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Mitsubishi Electric iQ-F Series User Manual

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MELSEC iQ-F FX5 Simple Motion Module
User's Manual (Advanced Synchronous Control)
-FX5-40SSC-S
-FX5-80SSC-S

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Summary of Contents for Mitsubishi Electric iQ-F Series

  • Page 1 MELSEC iQ-F FX5 Simple Motion Module User's Manual (Advanced Synchronous Control) -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 Auxiliary shaft parameters ..............96 Auxiliary shaft clutch parameters.

  • Page 14: Related Manuals

    RELATED MANUALS Manual name [manual number] Description Available form MELSEC iQ-F FX5 Simple Motion Module User's Manual Functions and programming for the synchronous control of the Print book (Advanced Synchronous Control) Simple Motion module e-Manual [IB-0300255] (This manual) MELSEC iQ-F FX5 Simple Motion Module User's Manual Specifications, procedures before operation, system Print book (Startup)

  • Page 15: Terms

    Unless specified in particular, indicates the motor driver unit of the sequential command method which is controlled by the Simple Motion module (belonging to own station). Simple Motion module The abbreviation for the MELSEC iQ-F series Simple Motion module SSCNET High speed synchronous communication network between Simple Motion module and servo amplifier SSCNET/H...

  • Page 16: Chapter 1 Outline Of Synchronous Control

    OUTLINE OF SYNCHRONOUS CONTROL The outline, specifications and the operation method of synchronous control using the Simple Motion module are explained in this chapter. This chapter helps to understand what can be done using the positioning system and which procedure to use for a specific purpose.
  • Page 17 List of synchronous control module The module is used in synchronous control as follows. Input axis module Synchronous encoder axis parameter Synchronous parameter Synchronous encoder axis Command generation Main shaft module axis parameter Main shaft Composite main Main shaft Command generation axis (main input axis) shaft gear gear...
  • Page 18 ■Input axis Classification Name Parts Function description Maximum number of usable Reference Number per module Number per axis 4-axis module 8-axis module   Page 25 Input axis Servo input • Used to drive the input axis with module axis the position of the servomotor Servo Input controlled by the Simple Motion...
  • Page 19 ■Output axis Classification Name Parts Function description Maximum number of usable Reference Number per module Number per axis 4-axis module 8-axis module Main shaft Main shaft • The input axis on the main Page 87 module main input side of the main shaft module. Main Shaft axis •...

  • Page 20: Performance Specifications

    Performance Specifications Performance specifications Item Number of settable axes 4-axis module 8-axis module Input axis Servo input axis 4 axes/module 8 axes/module Command generation 4 axes/module 8 axes/module axis Synchronous encoder 4 axes/module axis Composite main shaft gear 1/output axis Main shaft main input axis 1 axis/output axis Main shaft sub input axis...
  • Page 21 ■Stroke ratio data format Cam resolution Maximum number of cam registration Cam storage area Cam open area 4-axis module 8-axis module 4-axis module 8-axis module 1024 2048 4096 8192 16384 ■Coordinate data format Coordinate number Maximum number of cam registration Cam storage area Cam open area 4-axis module...

  • Page 22: Operation Method Of Synchronous Control

    Operation Method of Synchronous Control Synchronous control execution procedure The synchronous control is executed using the following procedure. Preparation STEP 1 One of the following two methods can be used. Set the following parameters. • Common parameters ([Pr.24], [Pr.82], [Pr.89], <Method 1>...

  • Page 23: Starting/Ending For Synchronous Control

    Precautions • Mechanical elements such as limit switches are considered as already installed. • Parameter settings for positioning control apply for all axes with the Simple Motion module. • Be sure to execute the home position return when the home position return request flag is ON. Starting/ending for synchronous control Set the parameters for synchronous control for each output axis to start synchronous control.
  • Page 24 Starting history The starting history is updated when starting synchronous control. "9020: Synchronous control operation" is stored in "[Md.4] Start No.". Status when starting synchronous control The following bits in "[Md.31] Status" are turned OFF when starting synchronous control in the same way as for the positioning control start.

  • Page 25: Stop Operation Of Output Axis

    Stop operation of output axis If the following causes occur in stopping the output axis during synchronous control, synchronous control is completed after stops processing for the output axis ("[Md.141] BUSY signal" is OFF, "[Md.26] Axis operation status" is standby). Synchronous alignment must be executed for the output axis to restart the synchronous control.
  • Page 26 Deceleration stop The output axis stops with deceleration according to the setting in "[Pr.37] Stop group 1 rapid stop selection" to "[Pr.39] Stop group 3 rapid stop selection". The deceleration time is set in "[Pr.446] Synchronous control deceleration time" for deceleration stop, and in "[Pr.36] Rapid stop deceleration time"...

  • Page 27: Chapter 2 Input Axis Module

    INPUT AXIS MODULE The settings for the parameter and monitor data for the input axis module that used with synchronous control are explained in this chapter. Refer to the following for details on the connection and control for the servo amplifier and the synchronous encoder that are used for input axis module.
  • Page 28 If "1: Feed current value" or "2: Real current value" is set in "[Pr.300] Servo input axis type", set "1: Update feed current value" in "[Pr.21] Feed current value during speed control" to start the speed position change control. If "0: Do not update feed current value" or "2: Clear feed current value to zero" is set in [Pr.21], the error "Speed-position switching control start in servo input axis not possible"...

  • Page 29: Servo Input Axis Parameters

    Servo input axis parameters n: Axis No. - 1 Setting item Setting details Setting value Default value Buffer memory address ■Set in decimal. [Pr.300] • Set the current value type to be 32800+10n Servo input axis type generated of the input value for the 0: Invalid servo input axis.
  • Page 30 [Pr.301] Servo input axis smoothing time constant Set the averaging time to execute a smoothing process for the input movement amount from the servo input axis. The smoothing process can moderate speed fluctuation, when the "Real current value" or "Feedback value" is used as input values.
  • Page 31 [Pr.304] Servo input axis rotation direction restriction Set this parameter to restrict the input movement amount for the servo input axis to one direction. This helps to avoid reverse operation caused by machine vibration, etc. when "Real current value" or "Feedback value" is used as input values.

  • Page 32: Servo Input Axis Monitor Data

    Servo input axis monitor data n: Axis No. - 1 Monitor item Storage details Monitor value Buffer memory address ■Monitoring is carried out in decimal. [Md.300] • The current value for the servo input axis 33120+10n Servo input axis current value is stored.
  • Page 33 [Md.303] Servo input axis rotation direction restriction amount While the rotation direction is restricted for a servo input axis, the accumulation for input movement amount in the opposite direction of the enabled direction is stored in servo input axis position units (Page 26 Servo input axis position units) as follows.

  • Page 34: Command Generation Axis

    Command Generation Axis Overview of command generation axis The command generation axis is an axis that executes command generation only. It can be controlled individually from the axis connected with a servo amplifier. The command generation axis is used to drive the input axis based on the positioning data or the JOG operation. The axis set in "[Pr.100] Servo series"...
  • Page 35 The sub functions that can be used for the command generation axis are shown below. : Combination possible : Combination restricted : Combination not possible Control mode Home position Home position Backlash Electronic gear Near pass function return retry shift function compensation function function...
  • Page 36 Control mode Teaching function Command in-position Acceleration/ Deceleration start flag function deceleration function processing function     ABS linear 1     INC linear 1     Forward run speed 1 Reverse run speed 1 ...
  • Page 37 ■Start request Specify the positioning data No. in "[Cd.3] Positioning start No." and set "1: ON" in "[Cd.184] Positioning start signal". The start complete signal ([Md.31] Status: b14) and "[Md.141] BUSY signal" turn ON, and the positioning operation starts. ■Troubleshooting Output the axis error and warning which are same as the servo amplifier axis to "[Md.23] Axis error No."...

  • Page 38: Command Generation Axis Parameters

    Command generation axis parameters All command generation axis parameters are prepared for each command generation axis. However, change the parameters using GX Works3 or control data because the parameters are not in the buffer memory. Setting item Setting details Setting value Default value Buffer memory address [Pr.340]...
  • Page 39 List of parameters that can be used Each parameter specification is common with the servo amplifier axis. For specification details, refer to the following. MELSEC iQ-F FX5 Simple Motion Module User's Manual (Application) : Available, : Not available ■Common parameters Name Servo amplifier axis Command generation axis...
  • Page 40 ■Detailed parameters1 Name Servo amplifier axis Command generation axis   [Pr.11] Backlash compensation amount [Pr.12] Software stroke limit upper limit value  : Initial value 0  : Initial value 0 [Pr.13] Software stroke limit lower limit value [Pr.14] Software stroke limit selection ...
  • Page 41 ■Home position return basic parameters Name Servo amplifier axis Command generation axis   [Pr.43] Home position return method [Pr.44] Home position return direction     [Pr.45] Home position address   [Pr.46] Home position return speed  ...

  • Page 42: Command Generation Axis Control Data

    Command generation axis control data All command generation axis control data is prepared for each command generation axis. n: Axis No. - 1 Setting item Setting details Setting value Default value Buffer memory address [Cd.300] Specify the parameter No. to be ■Set in decimal.
  • Page 43 List of control data that can be used The specification is common with the servo amplifier axis. For specification details, refer to the following. MELSEC iQ-F FX5 Simple Motion Module User's Manual (Application) : Available, : Not available ■System control data Name Servo amplifier axis Command generation axis...
  • Page 44 Name Servo amplifier axis Command generation axis   [Cd.34] Step mode [Cd.35] Step valid flag     [Cd.36] Step start information [Cd.37] Skip command     [Cd.38] Teaching data selection   [Cd.39] Teaching positioning data No. ...

  • Page 45: Command Generation Axis Monitor Data

    Command generation axis monitor data n: Axis No. - 1 Monitor item Storage details Monitor value Buffer memory address ■Monitoring is carried out in decimal. [Md.345] The accumulative current value for the 61000+120n Command generation axis accumulative command generation axis is stored. -2147483648 to 2147483647 61001+120n current value...
  • Page 46 List of monitor data that can be used The specification is common with the servo amplifier axis. For specification details, refer to the following. MELSEC iQ-F FX5 Simple Motion Module User's Manual (Application) : Available, : Not available ■System monitor data Name Servo amplifier axis Command generation axis...
  • Page 47 ■Axis monitor data Name Servo amplifier axis Command generation axis   [Md.20] Feed current value [Md.21] Machine feed value     [Md.22] Feedrate   [Md.23] Axis error No.   [Md.24] Axis warning No.   [Md.25] Valid M code [Md.26] Axis operation status ...
  • Page 48 Name Servo amplifier axis Command generation axis [Md.101] Real current value     [Md.102] Deviation counter value [Md.103] Motor rotation speed     [Md.104] Motor current value   [Md.106] Servo amplifier software No.   [Md.107] Parameter error No.

  • Page 49: Command Generation Axis Positioning Data

    Command generation axis positioning data All positioning data is not in the buffer memory. Therefore, change the data using GX Works3 or control data. The specification of command generation axis positioning data is common with "major positioning controls". However, the positioning data is 100 points for each axis.
  • Page 50 Name Servo amplifier axis Command generation axis 12h: INC circular left     13h: Forward run speed 2 14h: Reverse run speed 2     15h: ABS linear 3   16h: INC linear 3  ...

  • Page 51: Write/Read Method For Command Generation Axis Parameter And Positioning Data

    Write/read method for command generation axis parameter and positioning data The command generation axis parameter and positioning data are not stored in the buffer memory, so that each setting value changes by the control data. The fetch timing of each parameter and positioning data is in accordance with each specification. Therefore, some parameter is not used for control until PLC READY ON or the power supply ON.
  • Page 52 Read method for command generation axis parameter Specify the command generation axis parameter No. to "[Cd.300] Command generation axis parameter No. designation". Set "2: Read request" to "[Cd.302] Command generation axis parameter control request". The setting value to the command generation axis parameter is read with 2 words in "[Cd.301] Command generation axis parameter setting value".
  • Page 53 Positioning data No.1 1: ABS linear 1 [Da.1] Operation pattern [Cd.303] Command generation axis 1: 1 of positioning data No. positioning data No. designation [Cd.304] Command generation axis 1: [Da.1] Operation pattern positioning data designation [Cd.305] Command generation axis 1: ABS linear 1 positioning data setting value [Cd.306] Command generation axis 0: Not request...

  • Page 54: Synchronous Encoder Axis

    Synchronous Encoder Axis Overview of synchronous encoder axis The synchronous encoder is used to drive the input axis based on input pulse from a synchronous encoder that is connected externally. The status of a synchronous encoder axis can also be monitored after the system's power supply turns ON. [Pr.24] Manual pulse generator/Incremental synchronous encoder input selection [Pr.89] Manual pulse generator/Incremental...
  • Page 55 Synchronous encoder axis type The following 3 types of synchronous encoders can be used for the synchronous encoder axis. Refer to the following for the setting method for each synchronous encoder axis. Page 55 Setting method for synchronous encoder Synchronous encoder axis type Details Incremental synchronous encoder The incremental synchronous encoder that is connected to the manual pulse generator/incremental synchronous...
  • Page 56 ■Synchronous encoder axis speed units Setting value of "[Pr.321] Synchronous encoder axis Synchronous encoder Range unit setting" axis speed unit Control unit Speed time unit Number of decimal places for speed 0: mm 0: second [s] mm/s -2147483648 to 2147483647 [mm/s] ...

  • Page 57: Setting Method For Synchronous Encoder

    Setting method for synchronous encoder Incremental synchronous encoder ■Setting method Connect the synchronous encoder to the "Manual pulse generator/Incremental synchronous encoder input" of the Simple Motion module. Set the input method for the incremental synchronous encoder signal using the following parameters. (It may be common to use the same set up for the manual pulse generator input.) •...
  • Page 58 Synchronous encoder via servo amplifier There are restrictions in the function and the encoder that can be used by the version of the servo amplifier. ■Setting method Used to use a synchronous encoder connected to the servo amplifier which supports the scale measurement mode as a synchronous encoder axis.
  • Page 59 ■Point of the setting method • "Scale measurement mode selection (PA22)" is set to the servo amplifier set by "ABS" or "INC" from the "External synchronous encoder input" list of the amplifier setting dialog using the Simple Motion Module Setting Function. •...
  • Page 60 ■Setting example The following shows an example for setting a serial absolute synchronous encoder Q171ENC-W8 using MR-J4-_B-RJ as synchronous encoder axis 1 of the Simple Motion module. Simple Motion module MR-J4-_B-RJ Q171ENC-W8 (4194304 pulses/rev) Axis 1 Axis 2 Axis 3 Synchronous encoder axis 1 Set the parameters as below.
  • Page 61 Synchronous encoder via CPU ■Setting method Used to operate a gray code encoder that is connected to the input part of the CPU module or the extension input module as a synchronous encoder axis. By setting "201: Synchronous encoder via CPU" in "[Pr.320] Synchronous encoder axis type", the synchronous encoder is controlled by the encoder value which is the input value of "[Cd.325] Input value for synchronous encoder via CPU".

  • Page 62: Synchronous Encoder Axis Parameters

    Synchronous encoder axis parameters j: Synchronous encoder axis No. - 1 Setting item Setting details Setting value Default Buffer value memory address [Pr.320] • Set the synchronous encoder axis type to be ■Set in decimal. 34720+20j Synchronous encoder used. 0: Invalid axis type Fetch cycle: At power supply ON 1: Incremental synchronous encoder...
  • Page 63 Setting item Setting details Setting value Default Buffer value memory address [Pr.329] • Set the resolution of the synchronous ■Set in decimal. 34734+20j Resolution of encoder when the synchronous encoder -2147483648 to 2147483647 [pulse] 34735+20j synchronous encoder axis type is set to synchronous encoder via via CPU CPU.
  • Page 64 [Pr.320] Synchronous encoder axis type Set the synchronous encoder type to be generated of the input value for the synchronous encoder axis. Setting value Details 0: Invalid Synchronous encoder axis is invalid. 1: Incremental synchronous encoder Generate the input value based on the incremental synchronous encoder input. 101 to 108: Synchronous encoder via servo Generate the input value based on the synchronous encoder input via servo amplifier connected to the amplifier...
  • Page 65 • Speed unit: 0.001 [degree/min] • Length per cycle: 360.0 [degree] (1 cycle of the rotation table) Setting item Setting details Setting value [Pr.321] Control unit 2: degree 3112H Synchronous encoder axis unit Number of decimal places for position setting Speed time unit 1: minute [min] Number of decimal places for speed...
  • Page 66 [Pr.326] Synchronous encoder axis phase compensation advance time Set the time to advance or delay the phase (input response) of the synchronous encoder axis. Refer to the following for the delay time inherent to the system using the synchronous encoder axis. Page 131 Phase Compensation Function Setting value Details...
  • Page 67 [Pr.328] Synchronous encoder axis rotation direction restriction Set this parameter to restrict the input movement amount for the synchronous encoder axis to one direction. This helps to avoid reverse operation caused by such as machine vibration of the synchronous encoder input. Setting value Details 0: Without rotation direction...

  • Page 68: Synchronous Encoder Axis Control Data

    Synchronous encoder axis control data j: Synchronous encoder axis No. - 1 Setting item Setting details Setting value Default Buffer value memory address [Cd.320] • If set to "1", the synchronous encoder axis control is ■Set in decimal. 35040+10j Synchronous encoder axis started.
  • Page 69 [Cd.320] Synchronous encoder axis control start If set to "1", the synchronous encoder axis control is started. [Md.320] Synchronous encoder axis current value [Cd.320] Synchronous encoder axis control start [Cd.321] Synchronous encoder axis 0: Current value change control method [Cd.322] Synchronous encoder axis current value setting address If set to "101 to 108", the synchronous encoder axis control starts based on the high-speed input request [DI] for the specified servo amplifier axis.
  • Page 70 [Cd.322] Synchronous encoder axis current value setting address Set a new current value in synchronous encoder axis position units to apply to the current value change for the synchronous encoder axis (Page 53 Synchronous encoder axis position units). [Cd.323] Synchronous encoder axis error reset If set to "1", "[Md.326] Synchronous encoder axis error No."...

  • Page 71: Synchronous Encoder Axis Monitor Data

    Synchronous encoder axis monitor data j: Synchronous encoder axis No. - 1 Monitor item Storage details Monitor value Buffer memory address [Md.320] • The current value for the synchronous encoder ■Monitoring is carried out in decimal. 35200+20j Synchronous encoder axis current axis is stored.
  • Page 72 [Md.322] Synchronous encoder axis speed The speed for a synchronous encoder axis is stored in synchronous encoder axis speed units (Page 54 Synchronous encoder axis speed units). If the speed for a synchronous encoder axis exceeds the monitor range (Page 52 Overview of synchronous encoder axis), the warning "Input axis speed display over"...
  • Page 73 [Md.326] Synchronous encoder axis error No. When an error for a synchronous encoder axis is detected, the error code corresponding to the error details is stored. If set to "1" in "[Cd.323]Synchronous encoder axis error reset", the value is set to "0". [Md.327] Synchronous encoder axis warning No.

  • Page 74: Chapter 3 Cam Function

    CAM FUNCTION The details on cam data and operation for cam function in output axis (cam axis) are explained in this chapter. The cam function controls output axis by creating cam data that corresponds to the operation. The functions to operate cam data include "Cam data operation function", "Cam auto-generation function", and "Cam position calculation function".
  • Page 75 Cam data The cam data used in the cam function includes "storage data" which is used for reading/writing with EM Configurator and "open data" which is transmitted to the internal memory at cam control. Storage data Open data  (Reading and writing not possible) Linear cam Stroke ratio data format Stroke ratio data format...
  • Page 76 ■Stroke ratio data format The stroke ratio data format is defined in equal divisions for one cam cycle based on the cam resolution, and configured with stroke ratio data from points within the cam resolution. Refer to the following for setting methods for cam data. Page 79 Create Cam Data Setting item Setting details...
  • Page 77 ■Coordinate data format The coordinate data format is defined in coordinates of more than 2 points for one cam cycle. The coordinate data is represented as "(Input value, Output value)". Input value: Cam axis current value per cycle Output value: Stroke position from cam reference position With this format, "[Pr.441] Cam stroke amount"...
  • Page 78 When an input value that is 0 or the cam axis length per cycle does not exist in the coordinate data, the coordinate is calculated from the line segment between the nearest two coordinates. Output value: Y [Output axis position units] Generated line Generated line segment from...
  • Page 79 Cam reference position The cam reference position is calculated as shown below. ■Stroke ratio data format Cam reference position = The preceding cam reference position + (Cam stroke amount  Stroke ratio at the last point) ■Coordinate data format Cam reference position = The preceding cam reference position + Output value corresponding to "Input value = Cam axis length per cycle"...
  • Page 80 Cam data starting point This setting is only valid for cam data using the stroke ratio data format. The cam data point corresponding to "Cam axis current value per cycle = 0" can be set as the cam data starting point. The default value of the cam data starting point is 0.

  • Page 81: Create Cam Data

    Create Cam Data Memory configuration of cam data Cam data is arranged in the following 2 areas. Memory configuration Storage item Details Remark Cam storage area Cam data Data is written by the following • Data is preserved even when operations.
  • Page 82 2) Operation with buffer memory Simple Motion module Buffer memory [Cd.600] Cam data operation request (1: Read) Coordinate data [Cd.600] Cam data operation Stroke ratio request (1: Read) data Auto-generation data • Rotary cutter 1) Operation with an engineering tool [Cd.608] Auto-generation Cam auto-...
  • Page 83 Cam data operation with buffer memory It is possible to specify the area where cam data is written. The cam data is read from the cam open area. (Page 82 Cam data operation function) With the cam auto-generation function, auto-generation data is saved in the cam storage area, and the cam data is generated into the cam open area.

  • Page 84: Cam Data Operation Function

    Cam data operation function This function is used to write/read cam data via buffer memory with the cam operation control data. To operate the points more than the amount of data for each operation (as follows), the operation should be executed separately. Cam data format Amount of data for each operation Stroke ratio data format...
  • Page 85 [Cd.600] Cam data operation request Set the following commands to write/read cam data. Setting value Details 1: Read (Cam open area) The cam is read from the cam open area and stored to the buffer memory. 2: Write (Cam storage area) The cam data is written to the cam storage area and the cam open area from the buffer memory.
  • Page 86 [Cd.605] Cam resolution/coordinate number Set/load the cam resolution/the coordinate number. Operation Details Reading The cam resolution/the coordinate number of the set cam data is read. Writing Set the cam resolution with the following values when using the stroke ratio data format. 256/512/1024/2048/4096/8192/16384 Set the coordinate number within the range from 2 to 8192 when using the coordinate data format.

  • Page 87: Cam Auto-Generation Function

    Cam auto-generation function The cam auto-generation function is used to generate cam data automatically for specific purposes based on parameter settings. With this function, cam data is generated in the cam open area. It is possible to generate up to 1 Mbyte including the regular cam data. (Example: 64 cam data (with the stroke ratio format, resolution is 4096) can be automatically generated.) The processing time of cam auto-generation takes longer if the data point is larger.
  • Page 88 [Cd.611] Cam auto-generation data Set the cam auto-generation data corresponding to "[Cd.610] Cam auto-generation type". ■For a rotary cutter The cam data starting point for a rotary cutter is 0. Buffer memory address Item Setting value Details 53204 Cam resolution 256/512/1024/2048/4096/8192/16384 Set the cam resolution for generating the cam.

  • Page 89: Chapter 4 Synchronous Control

    SYNCHRONOUS CONTROL The parameters and monitor data for synchronous control such as "Main shaft module", "Speed change gear module", and "Output axis module" are explained in this chapter. Configure the required settings according to the control and application requirements for each module. Main Shaft Module Overview of main shaft module For the main shaft module, the input value is generated as a composite value from two input axes (the main and sub input...
  • Page 90 Setting item Setting details Setting value Default value Buffer memory address ■Set in hexadecimal. [Pr.402] • Select the composite method for input values from the 0001H 36402+200n Composite main main input axis and sub input axis. H _ _ _ _ shaft gear Fetch cycle: Operation cycle Main input method...
  • Page 91 [Pr.403] Main shaft gear: Numerator, [Pr.404] Main shaft gear: Denominator Set the numerator and the denominator for the main shaft gear to convert the input value. The input value is converted as follows. [Pr.403] Main shaft gear: Numerator = Input value before conversion × Input value after conversion [Pr.404] Main shaft gear: Denominator The input value direction can be reversed by setting a negative value in the numerator of the main shaft gear.

  • Page 92: Main Shaft Clutch Parameters

    Main shaft clutch parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer value memory address [Pr.405] • Set the control method for the clutch. ■Set in hexadecimal. 0000H 36408+200n Main shaft clutch Fetch cycle: Operation cycle H _ _ _ _ control setting ON control mode...
  • Page 93 Setting item Setting details Setting value Default Buffer value memory address [Pr.413] • For smoothing with a slippage method, set the ■Set in decimal. 36420+200n Slippage amount at slippage amount at clutch ON. 0 to 2147483647 36421+200n main shaft clutch Fetch cycle: At turning clutch ON [Main input axis position units , or cam axis...
  • Page 94 ■High speed input request signal Set the high speed input request signal No. for the ON control mode (1) and the OFF control mode (2) when using the setting "5: High speed input request". Signal No. Setting value Signal No. Setting value (Hexadecimal) (Hexadecimal)
  • Page 95 [Pr.409] Main shaft clutch OFF address Set the clutch OFF address when address mode is configured for the OFF control mode of the main shaft clutch. When the reference address is the current value per cycle after main shaft gear, the setting address is converted for control within the range from 0 to (Cam axis length per cycle - 1).
  • Page 96 [Pr.413] Slippage amount at main shaft clutch ON Set the slippage amount at clutch ON when the slippage method is set in "[Pr.411] Main shaft clutch smoothing method". The slippage amount is set in units based on the current value selected in "[Pr.406] Main shaft clutch reference address setting".

  • Page 97: Main Shaft Clutch Control Data

    Main shaft clutch control data n: Axis No. - 1 Setting item Setting details Setting value Default value Buffer memory address ■Set in decimal. [Cd.400] • Set the clutch command ON/OFF. 44080+20n Main shaft clutch Fetch cycle: Operation cycle 0: Main shaft clutch command command 1: Main shaft clutch command [Cd.401]...

  • Page 98: Auxiliary Shaft Module

    Auxiliary Shaft Module Overview of auxiliary shaft module For the auxiliary shaft module, the input value is generated from the auxiliary shaft. The input value can be converted by the auxiliary shaft gear that provides the deceleration ratio and the rotation direction for the machine system, etc. Refer to the followings for details on setting for the auxiliary shaft module.
  • Page 99 [Pr.418] Auxiliary shaft axis No. Set the input axis No. for the auxiliary shaft. Setting value Details 0: Invalid The input value is always 0. 1 to 8: Servo input axis Set the servo input axis (axis 1 to axis 8). When the servo input axis is not set in the system setting, the input value is always 0.

  • Page 100: Auxiliary Shaft Clutch Parameters

    Auxiliary shaft clutch parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer value memory address [Pr.422] • Set the control method for the clutch. ■Set in hexadecimal. 0000H 36436+200n Auxiliary shaft Fetch cycle: Operation cycle H _ _ _ _ clutch control ON control mode...
  • Page 101 Setting item Setting details Setting value Default Buffer value memory address [Pr.430] • For smoothing with a slippage method, set the ■Set in decimal. 36448+200n Slippage amount at slippage amount at clutch ON. 0 to 2147483647 36449+200n auxiliary shaft clutch Fetch cycle: At turning clutch ON [Auxiliary shaft position units , or cam axis...
  • Page 102 ■High speed input request signal Set the high speed input request signal No. for the ON control mode (1) and the OFF control mode (2) when using the setting "5: High speed input request". Signal No. Setting value Signal No. Setting value (Hexadecimal) (Hexadecimal)
  • Page 103 [Pr.426] Auxiliary shaft clutch OFF address Set the clutch OFF address when address mode is configured for the OFF control mode of the auxiliary shaft clutch. When the reference address is the current value per cycle after auxiliary shaft gear, the setting address is converted for control within the range from 0 to (Cam axis length per cycle - 1).
  • Page 104 [Pr.430] Slippage amount at auxiliary shaft clutch ON Set the slippage amount at clutch ON when the slippage method is set in "[Pr.428] Auxiliary shaft clutch smoothing method". The slippage amount is set in units based on the current value selected in "[Pr.423] Auxiliary shaft clutch reference address setting".

  • Page 105: Auxiliary Shaft Clutch Control Data

    Auxiliary shaft clutch control data n: Axis No. - 1 Setting item Setting details Setting value Default value Buffer memory address ■Set in decimal. [Cd.403] • Set the clutch command ON/OFF. 44083+20n Auxiliary shaft Fetch cycle: Operation cycle 0: Auxiliary shaft clutch clutch command command OFF 1: Auxiliary shaft clutch...

  • Page 106: Clutch

    Clutch Overview of clutch The clutch is used to transmit/disengage command pulses from the main/auxiliary shaft input side to the output axis module through turning the clutch ON/OFF, which controls the operation/stop of the servomotor. A clutch can be configured for the main and auxiliary shafts. Control method for clutch Set the ON and OFF control methods separately in "[Pr.405] Main shaft clutch control setting"...
  • Page 107 ■Clutch command ON/OFF The clutch is turned ON/OFF by the operation of clutch command ON/OFF. (Setting in the OFF control mode are not applicable in this mode.) Clutch command Clutch ON/OFF status Current value before clutch Movement amount after clutch Item Main shaft clutch Auxiliary shaft clutch...
  • Page 108 ■Address mode The clutch is turned ON when the reference address reaches "Clutch ON address". The movement amount after passing through the ON address is calculated as the output movement amount of the clutch based on the reference address passing through, thereby controlling the clutch with an accurate movement amount. Clutch ON/OFF status Clutch ON address Current value specified in...
  • Page 109 OFF control mode ■OFF control invalid Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control. ■One-shot OFF The clutch is turned OFF after moving the distance "Movement amount before clutch OFF" (One-shot operation) after the clutch command turn ON.
  • Page 110 ■Address mode The clutch is turned OFF when the reference address reaches "Clutch OFF address". The movement amount before passing through the OFF address is calculated as the output movement amount of the clutch based on the reference address passing through, thereby controlling the clutch with an accurate movement amount. Clutch ON/OFF status Clutch OFF address Current value specified in...

  • Page 111: Smoothing Method For Clutch

    Smoothing method for clutch Set the clutch smoothing method in "[Pr.411] Main shaft clutch smoothing method" and "[Pr.428] Auxiliary shaft clutch smoothing method". The 2 types of clutch smoothing include the following. • Time constant method smoothing • Slippage method smoothing When not using clutch smoothing, set "0: Direct"...
  • Page 112 ■Time constant method linear acceleration/deceleration smoothing Set "2: Time constant method (Linear)" in the clutch smoothing method. Clutch ON/OFF status Clutch smoothing status Speed before clutch processing Speed after clutch smoothing Clutch smoothing time constant Slippage method smoothing Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON, and with slippage at clutch OFF when the clutch turns OFF.
  • Page 113 ■Slippage method linear acceleration/deceleration smoothing Set "4: Slippage method (Linear)" or "5: Slippage method (Linear: Input value follow up)" in the clutch smoothing method. The differences between "4: Slippage method (Linear)" and "5: Slippage method (Linear: Input value follow up)" are shown below.
  • Page 114 When the clutch smoothing status ON section is shortened Clutch ON/OFF status ON section is shortened. Clutch smoothing status Input speed (Speed before clutch processing) Output speed (Speed after clutch processing) Slippage amount at clutch OFF Slippage amount at clutch ON Clamped at high speed ["5: Slippage method (Linear: Input value follow up)"...
  • Page 115 ["5: Slippage method (Linear: Input value follow up)" is set.] The output speed is changed depending on the input speed. (When the input speed is decelerated and accelerated again, the speed might be accelerated rapidly.) Clutch ON/OFF status Clutch smoothing status Input speed (Speed before clutch processing)

  • Page 116: Use Example Of Clutch

    Use example of clutch The following machine shows an example using clutch control for a flying shear cutting system that synchronizes off a start signal from a sensor input. Sensor input (High speed input Main shaft gear request [DI]) Main shaft main Main shaft clutch input axis 100 mm...

  • Page 117: Speed Change Gear Module

    Speed Change Gear Module Overview of speed change gear module A speed change gear module is used to change the input speed from the main shaft/auxiliary shaft/composite auxiliary shaft gear during operation. When not using a speed change gear module, set "0: No speed change gear" in "[Pr.434] Speed change gear".

  • Page 118: Speed Change Gear Parameters

    Speed change gear parameters n: Axis No. - 1 Setting item Setting details Setting value Default value Buffer memory address ■Set in decimal. [Pr.434] • Set the arrangement for the speed change gear. 36460+200n Speed change gear Fetch cycle: At start of synchronous control 0: No speed change gear 1: Main shaft side 2: Auxiliary shaft side...

  • Page 119: Output Axis Module

    Output Axis Module Overview of output axis module For the output axis module, the cam axis current value per cycle is calculated based on the input value (the output value from a speed change gear), and is converted based on the set cam data. The feed current value which is a command is output to the servo amplifier.
  • Page 120 Units for the output axis The position units for the output axis are shown below based on the setting "[Pr.1] Unit setting". Setting value of "[Pr.1] Unit setting" Output axis position unit Range 10 0: mm -214748.3648 to 214748.3647 [mm] m) (10 (-214748364.8 to 214748364.7 [m])

  • Page 121: Output Axis Parameters

    Output axis parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer value memory address [Pr.438] • Set the units for the cam axis length per cycle. ■Set in hexadecimal. 0000H 36470+200n Cam axis cycle • There is no influence on the control for the parameter H _ _ _ _ unit setting for monitor display.
  • Page 122 [Pr.440] Cam No. Set the cam No. for cam control. Cam No.0 operates as a linear cam for 100% of its stroke ratio along the cam axis length per cycle. The cam No. can be changed during synchronous control. The value set in "[Pr.440] Cam No." is valid when the cam axis current value per cycle passes through the 0th point of cam data, or is on the 0th point.
  • Page 123 [Pr.446] Synchronous control deceleration time Set the time to decelerate to a stop when deceleration stop occurs during synchronous control. Set the time from "[Pr.8] Speed limit value" until the speed becomes 0 in units of ms. Operation assumes an immediate stop when "0" is set. [Pr.447] Output axis smoothing time constant Set the averaging time to execute a smoothing process for the movement amount of the output axis after cam data conversion.

  • Page 124: Synchronous Control Change Function

    Synchronous Control Change Function Overview of synchronous control change function This function can change the cam reference position, the cam axis current value per cycle and the current value per cycle after the main/auxiliary shaft gear during the synchronous control. The following 5 methods exist for the synchronous control change function.
  • Page 125 [Cd.407] Synchronous control change command Set the synchronous control change command. Setting value Details Reference Cam reference position movement Page 123 Cam reference position movement Page 123 Change cam axis current value per cycle Change cam axis current value per cycle Change current value per cycle after main shaft gear Page 124 Change current value per cycle after main shaft gear Page 124 Change current value per cycle after auxiliary shaft gear...
  • Page 126 ■Change current value per cycle after main shaft gear The current value per cycle after main shaft gear is changed to the value set in "[Cd.408] Synchronous control change value". This operation is completed within one operation cycle. Clutch control is not executed if the current value per cycle after main shaft gear (the value before being changed and after being changed) has already passed through the ON/OFF address in address mode.
  • Page 127 [Cd.409] Synchronous control reflection time Set the reflection time for synchronous control change processing as follows. [Cd.407] Synchronous control Setting details for "[Cd.409] Synchronous control reflection time change command 0: Cam reference position movement The time to reflect the movement amount to the cam reference position. 1: Change cam axis current value per Setting not required.

  • Page 128: Synchronous Control Monitor Data

    Synchronous Control Monitor Data Synchronous control monitor data is updated only during synchronous control. The monitor values ([Md.400], [Md.401], [Md.402], [Md.407], [Md.408], and [Md.409]) from the last synchronous control session are restored the next time the system's power supply turns ON. Restarting operation status from the last synchronous control session is possible through returning to the last position via positioning control (Page 133 SYNCHRONOUS CONTROL INITIAL POSITION).
  • Page 129 Monitor item Storage details Monitor value Buffer memory address [Md.410] • The executing cam No. is stored. ■Monitoring is carried out in decimal display. 42818+40n Execute cam No. Refresh cycle: Operation cycle (During 0 to 256 synchronous control only) [Md.411] •...
  • Page 130 Current value after composite main shaft gear = Main input direction of composite main shaft gear  Main input axis current value Change method 2): The movement amount of the main input axis from the last synchronous control session is reflected to the current value after composite main shaft gear.
  • Page 131 [Md.408] Cam reference position The feed current value is stored as the cam reference position. The unit is in output axis position units (Page 118 Units for the output axis). When the unit is in degrees, a range from 0 to 35999999 is used. The value is restored according to "[Pr.462] Cam axis position restoration object"...
  • Page 132 [Md.425] Auxiliary shaft clutch slippage (accumulative) The accumulative slippage amount with the slippage method is stored as a signed value. The absolute value of the accumulative slippage increases to reach the slippage at clutch ON during clutch ON. The absolute value of the accumulative slippage decreases to reach 0 during clutch OFF. Monitoring of the accumulative slippage is used to check the smoothing progress with the slippage method.

  • Page 133: Phase Compensation Function

    Phase Compensation Function In synchronous control, delays in progresses, etc. cause the phase to deviate at the output axis motor shaft end with respect to the input axis (servo input axis or synchronous encoder axis). The phase compensation function compensates in this case so that the phase does not deviate.

  • Page 134: Output Axis Sub Functions

    Output Axis Sub Functions The following shows which sub functions apply for the output axis in synchronous control. : Valid, : Invalid Sub function Output Details axis  Backlash compensation function The same control as other methods.  Electronic gear function ...

  • Page 135: Chapter 5 Synchronous Control Initial Position

    SYNCHRONOUS CONTROL INITIAL POSITION The initial position for synchronous control is explained in this chapter. Configure these settings for situations that require initial position alignment for synchronous control. Synchronous Control Initial Position The following synchronous control monitor data can be aligned to a set position when starting synchronous control, as the initial position for synchronous control.
  • Page 136 Current value after composite main shaft gear at synchronous control start The current value after composite main shaft gear is restored as follows according to the main input axis operation executed before starting synchronous control. Operation of main input axis Servo input axis Command generation Synchronous encoder...
  • Page 137 Current value per cycle after main/auxiliary shaft gear at synchronous control start The current value per cycle after main shaft gear/current value per cycle after auxiliary shaft gear is restored as follows according to the main input axis/auxiliary shaft operation executed before starting synchronous control. Operation of main input axis/ Servo input axis Command generation...
  • Page 138 Cam axis position at synchronous control start The cam axis position is composed of the relationship of 3 positions "Cam axis current value per cycle", "Cam reference position" and "Cam axis feed current value". One of positions can be restored by defining 2 positions when starting synchronous control.

  • Page 139: Synchronous Control Initial Position Parameters

    Synchronous Control Initial Position Parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer value memory address [Pr.460] • Select the setting method for the current value per ■Set in decimal. 36500+200n Setting method of cycle after main shaft gear. 0: Previous value current value per Fetch cycle: At start of synchronous control...
  • Page 140 [Pr.461] Setting method of current value per cycle after auxiliary shaft gear Select the setting method of "[Md.402] Current value per cycle after auxiliary shaft gear" when starting synchronous control. Setting value Details 0: Previous value The current value per cycle after auxiliary shaft gear from the last synchronous control session is stored. 1: Initial setting value of current value per cycle The value set in "[Pr.466] Current value per cycle after auxiliary shaft gear (Initial setting)"...
  • Page 141 [Pr.467] Cam reference position (Initial setting) Set the initial setting value of the cam reference position in output axis position units (Page 118 Units for the output axis) when "[Pr.463] Setting method of cam reference position" is set to "1: Cam reference position (Initial setting)". [Pr.468] Cam axis current value per cycle (Initial setting) Set a value according to the setting for "[Pr.462] Cam axis position restoration object".

  • Page 142: Cam Axis Position Restoration Method

    Cam Axis Position Restoration Method Cam axis current value per cycle restoration If "[Pr.462] Cam axis position restoration object" is set to "0: Cam axis current value per cycle restoration" when starting synchronous control, the cam axis current value per cycle is restored based on the cam reference position and the cam axis feed current value.
  • Page 143 Cam axis current value per cycle restoration operation ■With a two-way cam pattern operation • Search from "Cam axis current value per cycle = 0". (Cam data starting point = 0) Cam axis current value per cycle Search from "Cam axis current value per cycle=0". Cam axis feed current value Restore to the first feed current value that matches.
  • Page 144 • Search from a value in the middle of the cam axis current value per cycle. (Cam data starting point = 0) [Pr.468] Cam axis current value per cycle (Initial setting) Cam axis current value per cycle Cam axis feed current value (Feed current value) New cam reference position Cam reference position...
  • Page 145 Example The following shows an example of restarting the cam (a cam similar to a cam with a linear feed where two identical positioning points do not exist on the cam) from the feed current value after a forced stop, when the forced stop has stopped operation.

  • Page 146: Cam Reference Position Restoration

    Cam reference position restoration If "[Pr.462] Cam axis position restoration object" is set to "1: cam reference position restoration" when starting synchronous control, the cam reference position is restored based on the cam axis current value per cycle and the cam axis feed current value.
  • Page 147 • Restore operation at start of synchronous control Feed current value [pulse] The estimated cam pattern for Cam starting point is set to "Cam axis current value per cycle = 0" as the origin is determined. "feed current value = 0 [pulse]". Time [ms] Cam reference position becomes "0 - 200 = -200 [pulse]".

  • Page 148: Cam Axis Feed Current Value Restoration

    Cam axis feed current value restoration If "[Pr.462] Cam axis position restoration object" is set to "2: Cam axis feed current value restoration" when starting synchronous control, the cam axis feed current value is restored based on the cam axis current value per cycle and the cam reference position.
  • Page 149 • Move to synchronous control starting point Feed current value [pulse] Time [ms] Move to the position of 150 [pulse] by return to cam starting position, or by home position return. • Restore operation Feed current value [pulse] Start synchronous control. The cam reference position (feed current value = 150 [pulse]) becomes the equivalent for the position where "Cam axis current value per cycle = 0".

  • Page 150: Synchronous Control Analysis Mode

    Synchronous Control Analysis Mode With synchronous control analysis mode, synchronous control parameters are only analyzed when there is a command to start synchronous control. This mode is used to confirm the synchronous positions of the output axes in order to align axes with position control before starting synchronous control.
  • Page 151 Example The following shows a procedure of aligning the synchronous position of an output axis that references the input axis. Set the following values in the synchronous control initial position parameters. Setting item Setting value [Pr.460] Setting method of current value per cycle after main shaft gear 2: Calculate from input axis [Pr.462] Cam axis position restoration object 2: Cam axis feed current value restoration...

  • Page 152: Cam Position Calculation Function

    Cam Position Calculation Function The cam position is calculated by the program with this function. This function can be used to calculate the cam position for the synchronous control initial position before starting synchronous control. Example The following shows the procedure for synchronous position alignment, in a synchronous system where cam axes 2 and 3 are synchronized with the cam axis current value per cycle of axis 1.
  • Page 153 [Cd.612] Cam position calculation request Set the following commands to calculate the cam position. Setting value Details Cam axis feed current value calculation request Cam axis current value per cycle calculation request The result is stored in "[Md.600] Cam position calculation result" and the setting value is reset to "0" automatically after completion of cam position calculation.

  • Page 154: Cam Position Calculation Monitor Data

    Cam position calculation monitor data Monitor item Storage details Monitor value Buffer memory address ■Monitoring is carried out in decimal. [Md.600] • The result of the cam position calculation 53800 Cam position calculation result is stored. • When calculating the cam axis feed 53801 Refresh cycle: At cam position calculation current value:...
  • Page 155 ■Stroke ratio data format When "the nth point of cam data  [Cd.617] Cam position calculation: Cam axis current value per cycle < the n + 1st point of cam data", the position corresponding to "[Cd.618] Cam position calculation: Cam axis feed current value" is searched from the nth point of cam data.
  • Page 156 ■Coordinate data format (1) The range before the 1st point of cam data When the 1st point of the cam data is larger than 0 and "[Cd.617] Cam position calculation: Cam axis current value per cycle < the 1st point of cam data", the position corresponding to "[Cd.618] Cam position calculation: Cam axis feed current value" is searched from the range before the 1st point of the cam data.
  • Page 157 When "[Cd.617] Cam position calculation: Cam axis current value per cycle" is corresponding to the 1st point of cam data Search order At the 2nd point Search starting point At the 3rd point At the 1st point At the 5th point At the 0th point [Cd.617] Cam position calculation: Cam axis...
  • Page 158 (3) The range from the last point of cam data to the cam axis length per cycle When "the last point of cam data  [Cd.617] Cam position calculation: Cam axis current value per cycle < cam axis length per cycle", the position corresponding to "[Cd.618] Cam position calculation: Cam axis feed current value"...

  • Page 159: Method To Restart Synchronous Control

    Method to Restart Synchronous Control The relationship of the synchronous position for synchronous control is always saved in the Simple Motion module. Synchronous control can be restarted without returning all axes to their starting points by restoring the synchronized relationship through the synchronous control initial position parameters (Page 137 Synchronous Control Initial Position Parameters).

  • Page 160: Appendices

    APPENDICES Appendix 1 List of Buffer Memory Addresses (for Synchronous Control) The following shows the relation between the buffer memory addresses and the various items. Refer to the following for the list of general buffer memory addresses. MELSEC iQ-F FX5 Simple Motion Module User's Manual (Application) Parameters ■Servo input axis parameters n: Axis No.
  • Page 161 ■Synchronous parameters: Main shaft n: Axis No. - 1 Item Buffer memory address [Pr.400] Main input axis No. 36400+200n [Pr.401] Sub input axis No. 36401+200n [Pr.402] Composite main shaft gear 36402+200n [Pr.403] Main shaft gear: Numerator 36404+200n 36405+200n [Pr.404] Main shaft gear: Denominator 36406+200n 36407+200n [Pr.405]...
  • Page 162 ■Synchronous parameters: Speed change gear n: Axis No. - 1 Item Buffer memory address [Pr.434] Speed change gear 36460+200n [Pr.435] Speed change gear smoothing time constant 36461+200n [Pr.436] Speed change ratio: Numerator 36462+200n 36463+200n [Pr.437] Speed change ratio: Denominator 36464+200n 36465+200n ■Synchronous parameters: Output axis n: Axis No.
  • Page 163 Monitor data ■Servo input axis monitor data n: Axis No. - 1 Item Buffer memory address [Md.300] Servo input axis current value 33120+10n 33121+10n [Md.301] Servo input axis speed 33122+10n 33123+10n [Md.302] Servo input axis phase compensation amount 33124+10n 33125+10n [Md.303] Servo input axis rotation direction restriction amount 33126+10n...
  • Page 164 Item Buffer memory address [Md.46] Last executed positioning data No. 60937+120n [Md.47] Positioning data being executed Positioning identifier 60938+120n M code 60939+120n Dwell time 60940+120n Command speed 60942+120n 60943+120n Positioning address 60944+120n 60945+120n [Md.48] Deceleration start flag 60999+120n [Md.122] Speed during command 60992+120n 60993+120n [Md.141]...
  • Page 165 Control data ■Command generation axis control data n: Axis No. - 1 Item Buffer memory address [Cd.3] Positioning start No. 61860+128n [Cd.5] Axis error reset 61862+128n [Cd.6] Restart command 61863+128n [Cd.7] M code OFF request 61864+128n [Cd.9] New current value 61866+128n 61867+128n [Cd.10]...
  • Page 166 ■Synchronous encoder axis control data j: Synchronous encoder axis No. - 1 Item Buffer memory address [Cd.320] Synchronous encoder axis control start 35040+10j [Cd.321] Synchronous encoder axis control method 35041+10j [Cd.322] Synchronous encoder axis current value setting address 35042+10j 35043+10j [Cd.323] Synchronous encoder axis error reset 35044+10j...
  • Page 167 ■Cam operation control data: Cam auto-generation Item Buffer memory address [Cd.608] Cam auto-generation request 53200 [Cd.609] Cam auto-generation cam No. 53201 [Cd.610] Cam auto-generation type 53202 [Cd.611] Cam auto-generation data 53204 53779 *1 The item details on the cam auto-generation are shown below. •...

  • Page 168: Appendix 2 Sample Program Of Synchronous Control

    Appendix 2 Sample Program of Synchronous Control The following shows a sample program of executing synchronous control on the axis 1 with the axis 4 as an input axis using the 4-axis module. (The axis 4 is configured as the virtual servo amplifier.) Set MR-J4(W)-B on the axis 1 and the virtual servo amplifier on the axis 4 in the "System Configuration"...
  • Page 169 Set the synchronous parameter of the axis 1. Create the program to start synchronous control. The sample program when head I/O No. of the Simple Motion module is set to 00H is shown below. • For using labels Classification Label name Description Module label FX5SSC_1.stSysMntr2_D.bSynchronizationFlag_D...
  • Page 170 Program example APPENDICES Appendix 2 Sample Program of Synchronous Control...
  • Page 171 • For using buffer memory Program example APPENDICES Appendix 2 Sample Program of Synchronous Control...

  • Page 172: Index

    INDEX Command generation axis current value per cycle ........43 .
  • Page 173 ..69 Main shaft gear Synchronous encoder axis current value ......89 Denominator Synchronous encoder axis current value per cycle .

  • Page 174: Revisions

    Japanese manual number: IB-0300254-D 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 175: 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 176: 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 178 Manual number: IB(NA)-0300255ENG-E(1610)MEE Model: FX5SSC-U-ADV-E Model code: 1XB022 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.

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