No.
Page 373 Item Servo amplifier parameter No. Buffer memory address  PB13 28431+100n  PB14 28432+100n  PB15 28433+100n  PB16 28434+100n  PB17 28435+100n  PB18 28436+100n  PB19 28437+100n  PB20 28438+100n  PB21 28439+100n  PB22 28440+100n  PB23 28441+100n ...
Page 374 Item Servo amplifier parameter No. Buffer memory address  PC02 28465+100n  PC03 28466+100n  PC04 28467+100n  PC05 28468+100n  PC06 28469+100n  PC07 28470+100n  PC08 28471+100n  PC09 28472+100n  PC10 28473+100n  PC11 28474+100n  PC12 28475+100n ...
Page 375 Item Servo amplifier parameter No. Buffer memory address  PC55 64454+70n  PC56 64455+70n  PC57 64456+70n  PC58 64457+70n  PC59 64458+70n  PC60 64459+70n  PC61 64460+70n  PC62 64461+70n  PC63 64462+70n  PC64 64463+70n  PD01 65520+340n ...
Page 376 Item Servo amplifier parameter No. Buffer memory address  PD44 65563+340n  PD45 65564+340n  PD46 65565+340n  PD47 65566+340n  PD48 65567+340n  PE01 65568+340n  PE02 65569+340n  PE03 65570+340n  PE04 65571+340n  PE05 65572+340n  PE06 65573+340n ...
Page 377 Item Servo amplifier parameter No. Buffer memory address  PE49 65616+340n  PE50 65617+340n  PE51 65618+340n  PE52 65619+340n  PE53 65620+340n  PE54 65621+340n  PE55 65622+340n  PE56 65623+340n  PE57 65624+340n  PE58 65625+340n  PE59 65626+340n ...
Page 378 Item Servo amplifier parameter No. Buffer memory address  PF06 65637+340n  PF07 65638+340n  PF08 65639+340n  PF09 65640+340n  PF10 65641+340n  PF11 65642+340n  PF12 65643+340n  PF13 65644+340n  PF14 65645+340n  PF15 65646+340n  PF16 65647+340n ...
Page 379 Item Servo amplifier parameter No. Buffer memory address  Po11 65690+340n  Po12 65691+340n  Po13 65692+340n  Po14 65693+340n  Po15 65694+340n  Po16 65695+340n  Po17 65696+340n  Po18 65697+340n  Po19 65698+340n  Po20 65699+340n  Po21 65700+340n ...
Page 380 Mark detection function The following shows the relation between the buffer memory addresses for mark detection function and the various items. ■Mark detection setting parameters k: Mark detection setting No. - 1 Item Buffer memory address [Pr.800] Mark detection signal setting 54000+20k [Pr.801] Mark detection signal compensation time...
Page 381: Basic Setting
10.3 Basic Setting The setting items of the setting data are explained in this section. Common parameters Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.24] 0: A-phase/B-phase multiplied by 4 Manual pulse generator/ 1: A-phase/B-phase multiplied by 2 Incremental synchronous...
Page 382 [Pr.24] Manual pulse generator/Incremental synchronous encoder input selection Set the manual pulse generator/incremental synchronous encoder input pulse mode. Manual pulse generator/Incremental synchronous encoder input selection Setting value A-phase/B-phase multiplied by 4 A-phase/B-phase multiplied by 2 A-phase/B-phase multiplied by 1 pulse/SIGN Set the positive logic or negative logic in "[Pr.151] Manual pulse generator/Incremental synchronous encoder input logic selection".
Page 383 ■pulse/SIGN [Pr.151] Manual pulse generator/Incremental synchronous encoder input logic selection Positive logic Negative logic Forward run and reverse run are controlled with the ON/OFF of the direction Forward run and reverse run are controlled with the ON/OFF of the direction sign (SIGN).
Page 384 [Pr.96] Operation cycle setting Set the operation cycle. Operation cycle setting Setting value 0.888 ms 0000H 1.777 ms 0001H • In this parameter, the value set in flash ROM of Simple Motion module is valid at power supply ON or CPU module reset.
Page 385 [Pr.151] Manual pulse generator/INC synchronous encoder input logic selection Set the input signal logic from the manual pulse generator/incremental synchronous encoder. Manual pulse generator/Incremental synchronous encoder input logic selection Setting value Negative logic Positive logic Refer to the following for the negative logic/positive logic. Page 380 [Pr.24] Manual pulse generator/Incremental synchronous encoder input selection A mismatch in the signal logic will disable normal operation.
Page 386: Basic Parameters1
Basic parameters1 This section describes the details on the basic parameter 1. n: Axis No. - 1 Item Setting value, setting range Default Buffer memory value address Value set with the Value set with a engineering tool program [Pr.1] 0: mm 0+150n Unit setting 1: inch...
Page 387 [Pr.2] to [Pr.4] Electronic gear (Movement amount per pulse) Mechanical system value used when the Simple Motion module performs positioning control. The settings are made using [Pr.2] to [Pr.4]. The electronic gear is expressed by the following equation. Number of pulses per rotation (AP) Electronic gear Movement amount per rotation (AL) ×...
Page 388 [Pr.7] Bias speed at start Set the bias speed (minimum speed) upon starting. When using a stepping motor, etc., set it to start the motor smoothly. (If the motor speed at start is low, the stepping motor does not start smoothly.) The specified "bias speed at start"...
Page 389 ■Precautionary notes • Set "0" because "[Pr.7] Bias speed at start" is valid regardless of motor type. Otherwise, it may cause vibration or impact even though an error does not occur. • Set "[Pr.7] Bias speed at start" according to the specification of stepping motor driver. If the setting is outside the range, it may cause the following troubles by rapid speed change or overload.
Page 390: Basic Parameters2
Basic parameters2 This section describes the details on the basic parameter 2. n: Axis No. - 1 Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.8] The setting range differs depending on the "[Pr.1] Unit setting". 200000 10+150n Speed limit value...
Page 391: Detailed Parameters1
Detailed parameters1 n: Axis No. - 1 Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.11] The setting value range differs according to the "[Pr.1] Unit setting". 17+150n Backlash compensation amount...
Page 392 [Pr.11] Backlash compensation amount The error that occurs due to backlash when moving the machine via gears can be compensated. (When the backlash compensation amount is set, commands equivalent to the compensation amount will be output each time the direction changes during positioning.) [Pr.44] Home position return direction Workpiece (moving body)
Page 393 [Pr.13] Software stroke limit lower limit value Set the lower limit for the machine's movement range during positioning control. Software stroke Software stroke limit lower limit limit upper limit Emergency stop Emergency stop (Machine movement range) limit switch limit switch Home position •...
Page 394 [Pr.17] Torque limit setting value Set the maximum value of the torque generated by the servomotor as a percentage between 0.1 and 1000.0%. The torque limit function limits the torque generated by the servomotor within the set range. If the torque required for control exceeds the torque limit value, it is controlled with the set torque limit value. Page 220 Torque limit function [Pr.18] M code ON signal output timing This parameter sets the M code ON signal output timing.
Page 395 [Pr.20] Interpolation speed designation method When carrying out linear interpolation/circular interpolation, set whether to designate the composite speed or reference axis speed. Setting value Details 0: Composite speed The movement speed for the control target is designated, and the speed for each axis is calculated by the Simple Motion module.
Page 396 [Pr.22] Input signal logic selection Set the input signal logic that matches the signaling specification of the external input signal (upper/lower limit switch, proximity dog) of servo amplifier connected to the Simple Motion module or "[Cd.44] External input signal operation device (Axis 1 to 8)".
Page 397: Detailed Parameters2
Detailed parameters2 n: Axis No. - 1 Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.25] 1 to 8388608 (ms) 1 to 8388608 (ms) 1000 36+150n Acceleration time 1 37+150n [Pr.26] 38+150n...
Page 398 Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.83] 0: Invalid 63+150n Speed control 10 times multiplier setting for 1: Valid degree axis [Pr.84] 0, 1 to 327680 [pulse] 64+150n Restart allowable range 0: restart not allowed...
Page 399 [Pr.32] JOG operation acceleration time selection Set which of "acceleration time 0 to 3" to use for the acceleration time during JOG operation. 0: Use value set in "[Pr.9] Acceleration time 0". 1: Use value set in "[Pr.25] Acceleration time 1". 2: Use value set in "[Pr.26] Acceleration time 2".
Page 400 [Pr.36] Rapid stop deceleration time Set the time to reach speed 0 from "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control) during the rapid stop. The illustration below shows the relationships with other parameters. 1) Positioning start 2) Rapid stop cause occurrence 3) Positioning stop •...
Page 401 [Pr.40] Positioning complete signal output time Set the output time of the positioning complete signal output from the Simple Motion module. A positioning completes when the specified dwell time has passed after the Simple Motion module had terminated the command output. For the interpolation control, the positioning completed signal of interpolation axis is output only during the time set to the reference axis.
Page 402 [Pr.41] Allowable circular interpolation error width The allowable error range of the calculated arc path and end point address is set. If the error of the calculated arc path and end point address is within the set range, circular interpolation will be carried out to the set end point address while compensating the error with spiral interpolation.
Page 403 [Pr.83] Speed control 10 times multiplier setting for degree axis Set the speed control 10  multiplier setting for degree axis when you use command speed and speed limit value set by the positioning data and the parameter at "[Pr.1] Unit setting" setup degree by ten times at the speed. 0: Invalid 1: Valid Normally, the speed specification range is 0.001 to 2000000.000 [degree/min], but it will be decupled and become 0.01 to...
Page 404 ■Setting method For performing restart at switching servo OFF to ON, set the restart allowable range in the following buffer memory. n: Axis No. - 1 Item Setting range Default value Buffer memory address [Pr.84] Restart allowable range when servo OFF to 0, 1 to 327680 [pulse] 64+150n 0: restart not allowed...
Page 405 [Pr.90] Operation setting for speed-torque control mode Operation setting of the speed control mode, torque control mode or continuous operation to torque control mode at the speed-torque control is executed. ■Torque initial value selection Set the torque initial value at switching to torque control mode or to continuous operation to torque control mode. Setting value Details 0: Command torque...
Page 406 [Pr.127] Speed limit value input selection at control mode switching Set whether to input the value of the "[Pr.8] Speed limit value" at speed-torque control mode switching. The "Speed limit value input selection at control mode switching" is included in detailed parameters 2. However, it will be valid at the leading edge (OFF to ON) of the "[Cd.190] PLC READY signal".
Page 407: Home Position Return Basic Parameters
Home position return basic parameters n: Axis No. - 1 Item Setting value, setting range Default Buffer memory value address Value set with the engineering tool Value set with a program [Pr.43] 0: Proximity dog method 70+150n Home position return 4: Count method 1 method 5: Count method 2...
Page 408 [Pr.44] Home position return direction Set the direction to start movement when starting machine home position return. Setting value Details 0: Positive direction (address increment direction) Moves in the direction that the address increments. (Arrow 2)) 1: Negative direction (address decrement direction) Moves in the direction that the address decrements.
Page 409 [Pr.46] Home position return speed Set the speed for home position return. [Pr.1] setting value Value set with the engineering tool (unit) Value set with a program (unit) 1 to 2000000000 (  10 0: mm 0.01 to 20000000.00 (mm/min) mm/min) 1 to 2000000000 ( ...
Page 410: Home Position Return Detailed Parameters
Home position return detailed parameters n: Axis No. - 1 Item Setting value, setting range Default Buffer memory value address Value set with the engineering tool Value set with a program [Pr.50] The setting value range differs depending on the "[Pr.1] Unit setting". 80+150n Setting for the movement amount after 81+150n...
Page 411 [Pr.50] Setting for the movement amount after proximity dog ON When using the count method 1 or 2, set the movement amount to the home position after the proximity dog signal turns ON. (The movement amount after proximity dog ON should be equal to or greater than the sum of the "distance covered by the deceleration from the home position return speed to the creep speed"...
Page 412 [Pr.53] Home position shift amount Set the amount to shift (move) from the position stopped at with machine home position return. The home position shift function is used to compensate the home position stopped at with machine home position return. If there is a physical limit to the home position, due to the relation of the proximity dog installation position, use this function to compensate the home position to an optimum position.
Page 413 [Pr.55] Operation setting for incompletion of home position return Set whether the positioning control is executed or not (When the home position return request flag is ON.). 0: Positioning control is not executed. 1: Positioning control is executed. • When the home position return request flag is ON, selecting "0: Positioning control is not executed" will result in the error "Start at home position return incomplete"...
Page 414: Extended Parameters
Extended parameters n: Axis No. - 1 Item Setting value, setting range Default Buffer memory value address Value set with the engineering tool Value set with a program [Pr.91] 0: No setting 100+150n Optional data monitor: Data type 1: Effective load ratio setting 1 2: Regenerative load ratio 3: Peak load ratio...
Page 415 [Pr.91] to [Pr.94] Optional data monitor: Data type setting Set the data type monitored in optional data monitor function. Setting value Data type Used point No setting 1 word Effective load ratio Regenerative load ratio Peak load ratio Load inertia moment ratio Model loop gain Main circuit bus voltage Servo motor speed...
Page 416 • The monitor address of optional data monitor is registered to servo amplifier with initialized communication after power supply ON or CPU module reset. • Set the data type of "used point: 2 words" in "[Pr.91] Optional data monitor: Data type setting 1" or "[Pr.93] Optional data monitor: Data type setting 3".
Page 417: Servo Parameters
Servo parameters Servo series n: Axis No. -1 Item Setting details Set range Default Buffer value memory address [Pr.100] Used to select the servo amplifier series to 0: Not set 28400+100n Servo series connect to the Simple Motion module. 1: MR-J3-_B_, MR-J3W-_B (2-axis type) 3: MR-J3-_BS (For safety servo) 32: MR-J4-_B_(-RJ), MR-J4W_-_B (2-axis type, 3-axis type) 48: MR-JE-_B...
Page 418: Positioning Data
10.4 Positioning Data Before explaining the positioning data setting items [Da.1] to [Da.10], [Da.20] to [Da.22], the configuration of the positioning data is shown below. The positioning data stored in the buffer memory of the Simple Motion module is the following configuration. Up to 100 positioning data items can be set (stored) for each axis in the buffer memory address shown on the left.
Page 419 The following explains the positioning data setting items [Da.1] to [Da.10] and [Da.20] to [Da.22]. (The buffer memory addresses shown are those of the "positioning data No.1".) n: Axis No. - 1 Item Setting value Default Buffer memory value address Value set with the Value set with a program engineering tool...
Page 420 Item Setting value Default Buffer memory value address Value set with the Value set with a program engineering tool [Da.6] The setting value range differs according to the "[Da.2] Control method". 6006+1000n Positioning address/ 6007+1000n movement amount [Da.7] 6008+1000n Arc address 6009+1000n [Da.8] The setting value range differs depending on the "[Pr.1] Unit setting".
Page 421 [Da.2] Control method Set the "control method" for carrying out positioning control. • When "JUMP instruction" is set for the control method, the "[Da.9] Dwell time/JUMP destination positioning data No." and "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions" setting details will differ.
Page 422 ■Incremental (INC) system, fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4 • The setting value (movement amount) for the INC system is set as a movement amount with sign. When movement amount is positive: Moves in the positive direction (address increment direction) When movement amount is negative: Moves in the negative direction (address decrement direction) Stop position (positioning start position) (Movement amount)
Page 423 ● When "[Pr.1] Unit setting" is "degree" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) ( ...
Page 424 ● When "[Pr.1] Unit setting" is "inch" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) ( ...
Page 425 ■When "[Pr.1] Unit setting" is "mm" The table below lists the control methods that require the setting of the arc address and shows the setting range. (With any control method excluded from the table below, the arc address does not need to be set.) ( ...
Page 426 [Da.8] Command speed Set the command speed for positioning. • If the set command speed exceeds "[Pr.8] Speed limit value", positioning will be carried out at the speed limit value. • If "-1" is set for the command speed, the current speed (speed set for previous positioning data No.) will be used for positioning control.
Page 427 ■When "[Da.1] Operation pattern" is "11: Continuous path control" • The setting value is irrelevant to the control. (The "dwell time" is 0 ms.) Positioning control Next positioning control No dwell time (0 ms) [Da.2] setting value Setting item Value set with the engineering tool Value set with a program JUMP instruction: 82H Positioning data No.
Page 428: Block Start Data
10.5 Block Start Data Before explaining the block start data setting items [Da.11] to [Da.14], the configuration of the block start data is shown below. The block start data stored in the buffer memory of the Simple Motion module is the following configuration. 50th point Buffer memory Setting item...
Page 429 n: Axis No. - 1 Item Setting value Default Buffer memory value address Value set with the engineering tool Value set with a program [Da.11] 0: End 0000H 22000+400n Shape 1: Continue [Da.12] Positioning data No: 1 to 600 Start data No. (01H to 258H) 258H [Da.11]...
Page 430 [Da.14] Parameter Set the value as required for "[Da.13] Special start instruction". [Da.13] Special start Setting Setting details instruction value Block start (Normal start)  Not used. (There is no need to set.) Condition start 1 to 10 Set the condition data No. (Data No. of "condition data" is set up for the condition judgment.) (Refer to Page 429 Condition Data for details on the condition data.) Wait start Simultaneous start...
Page 431: Condition Data
10.6 Condition Data Before explaining the condition data setting items [Da.15] to [Da.19] and [Da.23] to [Da.26], the configuration of the condition data is shown below. The condition data stored in the buffer memory of the Simple Motion module is the following configuration. No.10 Buffer memory Setting item...
Page 432 The following explains the condition data setting items [Da.15] to [Da.19] and [Da.23] to [Da.26]. (The buffer memory addresses shown are those of the "condition data No.1 (block No.7000)".) • To perform a high-level positioning control using block start data, set a number between 7000 and 7004 to the "[Cd.3] Positioning start No."...
Page 433 n: Axis No. - 1 Item Setting value Default Buffer memory value address Value set with the Value set with a program engineering tool Condition [Da.15] 01: Monitor data ([Md.140], 0000H 22100+400n [Da.15] Condition target identifier Condition [Md.141]) [Da.16] Condition operator target 02: Control data ([Cd.184], [Cd.190], [Cd.191])
Page 434 [Da.15] Condition target Set the condition target as required for each control. Setting value Setting details 01H: Monitor data ([Md.140], [Md.141]) Set the state (ON/OFF) of each signal as a condition. 02H: Control data ([Cd.184], [Cd.190], [Cd.191]) 03H: Buffer memory (1-word) Set the value stored in the buffer memory as a condition.
Page 435 [Da.18] Parameter 1 Set the parameters as required for the "[Da.16] Condition operator" and "[Da.23] Number of simultaneously starting axes". [Da.16] Condition [Da.23] Number of Setting value Setting details operator simultaneously starting axes The value of P1 should be equal to or smaller than the value of P2. (P1  P2) 01H: ** = P1 ...
Page 436 [Da.24] Simultaneously starting axis No.1 to [Da.26] Simultaneously starting axis No.3 Set the simultaneously starting axis to execute the 2 to 4-axis simultaneous start. Simultaneously Details starting axis 2-axis interpolation Set the target axis No. in "[Da.24] Simultaneously starting axis No.1". 3-axis interpolation Set the target axis No.
Page 437: Monitor Data
10.7 Monitor Data The setting items of the monitor data are explained in this section. System monitor data Unless noted in particular, the monitor value is saved as binary data. Item Default value Starting history (Up to 64 records can be stored) [Md.3] Start information 0000H [Md.4] Start No.
Page 438 [Md.3] Start information This area stores the start information (restart flag, start origin, and start axis): • Restart flag: Indicates whether the operation has or has not been halted and restarted. • Start origin: Indicates the source of the start signal. •...
Page 439 [Md.4] Start No. The start No. is stored. Refresh cycle: At start ■Reading the monitor value • Monitoring is carried out with a hexadecimal display. Monitor value Buffer memory Start No. Storage value Reference Stored contents (Decimal) 7000 Positioning operation 7001 7002 7003...
Page 440 [Md.5] Start (Day: hour) The starting time (Day: hour) is stored. Refresh cycle: At start ■Reading the monitor value • Monitoring is carried out with a hexadecimal display. Buffer memory (stored with BCD code) Monitor value 0 1 0 1 0 0 0 0 0 0 1 0 1 0 1 0 to 3 0 to 9 0 to 2 0 to 9...
Page 441 [Md.60] Start (ms) The starting time (ms) is stored. 000 (ms) to 999 (ms) Refresh cycle: At start ■Reading the monitor value • Monitoring is carried out with a hexadecimal display. Buffer memory (stored with BCD code) Monitor value 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 to 9 0 to 9 0 to 9...
Page 442 [Md.8] Start history pointer Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing starting history records. Refresh cycle: At start ■Reading the monitor value • Monitoring is carried out with a decimal display. Monitor Storage value (Pointer No.) 0 to 63...
Page 443 [Md.51] Amplifier-less operation mode status Indicates a current operation mode. Refresh cycle: Immediate ■Reading the monitor value • Monitoring is carried out with a decimal display. Monitor Storage value value 0: Normal operation mode 1: Amplifier-less operation mode • Buffer memory address Refer to the following for the buffer memory address in this area.
Page 444 [Md.130] F/W version Stores the OS version of the module (F/W version). Refresh cycle: At power supply ON ■Reading the monitor value • Monitoring is carried out with a decimal display. • When the F/W version of the Simple Motion module is Ver. 1.000 ●...
Page 445 [Md.133] Operation cycle over flag This flag turns ON when the operation cycle time exceeds operation cycle. Refresh cycle: Immediate ■Reading the monitor value • Monitoring is carried out with a decimal display. Monitor Storage value value 0: OFF 1: ON (Operation cycle over occurred.) Latch status of operation cycle over is indicated.
Page 446 [Md.140] Module status Stores the status (ON/OFF) of various flags. Storage details are shown below. ● READY • When the "[Cd.190] PLC READY signal" turns from OFFON, the parameter setting range is checked. If no error is found, this signal turns ON. •...
Page 447: Axis Monitor Data
Axis monitor data Item Default value [Md.20] Feed current value 0000H [Md.21] Machine feed value 0000H [Md.22] Feedrate 0000H [Md.23] Axis error No. 0000H [Md.24] Axis warning No. 0000H [Md.25] Valid M code [Md.26] Axis operation status [Md.27] Current speed [Md.28] Axis feedrate 0000H [Md.29] Speed-position switching control positioning movement amount...
Page 448 Item Default value [Md.502] Driver operation alarm No. 0000H [Md.20] Feed current value The currently commanded address is stored. (Different from the actual motor position during operation) The current position address is stored. If "degree" is selected as the unit, the addresses will have a ring structure for values between 0 and 359.99999. •...
Page 449 [Md.21] Machine feed value The address of the current position according to the machine coordinates will be stored. (Different from the actual motor position during operation) Note that the current value changing function will not change the machine feed value. Under the speed control mode, the machine feed value is constantly updated always, irrespective of the parameter setting.
Page 450 [Md.24] Axis warning No. Whenever an axis warning is reported, a related warning code is stored. • This area stores the latest warning code always. (Whenever an axis warning is reported, a new warning code replaces the stored warning code.) •...
Page 451 [Md.27] Current speed The "[Da.8] Command speed" used by the positioning data currently being executed is stored. • If "[Da.8] Command speed" is set to "-1", this area stores the command speed set by the positioning data used one step earlier.
Page 452 [Md.28] Axis feedrate • The speed which is actually output as a command at that time in each axis is stored. (May be different from the actual motor speed)"0" is stored when the axis is at a stop. (Page 447 [Md.22] Feedrate) Refresh cycle: Operation cycle ■Reading the monitor value Refer to the following.
Page 453 [Md.30] External input signal The ON/OFF state of the external input signal is stored. The following items are stored. • Lower limit signal • Upper limit signal • Stop signal • External command signal/switching signal • Proximity dog signal *1 This area stores the states of the external input signal (servo amplifier) or buffer memory of Simple Motion module set by "[Pr.116] FLS signal selection", "[Pr.117] RLS signal selection", "[Pr.118] DOG signal selection", and "[Pr.119] STOP signal selection".
Page 454 ■Command in-position flag This signal is ON when the remaining distance is equal to or less than the command in-position range (set by a detailed parameter). This signal remains OFF with data that specify the continuous path control (P11) as the operation pattern. The state of this signal is monitored every operation cycle except when the monitoring is canceled under the speed control or while the speed control is in effect during the speed-position or position-speed switching control.
Page 455 ■Positioning complete This signal turns ON for the time set in "[Pr.40] Positioning complete signal output time" from the instant when the positioning control for each positioning data No. is completed. For the interpolation control, the positioning complete signal of interpolation axis turns ON during the time set to the reference axis.
Page 456 [Md.33] Target speed • During operation with positioning data: The actual target speed, considering the override and speed limit value, etc., is stored. "0" is stored when positioning is completed. • During interpolation of position control: The composite speed or reference axis speed is stored in the reference axis address, and "0"...
Page 457 [Md.34] Movement amount after proximity dog ON • "0" is stored when machine home position return starts. • After machine home position return starts, the movement amount from the proximity dog ON to the machine home position return completion is stored. (Movement amount: Movement amount to machine home position return completion using proximity dog ON as "0".) Refresh cycle: Immediate ■Reading the monitor value...
Page 458 [Md.37] Special start data instruction parameter setting value • The "instruction parameter" used with special start and indicated by the start data pointer currently being executed is stored. The stored value differs according to the value set for [Md.36]. Refresh cycle: Immediate ■Reading the monitor value •...
Page 459 [Md.40] In speed change processing flag • The speed change process flag turns ON when the speed is changed during positioning control. • After the speed change process is completed or when deceleration starts with the stop signal during the speed change process, the in speed change process flag turns OFF.
Page 460 [Md.43] Start data pointer being executed • This area stores a point No. (1 to 50) attached to the start data currently being executed. • This area stores "0" after completion of a positioning operation. Refresh cycle: Immediate ■Reading the monitor value •...
Page 461 [Md.46] Last executed positioning data No. • This area stores the positioning data No. attached to the positioning data that was executed last time. • The value is retained until a new positioning operation is executed. • This area stores "0" when the JOG/inching operation is executed. Refresh cycle: Immediate ■Reading the monitor value •...
Page 462 [Md.100] Home position return re-travel value • This area stores the travel distance during the home position return travel to the zero point that was executed last time. "0" is stored at machine home position return start. For setting units (Buffer memory ...
Page 463 [Md.102] Deviation counter value • This area stores the droop pulse. (Buffer memory details) pulse Refresh cycle: Operation cycle ■Reading the monitor value Refer to the following. Page 460 [Md.100] Home position return re-travel value • Buffer memory address Refer to the following for the buffer memory address in this area. Page 364 Axis monitor data [Md.103] Motor rotation speed •...
Page 464 [Md.106] Servo amplifier software No. • This area stores the software No. of the servo amplifier used. • This area is update when the control power of the servo amplifier is turned ON. Refresh cycle: Servo amplifier's power supply ON ■Reading the monitor value •...
Page 465 [Md.108] Servo status1 This area stores the servo status1. • READY ON: Indicates the ready ON/OFF. • Servo ON: Indicates the servo ON/OFF. • Control mode: Indicates the control mode of the servo amplifier. • Gain switching: Turns ON during the gain switching. •...
Page 466 [Md.109] Regenerative load ratio/Optional data monitor output 1 • The rate of regenerative power to the allowable regenerative power is indicated as a percentage. • When the regenerative option is used, the rate to the allowable regenerative power of the option is indicated. (Buffer memory) % •...
Page 467 [Md.112] Optional data monitor output 4 • This area stores the content set in "[Pr.94] Optional data monitor: Data type setting 4" at optional data monitor data type setting. ("0" is stored when the optional data monitor data type is not set.) Refresh cycle: Operation cycle ■Reading the monitor value •...
Page 468 [Md.116] Encoder option information • The option information of encoder is indicated. Refresh cycle: Servo amplifier's power supply ON ■Reading the monitor value • Monitoring is carried out with a hexadecimal display. Stored items Details 0: Incompatible Compatible with continuous operation to torque control 1: Compatible 0: Incompatible...
Page 469 [Md.120] Reverse torque limit stored value "[Pr.17] Torque limit setting value", "[Cd.101] Torque output setting value", "[Cd.113] Reverse new torque value", or "[Pr.54] Home position return torque limit value" is stored. • At the positioning start/JOG operation start/manual pulse generator operation: "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value"...
Page 470 [Md.123] Torque during command • This area stores the command torque during torque control mode. (Buffer memory  0.1)% • This area stores the command torque during continuous operation to torque control mode. • "0" is stored other than during torque control mode or continuous operation to torque control mode. Refresh cycle: Operation cycle (Torque control mode and continuous operation to torque control mode only) ■Reading the monitor value Refer to "[Md.122] Speed during command".
Page 471 [Md.500] Servo status7 • This area stores the servo status7. Refresh cycle: Operation cycle ■Reading the monitor value • Monitoring is carried out with a hexadecimal display. Stored items Meaning 0: OFF b9 Driver operation alarm 1: ON • Buffer memory address Refer to the following for the buffer memory address in this area.
Page 472: Control Data
10.8 Control Data The setting items of the control data are explained in this section. System control data Item Default value [Cd.1] Flash ROM write request [Cd.2] Parameter initialization request [Cd.41] Deceleration start flag valid [Cd.42] Stop command processing for deceleration stop selection [Cd.44] External input signal operation device (Axis 1 to 8) 0000H [Cd.102] SSCNET control command...
Page 473 [Cd.2] Parameter initialization request • Requests initialization of setting data. Refer to the following for initialized setting data. Page 292 Parameter Initialization Function Initialization: Resetting of setting data to default values Fetch cycle: 103 [ms] After completing the initialization of setting data, switch the power ON or reset the CPU module. ■Setting value •...
Page 474 [Cd.42] Stop command processing for deceleration stop selection • Sets the stop command processing for deceleration stop function (deceleration curve re-processing/deceleration curve continuation). Fetch cycle: At deceleration stop causes occurrence ■Setting value • Set with a decimal. Setting value Stop command processing for deceleration stop selection 0: Deceleration curve re-processing 1: Deceleration curve continuation...
Page 475 [Cd.102] SSCNET control command • Sets the connect/disconnect command of SSCNET communication. Fetch cycle: 3.5 [ms] ■Setting value • Set with a decimal. Setting value SSCNET control command : No command : Disconnect command of SSCNET communication Axis No. (Axis No. to be disconnected) : Execute command : Connect command of SSCNET communication Except above setting : Invalid...
Page 476 [Cd.190] PLC READY signal ● This signal notifies the Simple Motion module that the CPU module is normal. • It is turned ON/OFF with the program. ● When the data (parameter) are changed, the "[Cd.190] PLC READY signal" is turned OFF depending on the parameter. ●...
Page 477: Axis Control Data
Axis control data Item Default value [Cd.3] Positioning start No. [Cd.4] Positioning starting point No. [Cd.5] Axis error reset [Cd.6] Restart command [Cd.7] M code OFF request [Cd.8] External command valid [Cd.9] New current value [Cd.10] New acceleration time value [Cd.11] New deceleration time value [Cd.12] Acceleration/deceleration time change value during speed change, enable/disable [Cd.13] Positioning operation speed override...
Page 478 Item Default value [Cd.138] Control mode switching request [Cd.139] Control mode setting [Cd.140] Command speed at speed control mode [Cd.141] Acceleration time at speed control mode 1000 [Cd.142] Deceleration time at speed control mode 1000 [Cd.143] Command torque at torque control mode [Cd.144] Torque time constant at torque control mode (Forward direction) 1000 [Cd.145] Torque time constant at torque control mode (Negative direction)
Page 479 [Cd.4] Positioning starting point No. • Sets a "starting point No." (1 to 50) if block start data is used for positioning. (Handled as "1" if the value other than 1 to 50 is set.) Fetch cycle: At start ■Setting value •...
Page 480 [Cd.6] Restart command • When "1" is set in [Cd.6] after the positioning is stopped for any reason (while the axis operation state is "stopped"), the positioning will be carried out again from the stop position to the end point of the stopped positioning data. Fetch cycle: 14.2 [ms] ■Setting value •...
Page 481 [Cd.9] New current value • When changing the feed current value using the start No. "9003", use this data item to specify a new feed value. • The setting value range differs according to the "[Pr.1] Unit setting". mm (  10 m) inch ( ...
Page 482 [Cd.11] New deceleration time value • When changing the deceleration time during a speed change, use this data item to specify a new deceleration time. Setting range of [Cd.11] (unit) 0 to 8388608 (ms) Fetch cycle: At change request ■Setting value Refer to "[Cd.10] New acceleration time value".
Page 483 [Cd.14] New speed value • When changing the speed, use this data item to specify a new speed. • The operation halts if you specify "0". • The setting value range differs according to the "[Pr.1] Unit setting". mm (  10 inch ( ...
Page 484 [Cd.16] Inching movement amount • Use this data item to set the amount of movement by inching. • The machine performs a JOG operation if "0" is set. • The setting value range differs according to the "[Pr.1] Unit setting". mm ( ...
Page 485 [Cd.17] JOG speed • Use this data item to set the JOG speed. • The setting value range differs according to the "[Pr.1] Unit setting". mm (  10 inch (  10 (  10 [Pr.1] Unit setting mm/min) inch/min) degree degree/min)
Page 486 [Cd.19] Home position return request flag OFF request • The program can use this data item to forcibly turn the home position return request flag from ON to OFF. Fetch cycle: 14.2 [ms] This parameter is made valid when the increment system is valid. ■Setting value •...
Page 487 [Cd.22] New torque value/forward new torque value • When "0" is set to "[Cd.112] Torque change function switching request", a new torque limit value is set. (This value is set to the forward torque limit value and reverse torque limit value.) When "1" is set to "[Cd.112] Torque change function switching request", a new forward torque limit value is set.
Page 488 [Cd.24] Speed-position switching enable flag • Sets whether the switching signal set in "[Cd.45] Speed-position switching device selection" is enabled or not. Fetch cycle: At switching request ■Setting value • Set with a decimal. Setting value Speed-position switching enable flag 0: Speed control will not be taken over by position control even when the signal set in "[Cd.45] Speed-position switching device...
Page 489 [Cd.26] Position-speed switching enable flag • Sets whether the switching signal set in "[Cd.45] Speed-position switching device selection" is enabled or not. Fetch cycle: At switching request ■Setting value • Set with a decimal. Setting value Position-speed switching enable flag 0: Position control will not be taken over by speed control even when the signal set in "[Cd.45] Speed-position switching device...
Page 490 [Cd.28] Target position change value (New speed) • When changing the target position during a positioning operation, use this data item to specify a new speed. • The speed will not change if "0" is set. • The setting value range differs according to the "[Pr.1] Unit setting". mm ( ...
Page 491 [Cd.31] Simultaneous starting axis start data No.1 • Use this data item to specify a start data No.1 for each axis that starts simultaneously. Fetch cycle: At start ■Setting value Refer to "[Cd.30] Simultaneous starting own axis start data No.". Page 488 [Cd.30] Simultaneous starting own axis start data No.
Page 492 [Cd.34] Step mode • To perform a step operation, use this data item to specify the units by which the stepping should be performed. Fetch cycle: At start ■Setting value • Set with a decimal. Setting value Step mode 0: Stepping by deceleration units 1: Stepping by data No.
Page 493 [Cd.37] Skip command • To skip the current positioning operation, set "1" in this data item. Fetch cycle: Operation cycle (During positioning operation) ■Setting value • Set with a decimal. Setting value Skip request 1: Issues a skip request to have the machine decelerate, stop, and then start the next positioning operation.
Page 494 [Cd.40] ABS direction in degrees • This data item specifies the ABS moving direction carrying out the position control when "degree" is selected as the unit. Fetch cycle: At start ■Setting value • Set with a decimal. Setting value ABS direction in degrees 0: Takes a shortcut.
Page 495 [Cd.45] Speed-position switching device selection • Select the device used for speed-position switching. If the setting is outside the range at start, operation is performed with the setting regarded as "0". Fetch cycle: At positioning start for speed-position switching control/position-speed switching control ■Setting value •...
Page 496 [Cd.100] Servo OFF command • Executes servo OFF for each axis. Fetch cycle: Operation cycle To execute servo ON for axes other than axis 1 being servo OFF, write "1" to storage buffer memory address of axis 1 and then turn ON "[Cd.191] All axis servo ON signal". ■Setting value •...
Page 497 [Cd.108] Gain changing command flag • The command required to carry out "gain changing" of the servo amplifier from the Simple Motion module. Fetch cycle: Operation cycle If the setting is other than "0" and "1", operation is performed in the "gain changing" with the setting regard as "0".
Page 498 [Cd.113] Reverse new torque value • "1" is set in "[Cd.112] Torque change function switching request", a new reverse torque limit value is set. (when "0" is set in "[Cd.112] Torque change function switching request", the setting value is invalid.) •...
Page 499 [Cd.131] Parameter No. (Setting for servo parameters to be changed) • Set the servo parameter to be changed. Fetch cycle: At change request ■Setting value • Set with a hexadecimal. MR-J4(W)-B/MR-JE-B Setting value Parameter No. setting 01H to 40H Parameter group 0: PA group Writing mode 1: PB group...
Page 500 [Cd.133] Semi/Fully closed loop switching request • Set the switching of semi closed control and fully closed loop control. Fetch cycle: Operation cycle (Fully closed loop control servo amplifier only) ■Setting value • Set with a decimal. Setting value Semi/Fully closed loop switching request 0: Semi closed loop control 1: Fully closed loop control •...
Page 501 [Cd.139] Control mode setting • Set the control mode to be changed in the speed-torque control. Fetch cycle: At control mode switching ■Setting value • Set with a decimal. Setting value Control mode setting 0: Position control mode 10: Speed control mode 20: Torque control mode 30: Continuous operation to torque control mode •...
Page 502 [Cd.141] Acceleration time at speed control mode • Set the acceleration time at speed control mode. (Set the time for the speed to increase from "0" to "[Pr.8] Speed limit value".) 0 to 65535 (ms) Fetch cycle: At control mode switching ■Setting value •...
Page 503 [Cd.144] Torque time constant at torque control mode (Forward direction) • Set the time constant at driving during torque control mode. (Set the time for the torque to increase from "0" to "[Pr.17] Torque limit setting value".) 0 to 65535 (ms) Fetch cycle: At control mode switching ■Setting value •...
Page 504 [Cd.146] Speed limit value at torque control mode • Set the speed limit value at torque control mode. • The setting value range differs according to the "[Pr.1] Unit setting". mm (  10 inch (  10 (  10 [Pr.1] Unit setting mm/min) inch/min)
Page 505 [Cd.148] Acceleration time at continuous operation to torque control mode • Set the acceleration time at continuous operation to torque control mode. (Set the time for the speed to increase from "0" to "[Pr.8] Speed limit value".) 0 to 65535 (ms) Fetch cycle: At control mode switching ■Setting value •...
Page 506 [Cd.151] Torque time constant at continuous operation to torque control mode (+ *1 "+" is an abbreviation for "Forward direction". • Set the time constant at driving during continuous operation to torque control mode. (Set the time for the torque to increase from "0"...
Page 507 [Cd.153] Control mode auto-shift selection • Set the switching condition when switching to continuous operation to torque control mode. Setting value Details 0: No switching Switching is executed at switching request to continuous operation to torque control mode. condition 1: Feed current value Switching is executed when "[Md.20] Feed current value"...
Page 508 [Cd.180] Axis stop • When the axis stop signal turns ON, the home position return control, positioning control, JOG operation, inching operation, manual pulse generator operation, speed-torque control, etc. will stop. • By turning the axis stop signal ON during positioning operation, the positioning operation will be "stopped". •...
Page 509 [Cd.183] Execution prohibition flag • If the execution prohibition flag is ON when the positioning start signal turns ON, positioning control does not start until the execution prohibition flag turns OFF. Used with the "Pre-reading start function". (Page 252 Pre-reading start function) Fetch cycle: At start ■Setting value •...
Page 510: Memory Configuration And Data Process
10.9 Memory Configuration and Data Process The memory configuration and data transmission of Simple Motion module are explained in this section. The Simple Motion module is configured of four memories. By understanding the configuration and roles of two memories, the internal data transmission process of Simple Motion module, such as "when the power is turned ON"...
Page 511 Details of areas Area name Description Parameter area Area where parameters, such as positioning parameters and home position return parameters, required for positioning control are set and stored. Monitor data area Area where the operation status of positioning system is stored. Control data area Area where data for operating and controlling positioning system is set and stored.
Page 512: Buffer Memory Area Configuration
Buffer memory area configuration The buffer memory of Simple Motion module is configured of the following types of areas. n: Axis No. - 1 k: Mark detection setting No. - 1 j: Synchronous encoder axis No. - 1 Buffer memory area configuration Buffer memory address Writing possibility...
Page 513 Buffer memory area configuration Buffer memory address Writing possibility Synchronous control area Servo input axis parameter 32800+10n to 32805+10n Possible Servo input axis monitor data 33120+10n to 33127+10n Not possible Synchronous encoder axis parameter 34720+20j to 34735+20j Possible Synchronous encoder axis control data 35040+10j to 35047+10j Possible Synchronous encoder axis monitor data...
Page 514: Data Transmission Process
Data transmission process The data is transmitted between the memories of Simple Motion module with steps (1) to (10) shown below. The data transmission patterns correspond to the numbers (1) to (10) in the following drawings. CPU module (4) FROM command (2) TO command Simple Motion module (1) Valid at power supply ON/...
Page 515 (1) Transmitting data when power is turned ON or CPU module is reset When the power is turned ON or the CPU module is reset, the "parameter area (c) ", "positioning data", "block start data" and "servo parameter" stored (backed up) in the flash ROM/internal memory (nonvolatile) are transmitted to the buffer memory and internal memory.
Page 516 Engineering tool (7) Flash ROM write request CPU module (6) Flash ROM write request (7) Flash ROM write request (Set "1" in [Cd.1] with TO command) Simple Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area...
Page 517 (6) Writing the flash ROM by a CPU module request The following transmission process is carried out by setting "1" in "[Cd.1] Flash ROM write request". • The "parameters", "positioning data (No.1 to 600)", "block start data (No.7000 to 7004)" and "servo parameter" in the buffer memory/internal memory area are transmitted to the flash ROM/internal memory (nonvolatile).
Page 518 Engineering tool (8) Data read (9) Data write CPU module (9) Data write (8) Data read Simple Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area Monitor data area...
Page 519 (8) Reading data from buffer memory/internal memory to the engineering tool The following transmission processes are carried out with the [Read from module] from the engineering tool. • The "parameters", "positioning data (No.1 to 600)", "block start data (No.7000 to 7004)" and "servo parameter" in the buffer memory/internal memory area are transmitted to the engineering tool via the CPU module.
Page 520 Simple Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area Monitor data area Control data area Flash ROM Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area...
Page 521 ■About the communication start with servo amplifier Communication with servo amplifier is valid when following conditions are realized together. • The power of Simple Motion module and servo amplifier is turned ON. • The servo parameter "[Pr.100] Servo series" in the buffer memory of the Simple Motion module is set with a value other than "0".
Page 522 ■Servo parameter of the buffer memory/internal memory The followings show details about the operation timing and details at transmitting the servo parameter of the buffer memory/ internal memory. • When the servo parameter is written in the internal memory (nonvolatile), it is unnecessary to use a setup from the program/engineering tool.
Page 523 • When the servo amplifier's power supply is turned ON after the "[Cd.190] PLC READY signal" is turned OFF to ON ((C) in the following figure) Communication start timing with the servo amplifier When the servo amplifier had started ((B) in the following figure) Servo parameter to be transferred The data written from the program/engineering tool before the "[Cd.190] PLC READY signal"...
Page 524: Chapter 11 Programming
PROGRAMMING This chapter describes the programs required to carry out positioning control with the Simple Motion module. The program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, block start data and condition data, etc., must be set in the Simple Motion module according to the control to be executed, and a setting program for the control data or a start program for the various controls must be created.) 11.1...
Page 525: Creating A Program
11.2 Creating a Program The "positioning control operation program" actually used is explained in this section. General configuration of program The general configuration of the positioning control operation program is shown below. Program name Remark Parameter setting program • The program is not required when the parameter, positioning data, block start data, and servo parameter are set using an engineering tool.
Page 526: Positioning Program Examples (For Using Labels)
11.3 Positioning Program Examples (For Using Labels) List of labels used In the program examples, the labels to be used are assigned as follows. Module label Classification Label name Description Start I/O No. FX5SSC_1.uIO Start I/O No. Input signal FX5SSC_1.stSysCtrl_D.bAllAxisServoOn_D All axis servo ON FX5SSC_1.stSysMntr2_D.bReady_D READY...
Page 527 Classification Label name Description Axis control data 1 FX5SSC_1.stnAxCtrl1_D[0].dNewPosition_D Axis 1 New current value FX5SSC_1.stnAxCtrl1_D[0].uClearHomingRequestFlag_D Axis 1 Home position return request flag OFF request FX5SSC_1.stnAxCtrl1_D[0].uClear_M_Code_D Axis 1 M code OFF request FX5SSC_1.stnAxCtrl1_D[0].uEnablePV_Switching_D Axis 1 Position-speed switching enable flag FX5SSC_1.stnAxCtrl1_D[0].uEnableVP_Switching_D Axis 1 Speed-position switching enable flag FX5SSC_1.stnAxCtrl1_D[0].uExternalCommandValid_D Axis 1 External command valid FX5SSC_1.stnAxCtrl1_D[0].uForwardNewTorque_D...
Page 528 Global label The following describes the global labels used in the program examples. Set the global labels as follows. • Global label that the assignment device is not to be set (The unused internal relay and data device are automatically assigned when the assignment device is not set.) 11 PROGRAMMING 11.3 Positioning Program Examples (For Using Labels)
Page 529 • Global label that the assignment device is to be set 11 PROGRAMMING 11.3 Positioning Program Examples (For Using Labels)
Page 530: Program Examples (For Using Labels)
Program examples (for using labels) Parameter setting program The program is not required when the parameter is set by "Module Parameter" using an engineering tool. ■Setting for basic parameter 1 (axis 1) ■Setting for home position return basic parameter (axis 1) ■Unit "degree"...
Page 531 Positioning data setting program The program is not required when the data is set by "Positioning Data" using an engineering tool. 11 PROGRAMMING 11.3 Positioning Program Examples (For Using Labels)
Page 532 Block start data setting program The program is not required when the data is set by "Block Start Data" using an engineering tool. Servo parameter setting program The program is not required when the parameter is set by "Servo Parameter" using an engineering tool. 11 PROGRAMMING 11.3 Positioning Program Examples (For Using Labels)
Page 533 Home position return request OFF program The program is not required when "1: Positioning control is executed." is set in "[Pr.55] Operation setting for incompletion of home position return" by "Home Position Return Detailed Parameters" using an engineering tool. External command function valid setting program PLC READY signal ON program All axis servo ON program 11 PROGRAMMING...
Page 534 Positioning start No. setting program ■Machine home position return ■Fast home position return ■Positioning with positioning data No.1 ■Speed-position switching operation (Positioning data No.2) In the ABS mode, new movement amount is not needed to be written. ■Position-speed switching operation (Positioning data No.3) ■High-level positioning control 11 PROGRAMMING 11.3 Positioning Program Examples (For Using Labels)
Page 535 ■Fast home position return command and fast home position return command storage OFF Not required when fast home position return is not used. Positioning start program M code OFF program JOG operation setting program 11 PROGRAMMING 11.3 Positioning Program Examples (For Using Labels)
Page 536 Inching operation setting program JOG operation/inching operation execution program Manual pulse generator operation program 11 PROGRAMMING 11.3 Positioning Program Examples (For Using Labels)
Page 537 Speed change program Override program Acceleration/deceleration time change program 11 PROGRAMMING 11.3 Positioning Program Examples (For Using Labels)
Page 538 Torque change program Step operation program Skip program Teaching program 11 PROGRAMMING 11.3 Positioning Program Examples (For Using Labels)
Page 539 Continuous operation interrupt program Target position change program Restart program 11 PROGRAMMING 11.3 Positioning Program Examples (For Using Labels)
Page 540 Parameter initialization program Flash ROM write program 11 PROGRAMMING 11.3 Positioning Program Examples (For Using Labels)
Page 541 Error reset program Axis stop program 11 PROGRAMMING 11.3 Positioning Program Examples (For Using Labels)
Page 542: Positioning Program Examples (For Using Buffer Memory)
11.4 Positioning Program Examples (For Using Buffer Memory) List of devices used In the program examples, the devices to be used are assigned as follows. In addition, change the module access device, external inputs, internal relays, data resisters, and timers according to the system used.
Page 543 Device name Device Application Description at device ON Axis 1 Axis 2 Axis 3 Axis 4 External input  Override command Commanding override (command) Acceleration/deceleration time change Commanding acceleration/deceleration command time change Acceleration/deceleration time change Commanding acceleration/deceleration disable command time change disable Torque change command Commanding torque change Step operation command...
Page 544 Device name Device Application Description at device ON Axis 1 Axis 2 Axis 3 Axis 4  Internal relay Torque change command Requesting torque change Step operation command pulse Step operation commanded Skip command pulse Skip commanded Skip command storage Skip command held Teaching command pulse Teaching commanded...
Page 545 Data registers and timers Device name Device Application Storage details Axis 1 Axis 2 Axis 3 Axis 4 Data register  Home position return request flag [Md.31] Status: b3 Speed (low-order 16 bits) [Cd.25] Position-speed switching control speed change register Speed (high-order 16 bits) Movement amount (low-order 16 bits) [Cd.23] Speed-position switching control...
Page 546 Device name Device Application Storage details Axis 1 Axis 2 Axis 3 Axis 4  Data register Number of pulses per rotation (low-order 16 [Pr.2] Number of pulses per rotation (AP) bits) Number of pulses per rotation (high-order 16 bits) Movement amount per rotation (low-order 16 [Pr.3] Movement amount per rotation (AL) bits)
Page 547 Device name Device Application Storage details Axis 1 Axis 2 Axis 3 Axis 4 Data register D120  Positioning identifier Data No.3 [Da.1] Operation pattern D121 M code [Da.2] Control method D122 Dwell time [Da.3] Acceleration time No. [Da.4] Deceleration time No. D123 Dummy [Da.20] to [Da.22] Axis to be interpolated...
Page 548 Device name Device Application Storage details Axis 1 Axis 2 Axis 3 Axis 4  Data register D190 Positioning identifier Data No.10 [Da.1] Operation pattern D191 M code [Da.2] Control method D192 Dwell time [Da.3] Acceleration time No. [Da.4] Deceleration time No. D193 Dummy [Da.20] to [Da.22] Axis to be interpolated...
Page 549 Device name Device Application Storage details Axis 1 Axis 2 Axis 3 Axis 4 Code U1\G2406 Error code [Md.23] Axis error No. U1\G2409 Axis operation status [Md.26] Axis operation status U1\G2417 Status [Md.31] Status U1\G4300 Positioning start No. [Cd.3] Positioning start No. U1\G4301 Positioning starting point No.
Page 550: Program Examples (For Using Buffer Memory)
Program examples (for using buffer memory) Parameter setting program The program is not required when the parameter is set by "Module Parameter" using an engineering tool. 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 551 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 552 Positioning data setting program The program is not required when the data is set by "Positioning Data" using an engineering tool. 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 553 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 554 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 555 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 556 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 557 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 558 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 559 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 560 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 561 Block start data setting program The program is not required when the data is set by "Block Start Data" using an engineering tool. 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 562 Servo parameter setting program The program is not required when the parameter is set by "Servo Parameter" using an engineering tool. Home position return request OFF program The program is not required when "1: Positioning control is executed." is set in "[Pr.55] Operation setting for incompletion of home position return"...
Page 563 PLC READY signal ON program All axis servo ON program 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 564 Positioning start No. setting program 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 565 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 566 Positioning start program M code OFF program 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 567 JOG operation setting program Inching operation setting program JOG operation/inching operation execution program 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 568 Manual pulse generator operation program 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 569 Speed change program Override program 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 570 Acceleration/deceleration time change program Torque change program 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 571 Step operation program Skip program 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 572 Teaching program Continuous operation interrupt program 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 573 Target position change program Restart program 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 574 Parameter initialization program Flash ROM write program 11 PROGRAMMING 11.4 Positioning Program Examples (For Using Buffer Memory)
Page 575 Error reset program When servo amplifier errors cannot be reset even if error reset is requested, "0" is not stored in axis error reset by the Simple Motion module. It remains "1". Set "0" in axis error reset once and then set "1" to execute the error reset again.
Page 576: Chapter 12 Troubleshooting
TROUBLESHOOTING This chapter describes details of error occurred by using the Simple Motion module and troubleshooting. 12.1 Troubleshooting Procedure When a trouble occurs, execute the troubleshooting in the order shown below. Check that each module is mounted correctly. (MELSEC iQ-F FX5U User's Manual (Hardware), MELSEC iQ-F FX5UC User's Manual (Hardware)) Check the LEDs of the CPU module.
Page 577 When the POWER LED turns off Check item Action Is the power supplied? Check that the voltage supplied to the Simple Motion module is within the rated range. Is it equipped with the power connector correctly? Check that the power connector is inserted exactly. Is the power cable wired correctly? Check that there are any errors in wiring with external power supply.
Page 578: Troubleshooting By Symptom
12.2 Troubleshooting by Symptom Troubleshooting when a motor does not rotate Check items and corrective actions for troubleshooting when a motor does not rotate are described below. Check item Action Is the PLC READY signal turned ON? Review the program to turn ON the PLC READY signal. Is the servo amplifier powered ON? Power on the servo amplifier.
Page 579: Error And Warning Details
12.3 Error and Warning Details Error type Errors detected by the Simple Motion module include parameter setting range errors, errors at operation start or during operation and errors detected by servo amplifier. Simple Motion module detection parameter setting range errors The parameters are checked when the power is turned ON and at the rising edge (OFF ...
Page 580: Error Code Classification
Error code classification Item Error code Classification of errors Minor errors 1080H, 18B0H, IF (Interface) errors 18B1H 1900H to 193FH Positioning control common errors 1940H to 197FH Home position return errors 1980H to 198FH JOG, inching and manual pulse generator operation errors 1990H to 19EFH Positioning operation errors 19F0H to 19FFH...
Page 581: Warning Type
Warning type Warnings detected by the Simple Motion module include system warnings, axis warnings and warnings detected by servo amplifier. Simple Motion module detection system warnings • System control data setting warnings: An axis warning for axis 1 will occur. •...
Page 582: Warning Storage
Warning storage When an axis warning occurs, the warning code corresponding to the warning details is stored in "[Md.24] Axis warning No.". When an axis warning occurs in a positioning operation, etc., axis warning detection ([Md.31] Status: b9) for axis status storage turns ON.
Page 583: List Of Warning Codes
12.4 List of Warning Codes Simple Motion module detection warning Warning code Warning name Error details and causes Remedy (Hexadecimal) 0900H Start during • The start request is issued while the axis is BUSY. • Normalize the start request ON timing. operation •...
Page 584 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0939H Outside mark When the mark detection data type setting is "Optional 2 Set a value with an even number within the setting detection data buffer word buffer memory", the mark detection data buffer range.
Page 585 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0991H Speed limit value • Setting speeds exceed the speed limit value when Review each speed so that setting speeds do not over starting/restarting the positioning or when changing exceed the speed limit value. the speed at the positioning .
Page 586 Warning code Warning name Error details and causes Remedy (Hexadecimal) 099AH Illegal teaching data The teaching data selection set value is outside the Set the teaching data selection set value to within the selection setting range. setting range. [Operation status at warning occurrence] Teaching is not carried out.
Page 587 Warning code Warning name Error details and causes Remedy (Hexadecimal) 09EAH Illegal control mode • Switching to the speed/torque control mode is • Do not use the speed/torque control to the axis switching requested to the axis which does not support the which does not support the control mode switching.
Page 588 Warnings related to synchronous control are described below. Warning code Warning name Error details and causes Remedy (Hexadecimal) 0BD0H Input axis phase Phase compensation amount of input axis is equal or • Set a smaller phase compensation advance time. compensation lower than the minimum value (-2147483648), or •...
Page 589 Warning code Warning name Error details and causes Remedy (Hexadecimal) 0C40H Outside operation "[Cd.601] Operation cam No." is other than 1 to 256. Set a value within the range of 1 to 256. cam No. range [Operation status at warning occurrence] Cam data writing/reading is not executed.
Page 590: Servo Amplifier Detection Warning
Warning code Warning name Error details and causes Remedy (Hexadecimal) 0C4BH Cam data writing Cam data writing operation is executed with the cam Delete the cam data write password with a operation inhibit data write password set. programming tool. [Operation status at warning occurrence] Cam data writing/reading is not executed.
Page 591: List Of Error Codes
12.5 List of Error Codes Simple Motion module detection error Error code Error name Error details and causes Remedy (Hexadecimal)   0000H Normal 1080H Flash ROM write Data is written to the flash ROM continuously 25 times Review the program so that data is not written number error or more from the program.
Page 592 Error code Error name Error details and causes Remedy (Hexadecimal) 1906H Hardware stroke limit The hardware stroke limit (lower limit signal RLS) is After making an axis error reset, perform manual turned OFF during operation. control operation to move the axis to the other position [Operation status at error occurrence] in order that the lower limit signal (RLS) will not turn The system stops with the setting (deceleration stop/...
Page 593 Error code Error name Error details and causes Remedy (Hexadecimal) 193FH Operation cycle time The calculation process time of the positioning etc. Review the content of the positioning. over error exceeds the operation cycle. [Operation status at error occurrence] The operation continues. 1940H Start at home •...
Page 594 Error code Error name Error details and causes Remedy (Hexadecimal) 1975H ABS reference point • The data is not loaded from the servo amplifier • Execute home position return again. read error properly upon the home position return. • Adjust the servo gain and in-position range, and •...
Page 595 Error code Error name Error details and causes Remedy (Hexadecimal) 1993H Software stroke • The command position exceeds the upper limit of the At operation start: limit+ software stroke limit. • Set the feed current value within the software stroke •...
Page 596 Error code Error name Error details and causes Remedy (Hexadecimal) 1997H Outside new current The new current address is outside the ranges of 0 to Bring the new current value into the setting range. value range 359.99999, where the control unit is set to "degree". [Operation status at error occurrence] Current value is not changed.
Page 597 Error code Error name Error details and causes Remedy (Hexadecimal) 19A0H M code ON signal The positioning start is carried out when an M code ON After turning OFF the M code ON signal, start the start signal is turned ON. system.
Page 598 Error code Error name Error details and causes Remedy (Hexadecimal) 19E7H Continuous Switching to the continuous operation to torque control Use a servo amplifier which supports the continuous operation to torque mode is requested to a servo amplifier which does not operation to torque control.
Page 599 Error code Error name Error details and causes Remedy (Hexadecimal) 1A12H No command speed • At the start of positioning, a current speed (-1) is set Normalize the positioning data. for the command speed of the positioning data to be initially executed.
Page 600 Error code Error name Error details and causes Remedy (Hexadecimal) 1A1AH Software stroke limit • The setting value of the "[Da.6] Positioning address/ At operation start, during operation: Correct the "[Da.6] movement amount" exceeds "[Pr.13] Software stroke Positioning address/movement amount". (In the limit lower limit value".
Page 601 Error code Error name Error details and causes Remedy (Hexadecimal) 1A22H Illegal interpolation In the interpolation control, the axis to be interpolated is • Correct the control method. description set as follows: • Correct the axis to be interpolated. command •...
Page 602 Error code Error name Error details and causes Remedy (Hexadecimal) 1A2DH Center point setting Circular interpolation with center point designation Correct the center point address (arc address). error applicable to one of the followings. • Start point = Center point •...
Page 603 Error code Error name Error details and causes Remedy (Hexadecimal) 1A69H Outside speed limit • The setting value of the basic parameter 2 "[Pr.8] • When the "[Cd.190] PLC READY signal" is not value range Speed limit value" is outside the setting range. turned ON after the setting is set within the setting •...
Page 604 Error code Error name Error details and causes Remedy (Hexadecimal) 1AA7H Command in- The setting value of the detailed parameter 1 With the setting brought into the setting range, turn the position width "Command in-position width" is outside the setting "[Cd.190] PLC READY signal"...
Page 605 Error code Error name Error details and causes Remedy (Hexadecimal) 1AB3H Acceleration time 3 The setting value of the detailed parameter 2 With the setting brought into the setting range, turn the setting error "Acceleration time 3" is outside the setting range. "[Cd.190] PLC READY signal"...
Page 606 Error code Error name Error details and causes Remedy (Hexadecimal) 1ABCH JOG acceleration The setting value of the detailed parameter 2 "JOG With the setting brought into the setting range, turn the time selection setting operation acceleration time selection" is outside the "[Cd.190] PLC READY signal"...
Page 607 Error code Error name Error details and causes Remedy (Hexadecimal) 1AC1H Stop group 1 rapid The setting value of the detailed parameter 2 "Stop With the setting brought into the setting range, turn the stop selection error group 1 rapid stop selection" is outside the setting "[Cd.190] PLC READY signal"...
Page 608 Error code Error name Error details and causes Remedy (Hexadecimal) 1ACCH Restart allowable The setting value of the detailed parameter 2 "Restart With the setting brought into the setting range, turn the range error allowable range when servo OFF to ON" is outside the "[Cd.190] PLC READY signal"...
Page 609 Error code Error name Error details and causes Remedy (Hexadecimal) 1B02H Home position The setting value of the home position return basic With the setting brought into the setting range, turn the address setting error parameter "Home position address" is outside the "[Cd.190] PLC READY signal"...
Page 610 Error code Error name Error details and causes Remedy (Hexadecimal) 1B11H Operation setting for The setting value of the home position return detailed With the setting brought into the setting range, turn the incompletion of parameter "Operation setting for incompletion of home "[Cd.190] PLC READY signal"...
Page 611 Error code Error name Error details and causes Remedy (Hexadecimal) 1C91H Master axis No. error Servo parameters "Driver communication setting Review the master axis No. of servo parameters Master axis No. selection (1 to 4) for slave (PD20 to "PD20 to PD23". PD23)"...
Page 612 Errors related to synchronous control are described below. Error code Error name Error details and causes Remedy (Hexadecimal) 1BA0H Outside input axis Setting values of input axis parameters "[Pr.300] Servo Set a value within the setting range. type setting range input axis type"...
Page 613 Error code Error name Error details and causes Remedy (Hexadecimal) 1BAAH Synchronous • The servo amplifier axis set as synchronous encoder With the setting brought into the setting range, switch encoder via servo via servo amplifier is not supported with scale the power on again or reset the PLC.
Page 614 Error code Error name Error details and causes Remedy (Hexadecimal) 1BE7H Outside main shaft Setting value of the synchronous parameter "[Pr.412] Set within the range. clutch smoothing Main shaft clutch smoothing time constant" is outside time constant range the setting range. [Operation status at error occurrence] Synchronous control does not start.
Page 615 Error code Error name Error details and causes Remedy (Hexadecimal) 1C11H Cam not registered Cam data specified in the synchronous parameter Specify the cam No. of an existing cam data. "[Pr.440] Cam No." does not exist on the cam open area.
Page 616: Servo Amplifier Detection Error
Error code Error name Error details and causes Remedy (Hexadecimal) 1C29H Cam axis feed Restoration could not be completed when the • Start synchronous control after calculating the cam current value synchronous parameter "[Pr.462] Cam axis position axis feed current value to be restored, using the cam restoration disable restoration object"...
Page 617: Appendices
APPENDICES Appendix 1 How to Find Buffer Memory Addresses This section describes how to find the buffer memory addresses of positioning data, block start data, and condition data. Positioning data Positioning data No.1 to No.100 are assigned to each axis. Positioning data has the following structure. Up to 100 positioning data items can be set (stored) for each axis in the buffer memory address shown on the left.
Page 618 For each variable, substitute a number following the description below. Variable Description The axis No. of the buffer memory address to be determined. Substitute a number from 1 to 4. The positioning data No. of the buffer memory address to be determined. Substitute a number from 1 to 100. Substitute one of the following numbers according to the buffer memory address to be determined.
Page 619 When the buffer memory address that satisfies the following conditions is determined • Axis 3 • Start block No.2 • Block start data point: 40 22000 + (400  (3 - 1)) + (200  2) + (40 - 1) = 23239 ■[Da.13] Special start instruction, [Da.14] Parameter Use the following calculation formula.
Page 620 For each variable, substitute a number following the description below. Variable Description The axis No. of the buffer memory address to be determined. Substitute a number from 1 to 4. The start block No. of the buffer memory address to be determined. Substitute a number from 0 to 4. The condition data No.
Page 621: Appendix 2 Compatible Devices With Sscnetiii(/H)
Appendix 2 Compatible Devices with SSCNETIII(/H) Connection with MR-JE-B The servo amplifier MR-JE-B can be connected using SSCNET/H. Comparisons of specifications with MR-J4(W)-B Item MR-JE-B MR-J4(W)-B [Pr.100] Servo series 48: MR-JE-_B 32: MR-J4-_B_(-RJ), MR-J4W_-_B (2-, 3-axis type) Detailed parameter 1 [Pr.116] FLS External input signals of servo amplifier are available.
Page 622: Inverter Fr-A800 Series
Inverter FR-A800 series FR-A800 series can be connected via SSCNET/H by using built-in option FR-A8AP and FR-A8NS. Connecting method ■System configuration The system configuration using FR-A800 series is shown below. Set "1: SSCNET/H" in "[Pr.97] SSCNET setting" to use FR-A800 series. Simple Motion module Inverter Servo amplifier...
Page 623 ■Optional data monitor setting The following table shows data types that can be set. Data type Name at FR-A800 series use Effective load ratio Motor load factor Load inertia moment ratio Load inertia ratio Model loop gain Position loop gain Main circuit bus voltage Converter output voltage Encoder multiple revolution counter...
Page 624 Comparisons of specifications with MR-J4(W)-B Item FR-A800 series MR-J4(W)-B [Pr.100] Servo series 68: FR-A800-1 32: MR-J4-_B_(-RJ), MR-J4W_-_B (2-, 3-axis 69: FR-A800-2 type) Control of servo amplifier parameters Set directly by inverter. (Not controlled by Simple Controlled by Simple Motion module. Motion module.) Detailed parameter 1 [Pr.116] FLS signal...
Page 625 *1 Confirm the specifications of FR-A800 series for details. *2 Parameters set in FR-A800 series are not controlled by Simple Motion module. Therefore, the operation is the same as when the servo parameter "Rotation direction selection/travel direction selection (PA14)" is set as below during amplifier-less operation mode. Setting item Setting value Details...
Page 626: Alphastep/5-Phase Stepping Motor Driver Manufactured By Oriental Motor Co., Ltd
AlphaStep/5-phase stepping motor driver manufactured by ORIENTAL MOTOR Co., Ltd. The ORIENTAL MOTOR Co., Ltd. made stepping motor driver AlphaStep/5-phase can be connected via SSCNET/H. For details of stepping motor driver, please contact your nearest Oriental Motor branch or sales office. Connecting method ■System configuration The system configuration using AlphaStep/5-phase is shown below.
Page 627 Comparisons of specifications with MR-J4(W)-B Item AlphaStep/5-phase MR-J4(W)-B 97: STEP/5-Phase (manufactured by ORIENTAL [Pr.100] Servo series 32: MR-J4-_B_(-RJ), MR-J4W_-_B (2-, 3-axis MOTOR Co., Ltd.) type) Control of servo amplifier parameters Controlled by AlphaStep/5-phase Controlled by Simple Motion module. Detailed parameters 1 [Pr.116] FLS signal External input signals of AlphaStep/5-phase are External input signals of servo amplifier are...
Page 628 Item AlphaStep/5-phase MR-J4(W)-B Servo alarm/warning Alarm codes/warning codes detected by Alarm codes/warning codes detected by servo AlphaStep/5-phase and operation error codes amplifier are stored in "Servo alarm/warning". during driver home position return method are stored in "Servo alarm/warning". [Md.108] Servo status 1 b0: READY ON b0: READY ON b1: Servo ON...
Page 629 • Backlash compensation after the driver home position return method When "[Pr.11] Backlash compensation amount" is set in the Simple Motion module, whether the backlash compensation is necessary or not is judged from "[Pr.44] Home position return direction" of the Simple Motion module in the axis operation such as positioning after the driver home position return.
Page 630 ■Servo parameter • Control of servo parameters Parameters of AlphaStep/5-phase are not controlled by the Simple Motion module. Therefore, even though the parameter of AlphaStep/5-phase is changed during the communication between the Simple Motion module and AlphaStep/5-phase, the change is not applied to the buffer memory. •...
Page 631 AlphaStep/5-phase detection error/warning ■Error When an error occurs on AlphaStep/5-phase, the error detection signal turns ON, and the error code (1C80H) is stored in "[Md.23] Axis error No.". The servo alarms (0x00 to 0xFF) of AlphaStep/5-phase are stored in "[Md.114] Servo alarm". The alarm detailed No.
Page 632: Servo Driver Vcii Series/Vph Series Manufactured By Nikki Denso Co., Ltd
Servo driver VCII series/VPH series manufactured by Nikki Denso Co., Ltd. The direct drive DISC/iD roll/Servo compass/Linear stage, etc. manufactured by Nikki Denso Co., Ltd. can be controlled by connecting with the servo driver VC series/VPH series manufactured by the same company using SSCNET/H. Contact to Nikki Denso overseas sales office for details of VC...
Page 633 Comparisons of specifications with MR-J4(W)-B Item VC series/VPH series MR-J4(W)-B [Pr.100] Servo series 96: VC (manufactured by Nikki Denso Co., Ltd.) 32: MR-J4-_B_(-RJ), MR-J4W_-_B (2-, 3-axis 99: VPH (manufactured by Nikki Denso Co., Ltd.) type) Control of servo amplifier parameters Controlled by VC...
Page 634 Item VC series/VPH series MR-J4(W)-B Programming tool MR Configurator2 is not available. MR Configurator2 is available. Use VC/VPH data editing software. *1 Confirm the specifications of VC series/VPH series for details. *2 The direct drive DISC series manufactured by Nikki Denso Co., Ltd. can restore the absolute position in the range from -2147483648 to 2147483647.
Page 635 ■Servo parameter • Control of servo parameters Parameters of VC series/VPH series are not controlled by Simple Motion module. Therefore, even though the parameter of VC series/VPH series is changed during the communication between Simple Motion module and VC series/VPH series, it does not reflect to the buffer memory.
Page 636: Iai Electric Actuator Controller Manufactured By Iai Corporation
IAI electric actuator controller manufactured by IAI Corporation 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. Connecting method ■System configuration The system configuration using IAI electric actuator controller is shown below. Simple Motion module Servo amplifier µ...
Page 637 Comparisons of specifications with MR-J4(W)-B Item IAI electric actuator controller MR-J4(W)-B [Pr.100] Servo series 98: IAI Controller for Electric Actuator (manufactured 32: MR-J4-_B_(-RJ), MR-J4W_-_B (2-, 3-axis type) by IAI Corporation) Control of servo amplifier parameters Controlled by IAI electric actuator controller. Controlled by Simple Motion module.
Page 638 Item IAI electric actuator controller MR-J4(W)-B [Md.108] Servo status 1 b0: READY ON b0: READY ON b1: Servo ON b1: Servo ON b7: Servo alarm b2 to b3: Control mode b12: In-position b4: Gain switching b13: Torque limit b5: Fully closed loop control switching b7: Servo alarm b12: In-position b13: Torque limit...
Page 639 [Operation chart] The machine home position return is started. (The home position return is executed based on the positioning pattern set in the IAI electric actuator controller.) Machine home position return start (Positioning start signal) Home position return request flag ([Md.31] Status: b3) Home position return complete flag...
Page 640 ■Torque limit The torque limit set by the Simple Motion module is ignored. Set the torque limit value with the parameter on the IAI electric actuator controller side. ■Axis monitor data • "[Md.104] Motor current value" is always "0". When the optional data monitor is not used, "[Md.109] Regenerative load ratio/Optional data monitor output 1", "[Md.110] Effective load ratio/Optional data monitor output 2", and "[Md.111] Peak load ratio/Optional data monitor output 3"...
Page 641: Appendix 3 Restrictions By The Version
Appendix 3 Restrictions by the version There are restrictions in the function that can be used by the software of the Simple Motion module and the version of engineering tool. The combination of each version and function is shown below. Function Software version Engineering tool...
Page 642 MEMO APPENDICES Appendix 3 Restrictions by the version...
Page 643: Index
INDEX ..500 Deceleration time at speed control mode ....417,419 Deceleration time No....492 ABS direction in degrees .
Page 644 Operation setting for speed-torque control mode ....... . 396,403 ... . 457 In speed change processing flag .
Page 645 . . 488 ....491 Simultaneous starting own axis start data No. Teaching positioning data No..431,434 ..495 Simultaneously starting axis No.
Page 646: Revisions
Japanese manual number: IB-0300252-C This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 647: Warranty
WARRANTY Please confirm the following product warranty details before using this product. Gratis Warranty Term and Gratis Warranty 2. Onerous repair term after discontinuation of production Range If any faults or defects (hereinafter "Failure") found to Mitsubishi shall accept onerous product repairs for be the responsibility of Mitsubishi occurs during use of seven (7) years after production of the product is the product within the gratis warranty term, the...
Page 648: Trademarks
TRADEMARKS Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies.
Page 650 Manual number: IB(NA)-0300253ENG-D(1610)MEE Model: FX5SSC-U-APP-E Model code: 1XB020 When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. 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 Specifications are subject to change without notice.

This manual is also suitable for:

Melsec iq-f series Melseciq-fx5-40ssc-s Melseciq-fx5-80ssc-s

Mitsubishi Electric MELSEC iQ-FX5 User Manual

Chapter 1 Start and Stop

Chapter 2 Home Position Return Control

Chapter 3 Major Positioning Control

Chapter 4 High-Level Positioning Control

Chapter 5 Manual Control

Chapter 6 Expansion Control

Chapter 7 Control Sub Functions

Chapter 8 Common Functions

Chapter 9 Specifications of I/O Signals with Cpu Modules

Chapter 10 Data Used for Positioning Control

Chapter 11 Programming

Chapter 12 Troubleshooting

Appendix 1 How to Find Buffer Memory Addresses

Appendix 2 Compatible Devices with SSCNETIII(/H)

Appendix 3 Restrictions by the Version

Quick Links

Troubleshooting

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Summary of Contents for Mitsubishi Electric MELSEC iQ-FX5