Mitsubishi Electric A1SD75P1-S3 User Manual
  1. Manuals
  2. Brands
  3. Mitsubishi Electric Manuals
  4. Control Unit
  5. A1SD75P1-S3
  6. User manual
Mitsubishi Electric A1SD75P1-S3 User Manual

Mitsubishi Electric A1SD75P1-S3 User Manual

Positioning module
Hide thumbs
1
2
3
4
5
6
Table Of Contents
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
Table of Contents

Advertisement

Quick Links

Download this manual
sales@artisantg.com
artisantg.com
(217) 352-9330 |
|
Click HERE
Find the Mitsubishi AD75P3 at our website:

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the A1SD75P1-S3 and is the answer not in the manual?

Questions and answers

Related Manuals for Mitsubishi Electric A1SD75P1-S3

Summary of Contents for Mitsubishi Electric A1SD75P1-S3

  • Page 1 sales@artisantg.com artisantg.com (217) 352-9330 | Click HERE Find the Mitsubishi AD75P3 at our website:...
  • Page 2 A1SD75P1-S3/P2-S3/P3-S3 A1SD75P1-S3/P2-S3/P3-S3 Positioning Module Positioning Module AD75P1-S3/P2-S3/P3-S3 AD75P1-S3/P2-S3/P3-S3 User s Manual User s Manual A1SD75/AD75S3-U-E MODEL MODEL 13J871 CODE IB(NA)-66716-F(0305)MEE HEAD OFFICE : 1-8-12, OFFICE TOWER Z 14F HARUMI CHUO-KU 104-6212,JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS (Always read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The instructions given in this manual are concerned with this product. For the safety instructions of the programmable logic controller system, please read the CPU module User's Manual.
  • Page 4 [Design Instructions] CAUTION Do not bundle or adjacently lay the control wire or communication cable with the main circuit or power wire. Separate these by 100mm or more. Failure to observe this could lead to malfunctioning caused by noise. [Mounting Instructions] CAUTION Use the PLC within the general specifications environment given in this manual.
  • Page 5 [Startup/Maintenance Instructions] CAUTION Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Always turn all phases of the power supply OFF externally before installing or removing the module. Failure to turn all phases OFF could lead to module trouble or malfunctioning. Before starting test operation, set the parameter speed limit value to the slowest value, and make sure that operation can be stopped immediately if a hazardous state occurs.

  • Page 6: Revisions

    This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 7: Table Of Contents

    INTRODUCTION Thank you for purchasing the Mitsubishi general-purpose programmable logic controller MELSEC-A Series. Always read through this manual, and fully comprehend the functions and performance of the A Series PLC before starting use to ensure correct usage of this product. CONTENTS SAFETY INSTRUCTIONS..........................A-1 REVISIONS ..............................A-4...
  • Page 8 3.3.3 AD75 auxiliary functions and common functions ................3-8 3.3.4 Combination of AD75 main functions and auxiliary functions ............3-10 3.4 Specifications of input/output signals with PLC CPU ................3-12 3.4.1 List of input/output signals with PLC CPU..................3-12 3.4.2 Details of input signals (AD75 PLC CPU) ...................
  • Page 9 5.2.1 Basic parameters 1 ........................... 5-18 5.2.2 Basic parameters 2 ........................... 5-24 5.2.3 Detailed parameters 1........................5-28 5.2.4 Detailed parameters 2........................5-36 5.2.5 Zero point return basic parameters ....................5-45 5.2.6 Zero point return detailed parameters ....................5-52 5.3 List of positioning data ..........................5-56 5.4 List of start block data ..........................
  • Page 10 SECTION 2 CONTROL DETAILS AND SETTING 8. ZERO POINT RETURN CONTROL 8-1 to 8-26 8.1 Outline of zero point return control ......................8-2 8.1.1 Two types of zero point return control ....................8-2 8.2 Machine zero point return .......................... 8-4 8.2.1 Outline of the machine zero point return operation................
  • Page 11 10.1.2 "Start block data" and "condition data" configuration..............10-4 10.2 Advanced positioning control execution procedure ................10-6 10.3 Setting the start block data ........................10-7 10.3.1 Relation between various controls and start block data ..............10-7 10.3.2 Block start (normal start) ........................ 10-8 10.3.3 Condition start ..........................
  • Page 12 Appendix 3 Positioning data (No. 1 to 100), List of buffer memory addresses ......Appendix-13 Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation ................Appendix-16 Appendix 4.1 Connection example of A1SD75/AD75 and MR-H A (Differential driver (Open collector)) ...............Appendix-16 Appendix 4.2 Connection example of A1SD75/AD75 and MR-J2/J2S- A...
  • Page 13 Appendix 9.1 Comparisons with AD71 (S1), AD71S2 (A1SD71S2) models ......Appendix-23 Appendix 9.2 Comparisons with A1SD75P1/A1SD75P2/A1SD75P3, and AD75P1/ AD75P2/ AD75P3 models ...............Appendix-24 Appendix 9.3 Comparisons with old versions of A1SD75P1-S3/A1SD75P2-S3/ A1SD75P3-S3, and AD75P1-S3/AD75P2-S3/AD75P3-S3 models......Appendix-25 Appendix 10 MELSEC Explanation of positioning terms ..............Appendix-26 Appendix 11 Positioning control troubleshooting ................Appendix-46...

  • Page 14: About Manuals

    (Enclosed with module) A1SD75P1-S3/P2-S3/P3-S3 Positioning Module User's Manual (Hardware) IB-66732 The A1SD75P1-S3/P2-S3/P3-S3 positioning module performance specifications, input/output interface, (13J882) names of each part and startup procedures, etc., are explained. (Enclosed with module) Positioning Module Software Package type SW1IVD-AD75P Operating Manual The methods of creating data (parameters, positioning data, etc.), transmitting the data to the module,...

  • Page 15: Using This Manual (1

    Using This Manual (1) The symbols used in this manual are shown below. Pr.* ..Symbol indicating positioning parameter and zero point return parameter item. Da.* ..Symbol indicating positioning data, start block data and condition data item. Md.* ..Symbol indicating monitor data item. Cd.* ..

  • Page 16: Using This Manual (2

    Using This Manual (2) The methods for reading this manual are shown below. 1) → 2) → 3) → 4) → 5) → Test operation → 6) → Actual operation Chapter 1 PRODUCT OUTLINE 1) Understand the product functions and specifications, and design the system.

  • Page 17: Using This Manual (3

    Using This Manual (3) The contents of each chapter are shown below. SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING 1 PRODUCT The basic contents for understanding positioning control using AD75 are OUTLINE described. 2 SYSTEM The devices required for positioning control using AD75 are described. CONFIGURATION 3 SPECIFICATIONS The AD75 functions and performance specifications, etc., are described.

  • Page 18: Generic Terms And Abbreviations

    Details of generic term/abbreviation PLC CPU Generic term for PLC CPU on which AD75 can be mounted. AD75 Generic term for positioning module AD75P1-S3, AD75P2-S3, AD75P3-S3, A1SD75P1-S3, A1SD75P2-S3, and A1SD75P3-S3. The module type is described to indicate a specific module. Peripheral device Generic term for DOS/V personal computer that can run the following "AD75 Software...

  • Page 19: Enclosed Parts

    AD75P2-S3 AD75P3-S3 External device connection connector (10136-3000VE, Sumitomo 3M) Connector cover (10336-56 F0-008, Sumitomo 3M) AD75 A1SD75P1-S3/P2-S3/P3-S3, AD75P1-S3/P2-S3/P3-S3 type Positioning Module User's Manual (Hardware) A - 17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 20 MEMO A - 18 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 21 SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING SECTION 1 is configured for the following purposes (1) to (5). (1) To understand the outline of positioning control, and the AD75 specifications and functions (2) To carry out actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a sequence program required for positioning control (5) To understand the memory configuration and data transmission process...
  • Page 22 MEMO Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 23: Product Outline

    Chapter 1 PRODUCT OUTLINE The purpose and outline of positioning control using AD75 are explained in this chapter. By understanding "What can be done", and "Which procedures to use" beforehand, the positioning system can be structured smoothly. 1.1 Positioning control ......................1-2 1.1.1 Features of AD75....................1-2 1.1.2...

  • Page 24: Positioning Control

    1 PRODUCT OUTLINE MELSEC-A 1.1 Positioning control 1.1.1 Features of AD75 The features of the AD75 are shown below. (1) Lineup of 1-axis to 3-axis modules (a) There are six types of positioning modules for 1-axis to 3-axis control. Select according to the PLC CPU type and the required No. of control axes. (b) There is one slot used to mount each AD75 onto the base unit.
  • Page 25 1 PRODUCT OUTLINE MELSEC-A (d) The zero point return control has been strengthened. 1) The near-point dog type (one type), stopper stop type (three types), and count type (two types) zero point return methods have been prepared as the "machine zero point return" zero point return method. 2) To realize zero point return control to the machine zero point from a random position, the zero point return retry function has been prepared.

  • Page 26: Purpose And Applications Of Positioning Control

    1 PRODUCT OUTLINE MELSEC-A 1.1.2 Purpose and applications of positioning control "Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece") at a designated speed, and accurately stopping it at the target position. The main application examples are shown below. Punch press (X, Y feed positioning •...
  • Page 27 1 PRODUCT OUTLINE MELSEC-A Lifter (Storage of Braun tubes onto aging rack) • During the aging process of Braun tubes, Unloader storage onto the rack is carried out by Loader/unloader positioning with the servo. • The up/down positioning of the lifter is carried B conveyor Aging rack out with the 1-axis servo, and the horizontal...

  • Page 28: Mechanism Of Positioning Control

    1 PRODUCT OUTLINE MELSEC-A 1.1.3 Mechanism of positioning control Positioning control using the AD75 is carried out with "pulse signals". (The AD75 is a module that generates pulses). In the positioning system using the AD75, various software and devices are used for the following roles. The AD75 realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the PLC CPU.
  • Page 29 1 PRODUCT OUTLINE MELSEC-A The principle of "position control" and "speed control" operation is shown below. Position control The total No. of pulses required to move the designated distance is obtained in the following manner. Designated distance Total No. of pulses No.

  • Page 30: Outline Design Of Positioning System

    1 PRODUCT OUTLINE MELSEC-A 1.1.4 Outline design of positioning system The outline of the positioning system operation and design, using the AD75, is shown below. Positioning PLC CPU module AD75 Drive unit Servomotor Forward run pulse train Speed command Servo Devia- converter amplifier...
  • Page 31 1 PRODUCT OUTLINE MELSEC-A Servomotor speed Speed V Pulse droop Pulse amount distribution Accel- Decel- Time t eration eration Stop settling time Pulse train Rough Dense Rough Fig.1.3 AD75 output pulses A : Movement amount per pulse (mm/pulse) Vs : Command pulse frequency (pulse/s) n : Pulse encoder resolution (pulse/rev) Workpiece L : Worm gear lead (mm/rev)

  • Page 32: Communicating Signals Between Ad75 And Each Module

    1 PRODUCT OUTLINE MELSEC-A 1.1.5 Communicating signals between AD75 and each module The outline of the signal communication between the AD75 and PLC CPU, peripheral device and drive unit, etc., is shown below. AD75 PLC CPU PLC READY signal Drive unit READY signal AD75 READY signal Upper/lower limit signal External...
  • Page 33 1 PRODUCT OUTLINE MELSEC-A AD75 Peripheral device The AD75 and peripheral device communicate the following data via the peripheral device connection connector. Direction AD75 Peripheral device Peripheral device AD75 Communication Parameter, positioning data, positioning Parameter, positioning data, positioning Data (read/write) start information start information Zero point return control start command...

  • Page 34: Flow Of System Operation

    1 PRODUCT OUTLINE MELSEC-A 1.2 Flow of system operation 1.2.1 Flow of all processes The positioning control processes, using the AD75, are shown below. AD75 software GPP function soft- AD75 Servo, etc. PLC CPU package ware package Understand the functions and performance, and determine the positioning operation method Design (system design) Installation, wiring, single module test...
  • Page 35 1 PRODUCT OUTLINE MELSEC-A The following work is carried out with the processes shown on the left page. Details Reference • Chapter 1 • Chapter 2 Understand the product functions and usage methods, the configuration devices • and specifications required for positioning control, and design the system. Chapter 3 •...

  • Page 36: Outline Of Starting

    1 PRODUCT OUTLINE MELSEC-A 1.2.2 Outline of starting The outline for starting each control is shown with the following flowchart. * It is assumed that each module is installed, and the required system configuration, etc., has been prepared. Flow of starting Installation and connection of module Preparation Setting of hardware...
  • Page 37 1 PRODUCT OUTLINE MELSEC-A Setting method : Indicates the sequence program that must be created. <AD75 software package> Set with AD75 software package Write * Set the parameter and data for executing this function, and the auxiliary functions that need to be set beforehand. AD75 <GPP function software package>...

  • Page 38: Outline Of Stopping

    1 PRODUCT OUTLINE MELSEC-A 1.2.3 Outline of stopping Each control is stopped in the following cases. (1) When each control is completed normally. (2) When the drive unit READY signal is turned OFF. (3) When the PLC READY signal is turned OFF (When "parameter error" or "watch dog timer error"...

  • Page 39: Outline For Restarting

    1 PRODUCT OUTLINE MELSEC-A 1.2.4 Outline for restarting When a stop cause has occurred during operation with position control causing the axis to stop, positioning to the end point of the positioning data can be restarted from the stopped position by using the " Cd.13 Restart command". When "...
  • Page 40 1 PRODUCT OUTLINE MELSEC-A MEMO 1 - 18 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 41: System Configuration

    Chapter 2 SYSTEM CONFIGURATION In this chapter, the general image of the system configuration of the positioning control using AD75, the configuration devices, applicable CPU module and the precautions of configuring the system are explained. Prepare the required configuration devices to match the positioning control system. 2.1 General image of system ....................2-2 2.2 List of configuration devices...................2-4 2.3 Applicable system......................2-5...

  • Page 42: General Image Of System

    2 SYSTEM CONFIGURATION MELSEC-A 2.1 General image of system The general image of the system, including the AD75, PLC CPU and peripheral devices is shown below. (The Nos. in the illustration refer to the "No." in section "2.2 List of configuration devices".
  • Page 43 2 SYSTEM CONFIGURATION MELSEC-A Drive Motor unit Manual pulse generator Cable Machine system input (switch) · Near-point dog · Limit switch · External start signal · Speed/position changeover signal · Stop signal AD75TU Peripheral device AD75 software package SW1IVD Personal -AD75P computer SW0D5C...

  • Page 44: List Of Configuration Devices

    Refer to the AD75 Software Package Operating Manual for details. Drive unit – (Prepared by user) (Prepared by user) Manual pulse – generator Recommended: MR-HDP01 (Mitsubishi Electric) AD75C20SH For MR-H Connection cable Cable for connecting AD75 with drive unit, manual AD75C20SJ2 For MR-J2/J2S-A (dedicated) pulse generator or machine system input signal.

  • Page 45: Applicable System

    When using the A73CPU(-S3), mount the AD75P1-S3, AD75P2-S3 or AD75P3-S3 on the extension base unit. Remote I/O station (MELSECNET/10, MELSECNET (II), MELSECNET/B) The AD75P1-S3/AD75P2-S3/AD75P3-S3 and A1SD75P1-S3/A1SD75P2- S3/A1SD75P3-S3 positioning modules are applicable for the data link system (MELSECNET (II)/B) and network system (MELSECNET/10) remote I/O station, with the exception of A0J2P25/R25 (remote I/O station).

  • Page 46: Precautions For Configuring System

    PLC CPU's No. of input/output points. Precautions according to module version Some AD75 cannot be used depending on the module version. Refer to "Appendix 9.3 Comparison with old version A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3, AD75P1-S3/AD75P2-S3/AD75P3-S3" for details. 2 - 6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 47 2 SYSTEM CONFIGURATION MELSEC-A Precautions for using stepping motor When configuring the positioning system using a stepping motor, the following points must be observed. Refer to section "12.6.6 Stepping motor mode functions" for details. (1) Setting the stepping motor mode (a) When using a stepping motor with the AD75, the stepping motor mode must be set.
  • Page 48 2 SYSTEM CONFIGURATION MELSEC-A MEMO 2 - 8 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 49: Specifications And Functions

    Chapter 3 SPECIFICATIONS AND FUNCTIONS The various specifications of the AD75 are explained in this chapter. The "General specifications", "Performance specifications", "List of functions", "Specifications of input/output signals with PLC CPU", and the "Specifications of input/output interfaces with external devices", etc., are described as information required when designing the positioning system.

  • Page 50: General Specifications

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.1 General specifications The general specifications of the AD75 are given below. Item Specifications 0 to 55 ° C Working ambient temperature -20 to 75 ° C Storage ambient temperature Working ambient humidity 10 to 90% RH, with no dew condensation Storage ambient humidity 10 to 90% RH, with no dew condensation Frequency...

  • Page 51: Performance Specifications

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.2 Performance specifications Model A1SD75P1-S3 A1SD75P2-S3 A1SD75P3-S3 Item AD75P1-S3 AD75P2-S3 AD75P3-S3 No. of control axes 1 axis 2 axes 3 axes 2-axis linear interpolation 2-axis linear interpolation Interpolation function None 2-axis circular interpolation 2-axis circular interpolation...

  • Page 52: List Of Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3 List of functions 3.3.1 AD75 control functions The AD75 has several functions. In this manual, the AD75 functions are categorized and explained as follows. Main functions (1) Zero point return control "Zero point return control" is a function that established the start point for carrying out positioning control, and carries out positioning toward that start point.
  • Page 53 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Main functions Auxiliary functions Zero point return control Control registered in AD75 (Functions characteristic to machine zero point return) [Positioning start No.] Zero point return retry function [9001] Machine zero point return Zero point shift function [9002] High-speed zero point return <Functions that compensate...

  • Page 54: Ad75 Main Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3.2 AD75 main functions The outline of the main functions for positioning control with the AD75 are described below. (Refer to "SECTION 2" for details on each function.) Reference Main functions Details section Mechanically establishes the positioning start point with a near- Machine zero point return control point dog or stopper.
  • Page 55 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Reference Main functions Details section With one start, executes the positioning data in a random block Block start (Normal start) 10.3.2 with the set order. Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "start block data".

  • Page 56: Ad75 Auxiliary Functions And Common Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3.3 AD75 auxiliary functions and common functions Auxiliary functions The functions that assist positioning control using the AD75 are described below. (Refer to "SECTION 2" for details on each function.) Reference Auxiliary function Details section This function retries the machine zero point return with the upper/lower limit switches during machine zero point return.
  • Page 57 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Reference Auxiliary function Details section This function temporarily stops the operation to confirm the positioning operation during debugging, etc. Step function 12.6.1 The operation can be stopped at each "automatic deceleration" or "positioning data". This function stops (decelerates to a stop) the positioning being Skip function executed when the skip signal is input, and carries out the next 12.6.2...

  • Page 58: Combination Of Ad75 Main Functions And Auxiliary Functions

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3.4 Combination of AD75 main functions and auxiliary functions With positioning control using the AD75, the main functions and auxiliary functions can be combined and used as necessary. A list of the main function and auxiliary function combinations is given below.
  • Page 59 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Functions that Functions that limit Functions that change compensate Other functions control control details control – – – – – – – – – – – – – – – – – – – – –...

  • Page 60: Specifications Of Input/Output Signals With Plc Cpu

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.4 Specifications of input/output signals with PLC CPU 3.4.1 List of input/output signals with PLC CPU The AD75 uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals for when the AD75 is mounted in slot No. 0 of the main base unit are shown below.

  • Page 61: Details Of Input Signals (Ad75 Plc Cpu)

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.4.2 Details of input signals (AD75 PLC CPU) The ON/OFF timing and conditions, etc., of the input signals are shown below. Device Signal name Details • When the PLC READY signal [Y1D] turns from OFF to ON, the parameter setting OFF : READY AD75 READY complete...

  • Page 62: Details Of Output Signals (Plc Cpu Ad75)

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.4.3 Details of output signals (PLC CPU AD75) The ON/OFF timing and conditions, etc., of the output signals are shown below. Device Signal name Details • Axis 1 Positioning OFF : No positioning Zero point return or positioning operation is started. start start request •...

  • Page 63: Specifications Of Input/Output Interfaces With External Devices

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.5 Specifications of input/output interfaces with external devices 3.5.1 Electrical specifications of input/output signals Input specifications Rated input Working Input Response Signal name voltage/current voltage range voltage/current voltage/current resistance time Drive unit READY 19.2 to 17.5VDC or more/ 7VDC or less/ (READY)
  • Page 64 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Output specifications Max. load Rated load Working load Max. voltage Leakage Signal name current/rush Response time voltage voltage range drop at ON current at OFF current • Differential driver/open collector equivalent to Am26LS31 • The CW/CCW type, PULSE/SIGN type and A phase/B phase type are selected with the AD75 and drive unit parameter ( Pr.5 Pulse output mode).

  • Page 65: Signal Layout For External Device Connection Connector

    (The signal layout for the external device connection connector is the same for axis 1 to axis 3.) Signal direction Connection Pin layout Signal name AD75 – external destination A1SD75P1-S3/A1SD75P2- 36 Common (External device) S3/A1SD75P3-S3 35 Common (External device) (Main body side) 34 Open...

  • Page 66: List Of Input/Output Signal Details

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.5.3 List of input/output signal details The details of each AD75 external device connection connector (for 1 axis) signal are shown below. Signal name Pin No. Signal details • Common for near-point dog signal, upper/lower limit, stop signal, Common speed/position changeover signal, and external start signal.
  • Page 67 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Signal name Pin No. Signal details • This signal is input from the limit switch installed at the stroke lower limit position. • Lower limit signal Positioning will stop when this signal turns OFF. • When zero point return retry function is valid, this will be the lower limit for finding the near-point dog signal.

  • Page 68: Input/Output Interface Internal Circuit

    3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.5.4 Input/output interface internal circuit The outline diagram of the internal circuit for the AD75 external device connection interface is shown below. Input/out- Need for External wiring Internal circuit Signal name put class wiring *1 Near-point dog signal When not using upper limit LS...
  • Page 69 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Need for Input/out- External wiring Internal circuit Signal name put class wiring * For MR-J2- A Deviation counter clear CLEAR Common CLEAR COM PULSE F A phase PULSE COM PULSE PULSE R Output B phase PULSE COM SIGN 3 (+)
  • Page 70 3 SPECIFICATIONS AND FUNCTIONS MELSEC-A MEMO 3 - 22 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 71: Installation, Wiring And Maintenance Of The Product

    Chapter 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT The installation, wiring and maintenance of the AD75 are explained in this chapter. Important information such as precautions to prevent malfunctioning of the AD75, accidents and injuries as well as the proper work methods are described. Read this chapter thoroughly before starting installation, wiring or maintenance, and always following the precautions.

  • Page 72: Outline Of Installation, Wiring And Maintenance

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.1 Outline of installation, wiring and maintenance 4.1.1 Installation, wiring and maintenance procedures The outline and procedures for AD75 installation, wiring and maintenance are shown below. STEP 1 Understand the "Handling precautions" and "Names of each part"...

  • Page 73: Names Of Each Part

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.1.2 Names of each part The names of each AD75 part are shown below. For AD75P3-S3 For A1SD75P3-S3 1SD75P3-S3 D75P3 - S3 1) 17-segment LED MODE 2) Axis display LED RS-422 MODE 3) Mode switch 4) Module version label...
  • Page 74 Connector for connecting with peripheral device. connector External device connection Connector for connecting drive unit, mechanical system input and manual pulse connector generator. Each AD75 interface is as shown below. AD75P1-S3 AD75P2-S3 AD75P3-S3 A1SD75P1-S3 A1SD75P2-S3 A1SD75P3-S3 MODE MODE MODE RS-422 RS-422 RS-422 RS-422...

  • Page 75: Handling Precautions

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.1.3 Handling precautions Handle the AD75 and cable while observing the following precautions. (1) Handling precautions CAUTION Use the PLC within the general specifications environment given in this manual. Using the PLC outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration.
  • Page 76 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (2) Other precautions (a) Main body • The main body case is made of plastic. Take care not to drop or apply strong impacts onto the case. • Do not remove the AD75 PCB from the case. Failure to observe this could lead to faults.

  • Page 77: Installation

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.2 Installation 4.2.1 Precautions for installation The precautions for installing the AD75 are given below. Refer to this section as well as section "4.1.3 Handling precautions" when carrying out the work. (1) Precautions for installation DANGER Always turn all phases of the power supply OFF externally before cleaning or tightening the...

  • Page 78: Wiring

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.3 Wiring The wiring precautions for the AD75 are described below. Be careful to observe the following items together with the “Handling precautions” described in section 4.1.3. 4.3.1 Precautions for wiring Perform wiring of the AD75 correctly while checking the terminal arrangement.
  • Page 79 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A [Shielding wire processing example] Ground a 2mm or a thicker grounding wire in the shortest path. (Ground to the panel of the AD75 securely.) Strip the sheath of the shielded cable. Remove the shielding wires from the shielded cable and solder them to the grounding cable.
  • Page 80 (11) To comply with EMC and low-voltage directives, use shielded cables and AD75CK cable clamp (made by Mitsubishi Electric) to ground to the panel. 1) When using cable of within 2m for wiring •...
  • Page 81 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4) Cable clamp fitting position and shielded cable grounding method Inside control panel AD75 20 to 30cm AD75CK [How to ground shilded cable using AD75CK] Shielded cable Shielding wires Grounding terminal Grounding terminal installation screw (M4x8 screw) Screw for mounting to control cabinet (M4 screw) AD75CK can ground up to four shielded cables having about 7 mm or smaller outside...
  • Page 82 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (Poor examples and improved examples are shown below.) Wiring duct Relay Relay Drive Drive Relay unit unit Control panel Inverter Changed Wiring duct Relay Relay Relay Control panel Short wiring with the AD75 and drive unit placed in proximity, and the connection cable and Inverter...

  • Page 83: Wiring The External Device Connection Connector Pins

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.3.2 Wiring the external device connection connector pins The pins for the external device connection connector are wired in the following manner..Disassemble the connector section, Disassembling the connector section and remove the connector.
  • Page 84 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (2) Connecting the connector and wire * Refer to section "3.5 Specifications of input/output interfaces with external devices" when connecting. (a) Loosen the cable fixture screw B, pass the cable through, and then tighten screw B.
  • Page 85 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (c) After connection, the state will be as shown below. 4 - 15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 86 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (3) Assembling the connector section (a) Fit the soldered connector and cable fixture into the connector cover. * The cable fixture acts as a stopper to protect the signal wire connection section when the cable is pulled on.

  • Page 87: Connecting The Connector

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.3.3 Connecting the connector The AD75 is connected to the drive unit or peripheral device with the connector. Use the following procedure to connect. (1) Connecting (a) Confirm that all phases of the AD75 main unit's power are shut off externally.

  • Page 88: Confirming The Installation And Wiring

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.4 Confirming the installation and wiring 4.4.1 Items to confirm when installation and wiring are completed Check the (1) and (2) points when completed with the AD75 installation and wiring. (1) Does the AD75 operate correctly? ... "Single module test" With the "single module test", correct operation of the AD75 is confirmed by the LED displays on the AD75.

  • Page 89: Single Module Test

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.4.2 Single module test Whether the AD75 is operating correctly is confirmed with the LED displays on the AD75 main body. The "single module test" methods are described below. The "single module test" can be carried out when there is no sequence program stored in the PLC CPU, when there is no data stored in the AD75, and when the AD75 is running.
  • Page 90 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (Step 3) Operation monitor 2 1) The axis display LED for each axis will turn ON sequentially at an approx. 0.5 second interval. One of the following states will appear on the 17-segment LED to indicate the state of the axis for which the axis display LED is ON.
  • Page 91 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (Step 5) Internal information 2 monitor 1) The AD75 OS version will appear on the 17-segment LED for reference. [V000] Version 2) The axis display LED for each axis will turn OFF. 3) When the mode switch is pressed, the state will shift to the input/output information n monitor state described in (Step 6).
  • Page 92 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A POINT (1) The operation monitor described in this section is a function that allows the AD75 state, control state of each axis and state of the input/output signals to be confirmed. This monitor can be operated at any time. (2) If the AD75 is not operating correctly, use the operation monitors as necessary.

  • Page 93: Maintenance

    4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.5 Maintenance 4.5.1 Precautions for maintenance The precautions for servicing the AD75 are given below. Refer to this section as well as section "4.1.3 Handling precautions" when carrying out the work. DANGER Always turn all phases of the power supply OFF externally before cleaning or tightening the screws.
  • Page 94 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A MEMO 4 - 24 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 95 Chapter 5 DATA USED FOR POSITIONIG CONTROL The parameters and data used to carry out positioning control with the AD75 are explained in this chapter. With the positioning system using the AD75, the various parameters and data explained in this chapter are used for control. The parameters and data include parameters set according to the device configuration, such as the system configuration, and parameters and data set according to each control.

  • Page 96: Data Used For Positioning Control (List Of Buffer Memory Addresses)

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1 Types of data 5.1.1 Parameters and data required for control The parameters and data required to carry out control with the AD75 include the "setting data", "monitor data" and "control data" shown below. Setting data (Data set beforehand according to the machine and application, and stored in the flash ROM.) Positioning...
  • Page 97 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Monitor data (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.) Md.1 Md.56 Monitors the AD75 specifications, such as the module name and OS type, System monitor data and the operation history.

  • Page 98: Setting Items For Positioning Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.2 Setting items for positioning parameters The setting items for the "positioning parameters" are shown below. The "positioning parameters" are commonly set for each axis for all control using the AD75. Refer to "SECTION 2" for details on each control, and section "5.2 List of parameters" for details on each setting item.
  • Page 99 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Manual Main positioning control control Control Position control Other control Positioning parameter – – – Pr.26 Acceleration time 1 – – – Pr.27 Acceleration time 2 – – – Pr.28 Acceleration time 3 12.6.7* –...

  • Page 100: Setting Items For Zero Point Return Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.3 Setting items for zero point return parameters When carrying out "zero point return control", the "zero point return parameters" must be set. The setting items for the "zero point return parameters" are shown below. The "zero point return parameters"...

  • Page 101: Setting Items For Positioning Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.4 Setting items for positioning data The "positioning data" must be set when carrying out "main positioning control". The setting items for the "positioning data" are shown below. One to 600 "positioning data" items can be set for each axis. Refer to "Chapter 9 MAIN POSITIONING CONTROL"...
  • Page 102 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Checking the positioning data Da.1 to Da.9 are checked with the following timing. (1) Startup of a positioning operation (2) When the test mode using the AD75 software package 5 - 8 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 103: Setting Items For Start Block Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.5 Setting items for start block data The "start block data" must be set when carrying out "advanced positioning control". The setting items for the "start block data" are shown below. Up to 50 points of "start block data" can be set for each axis. Refer to "Chapter 10 ADVANCED POSITIONING CONTROL"...

  • Page 104: Setting Items For Condition Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.6 Setting items for condition data When carrying out "advanced positioning control" or using the JUMP command in the "main positioning control", the "condition data" must be set as required. The setting items for the "condition data" are shown below. Up to 10 "condition data"...

  • Page 105: Types And Roles Of Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.7 Types and roles of monitor data Data that indicates the positioning system's operation state is stored in the buffer memory's monitor data area. When using the positioning system, this data must be monitored as necessary. The data that can be monitored is shown below.
  • Page 106 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Monitoring the positioning system operation history Monitor details Corresponding item Monitor whether the system is in the test mode Md.1 In test mode flag Md.7 Start axis Start axis Md.8 Operation type Operation type Hour : minute Md.9...
  • Page 107 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Monitoring the speed Monitor details Corresponding item Indicates the During independent axis control speed of each axis When "0: Indicates the Composite speed" is composite set for " Pr.21 Md.31 Feedrate speed Interpolation speed Monitor the During designation method"...

  • Page 108: Types And Roles Of Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.8 Types and roles of control data Several controls are carried out as necessary when using the positioning system. (When the power is turned ON, the default values of the data used for control are set. However, these values can be set with the sequence program when necessary.) The items that can be controlled are shown below.
  • Page 109 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Reference] The outline of reading and writing the positioning data is shown below. Reading the positioning data Writing the positioning data (The positioning data stored in the buffer memory Cd.8 (The positioning data designated in the OS memory is is written as the positioning data for the No.
  • Page 110 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (2) Controlling the operation Controlling the operation Control details Corresponding item Cd.11 Set which positioning to execute (start No.). Positioning start No. Md.33 Clear (reset) the axis error No. ( ) and axis warning Cd.12 Axis error reset Md.34...
  • Page 111 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Making settings related to operation Control details Corresponding item Turn M code ON signal OFF. Cd.14 M code OFF request Cd.15 Set new value when changing current value. New current value Cd.20 Validate speed/position changeover signal from external source. Speed/position changeover enable flag Change movement amount for position control during speed/position Speed/position changeover control...

  • Page 112: List Of Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2 List of parameters 5.2.1 Basic parameters 1 Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program 0 : mm...
  • Page 113 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.2 to Pr.4 Movement amount per pulse Set the movement amount per pulse count when outputting a pulse train from the AD75. The setting is made with Pr.2 to Pr.4 . (The case for the " Pr.1 Unit setting"...
  • Page 114 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.3 Movement amount per rotation (Al), Pr.4 Unit magnification (Am) The amount how the workpiece moves with one motor rotation is determined by the mechanical structure. If the worm gear lead (mm/rev) is PB and the deceleration rate is 1/n, then Movement amount per rotation (AL) = PB ×...
  • Page 115 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program 0: PULSE/SIGN mode 1: CW/CCW mode 2: A phase/B phase Pr.5 Pulse output mode (multiple of 4)
  • Page 116 5 DATA USED FOR POSITIONING CONTROL MELSEC-A (2) CW/CCW mode During forward run, the forward run feed pulse (PULSE F) will be output. During reverse run, the reverse run feed pulse (PULSE R) will be output. Positive logic Negative logic PULSE F PULSE F PULSE R...
  • Page 117 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.6 Rotation direction setting Set the relation of the motor rotation direction and current value address increment/decrement. [Setting procedure] 1) Set "0" in Pr.6 , and carry out forward run JOG operation. ("0" is set as the default value for Pr.6 .) 2) When the workpiece "W"...

  • Page 118: Basic Parameters 2

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.2 Basic parameters 2 Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program The setting value range differs depending on the " Pr.11 Stepping motor mode selection"...
  • Page 119 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1) If the positioning speed setting is slower than the parameter speed limit, the actual acceleration/deceleration time will be relatively short. Thus, set the maximum positioning speed value to be equal to the parameter speed limit value or a close value under the speed limit value.
  • Page 120 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.11 Stepping motor mode selection The type of motor controlled with the AD75 is set with the "stepping motor mode selection". 1 : Stepping motor mode ....When using a stepping motor 0 : Standard mode ......When using a different type of motor When carrying out 2-axis interpolation control using both the stepping motor and servomotor, set both axes to "1: Stepping motor mode".
  • Page 121 5 DATA USED FOR POSITIONING CONTROL MELSEC-A MEMO 5 - 27 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 122: Detailed Parameters 1

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.3 Detailed parameters 1 Setting value buffer Setting value, setting range memory address Item Default value Value set with Value set with peripheral device Axis 1 Axis 2 Axis 3 sequence program The setting value range differs according to the " Pr.1 Unit setting".
  • Page 123 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1) The backlash compensation is valid after completed the machine zero point return. Thus, if the backlash compensation amount is set or changed, always carry out machine zero point return once. 2) The backlash compensation amount setting range is 0 to 65535, but it should be set to 255 or less by using the following expression.
  • Page 124 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1) Generally, the zero point is set at the lower limit or upper limit of the stroke limit. 2) By setting the upper limit value or lower limit value of the software stroke limit, overrun can be prevented in the software.
  • Page 125 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.18 Torque limit setting value With this function, the torque generated by the motor is limited to within the set range. * The torque exceeding the limit is reduced to the specified torque limit. Set the maximum torque value necessary for the control in the range between 1 and 500%.
  • Page 126 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.19 M code ON signal output timing Set the timing to output the M code ON signal. The WITH mode and AFTER mode can be used for the M code ON signal output timing.
  • Page 127 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with Value set with peripheral device Axis 1 Axis 2 Axis 3 sequence program 0 : Standard speed changeover mode Pr.20 Speed changeover mode...
  • Page 128 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.21 Interpolation speed designation method When carrying out linear interpolation, set whether to designate the composite speed or reference axis speed. 0: Composite speed ....The movement speed for the control target is designated, and the speed for each axis is calculated by the AD75.
  • Page 129 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.23 Manual pulse generator selection Set which manual pulse generator to use for control for each axis (motor). 0 : Ignore manual pulse generator operation..Manual pulse generator operation is not carried out. 1 : Use manual pulse generator 1.......

  • Page 130: Detailed Parameters 2

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.4 Detailed parameters 2 Setting value buffer Setting value, setting range memory address Default Item value Value set with Value set with peripheral device Axis 1 Axis 2 Axis 3 sequence program Pr.26 Acceleration time 1 Pr.27 Acceleration time 2 The setting value range differs according to the "...
  • Page 131 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.25 Value set with peripheral device Value set with sequence program (ms) (ms) setting value 0 : 1-word type 1 to 65535 1 to 65535* 1 : 2-word type 1 to 8388608 1 to 8388608 * 1 to 32767 : Set as a decimal...
  • Page 132 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with Value set with peripheral device Axis 1 Axis 2 Axis 3 sequence program 0 : Automatic trapezoid Pr.35 Acceleration/decel- acceleration/deceleration process eration process 1 : S-pattern...
  • Page 133 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.36 S-pattern proportion Set the S-pattern ratio (1 to 100%) for carrying out the S-pattern acceleration/deceleration process. The S-pattern ratio indicates where to draw the acceleration/deceleration curve using the Sin curve as shown below. (Example) Positioning speed...
  • Page 134 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.37 Sudden stop deceleration time Set the time to reach speed 0 from " Pr.7 Speed limit value" during the sudden stop. The setting value size is determined by " Pr.25 Size selection for acceleration/deceleration time".
  • Page 135 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.38 Stop group 1 sudden stop selection Pr.40 Stop group 3 sudden stop selection Set the method to stop when the stop causes in the following stop groups occur. • Stop group 1 ....Stop with hardware stroke limit •...
  • Page 136 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program 0 to 65535 (ms) 0 to 32767 : Pr.41 Positioning Complete Set as a decimal 0 to 65535 (ms)
  • Page 137 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 Pr.1 Value set with peripheral device Value set with sequence program (unit) (unit) setting value setting value 0 to 100000 ( × 10 µ m) 0 to 10000.0 ( µ m) 0 : mm 0 to 100000 ( ×...
  • Page 138 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.43 External start function selection Set which function to use the external start signal with. 0 : External positioning start ....Carry out positioning operation with external start signal input. 1 : External speed change request ..Change the speed of the positioning operation currently being executed with the external start signal input.

  • Page 139: Zero Point Return Basic Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.5 Zero point return basic parameters Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program 0 : Near-point dog method 1 : Stopper stop method 1)
  • Page 140 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1 : Stopper stop method 1) (1) Start machine zero point return. (Start movement at the " Pr.48 Zero point return speed" in Pr.48 Zero point return speed the " Pr.46 Zero point return direction".) (2) Detect the near-point dog ON, and start deceleration.
  • Page 141 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 4 : Count method 1) (1) Start machine zero point return. (Start movement at the " Pr.48 Zero point return speed" in Pr.52 Zero point Pr.48 Setting for the movement the " Pr.46 Zero point return direction".) return speed amount after near-poing dog ON (2) Detect the near-point dog ON, and start deceleration.
  • Page 142 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with sequence Value set with peripheral device Axis 1 Axis 2 Axis 3 program 0 : Positive direction (address increment direction) Pr.46 Zero point return direction...
  • Page 143 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 Pr.1 Value set with peripheral device Value set with sequence program (unit) (unit) setting value setting value –214748364.8 to 214748364.7 ( µ m) –2147483648 to 2147483647 ( × 10 µ m) 0 : mm –21474.83648 to 21474.83647 (inch) –2147483648 to 2147483647 ( ×...
  • Page 144 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program The setting value range differs depending on the " Pr.11 Stepping motor mode selection"...
  • Page 145 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 Pr.1 Value set with peripheral device Value set with sequence program setting value setting value (unit) (unit) 1 to 600000000 ( × 10 0 : mm 0.01 to 6000000.00 (mm/min) mm/min) 1 to 600000000 ( ×...

  • Page 146: Zero Point Return Detailed Parameters

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.6 Zero point return detailed parameters Setting value buffer Setting value, setting range memory address Default Item value Value set with Value set with peripheral device Axis 1 Axis 2 Axis 3 sequence program 0 to 65535 (ms) 0 to 32767 : Pr.51 Zero point return...
  • Page 147 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 Pr.1 Value set with peripheral device Value set with sequence program (unit) (unit) setting value setting value 0 to 2147483647 ( × 10 µ m) 0 to 214748364.7 ( µ m) 0 : mm 0 to 2147483647 ( ×...
  • Page 148 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program The setting value range differs depending on the " Pr.11 Stepping motor mode selection"...
  • Page 149 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 Pr.1 Value set with peripheral device Value set with sequence program (unit) (unit) setting value setting value –2147483648 to 2147483647 ( × 10 µ m) –214748364.8 to 214748364.7 ( µ m) 0 : mm –2147483648 to 2147483647 ( ×...

  • Page 150: List Of Positioning Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.3 List of positioning data Before explaining the positioning data setting items Da.1 to Da.9 , the configuration of the positioning data will be shown below. The positioning data stored in the AD75 buffer memory has the following type of configuration.
  • Page 151 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 4290 4280 Positioning data No. Positioning identifier 3320 3310 4291 3300 4281 Da.1 Da.4 3321 Da.9 3311 4292 3301 4282 M code 3322 Da.8 4294 3312 4284 3302 4295 Dwell time 4285 3324 3314 4296 Da.7...
  • Page 152 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Default Setting value Item memory address value Value set with peripheral device Value set with sequence program Axis 1 Axis 2 Axis 3 00 : Positioning complete Operation pattern Da.1 Operation 01 : Continuous positioning control pattern...
  • Page 153 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.1 Operation pattern The operation pattern designates whether positioning of a certain data No. is to be ended with just that data, or whether the positioning for the next data No. is to be carried out in succession.
  • Page 154 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program The setting value range differs according to the " Da.2 Control method".
  • Page 155 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] When " Pr.1 Unit setting" is "mm" Value set with sequence program * Value set with peripheral device Da.2 ( µ m) ( × 10 µ m) setting value ◊ Set the address ◊...
  • Page 156 5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "degree" Value set with sequence program * Da.2 Value set with peripheral device ( × 10 setting value (degree) degree) ◊ Set the address ◊ Set the address ABS Linear 1 : 01 0 to 359.99999 *...
  • Page 157 5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "inch" Value set with sequence program * Da.2 Value set with peripheral device ( × 10 setting value (inch) inch) ◊ Set the address ◊ Set the address ABS Linear 1 : 01 –21474.83648 to 21474.83647 *...
  • Page 158 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program The setting value range differs according to the " Da.2 Control method".
  • Page 159 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] When " Pr.1 Unit setting" is "mm" Value set with sequence program * Value set with peripheral device Da.2 ( µ m) ( × 10 µ m) setting value ABS Circular interpolation : 07 ◊...
  • Page 160 5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "pulse" Value set with sequence program * Da.2 Value set with peripheral device setting value (pulse) ( pulse ) ABS Circular interpolation : 07 ◊ Set the address ◊...
  • Page 161 5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "inch" Value set with sequence program * Da.2 Value set with peripheral device ( × 10 setting value (inch) inch ) ABS Circular interpolation : 07 ◊ Set the address ◊...
  • Page 162 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value, setting range memory address Default Item value Value set with peripheral Value set with sequence Axis 1 Axis 2 Axis 3 device program The setting value range differs depending on the " Pr.11 Stepping motor mode selection"...
  • Page 163 5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 Pr.1 Value set with sequence program Value set with peripheral device (unit) (unit) setting value setting value 1 to 600000000 ( × 10 0 : mm 0.01 to 6000000.00 (mm/min) mm/min) 1 to 600000000 ( ×...
  • Page 164 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.8 Dwell time/JUMP designation positioning data No. Set the "dwell time" or "positioning data No." corresponding to the " Da.2 Control method". • When a method other than "JUMP command" is set for " Da.2 Control method" ..

  • Page 165: List Of Start Block Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.4 List of start block data Before explaining the start block data setting items Da.1 to Da.13 , the configuration of the start block data will be shown below. The start block data stored in the AD75 buffer memory has the following type of configuration.
  • Page 166 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 50th point Buffer memory Setting item address 2nd point 1st point Buffer memory Setting item ddress 4849 Buffer memory Setting item address 4801 4800 Da.11 4899 Da.10 Start data No. Shape 4851 4850 Da.12 Da.13 Special start...
  • Page 167 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value memory address Default Item value Value set with peripheral Value set with sequence program Axis 1 Axis 2 Axis 3 device 0 : End Da.10 Shape 0 0 0 1 : Continue 0000 4300 4550 4800...
  • Page 168 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.10 Shape Set whether to carry out only the local "start block data" and then end control, or to execute the "start block data" set in the next point. Setting value Setting details 0 : End Execute the designated point's "start block data", and then complete the control.

  • Page 169: List Of Condition Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.5 List of condition data Before explaining the condition data setting items Da.14 to Da.18 , the configuration of the condition data will be shown below. The condition data stored in the AD75 buffer memory has the following type of configuration.
  • Page 170 5 DATA USED FOR POSITIONING CONTROL MELSEC-A 10th item Buffer memory Setting item address 2nd item 1st item Buffer memory Setting item ddress 4990 Buffer memory Setting item address 4910 4991 4900 4992 4993 Da.15 Da.14 4994 4911 Condition operator Condition target 4995 4912...
  • Page 171 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value buffer Setting value memory address Default Item value Value set with peripheral Value set with sequence program Axis 1 Axis 2 Axis 3 device 01 : Device X 02 : Device Y Da.14 Condition target 03 : Buffer memory (1-word)
  • Page 172 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.14 Condition target Set the condition target as required for each control. Setting value Setting details : Device X Set the input/output signal ON/OFF as the conditions. : Device Y : Buffer memory (1-word) Set the value stored in the buffer memory as the condition.
  • Page 173 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.17 Parameter 1 Set the parameters as required for the " Da.15 Condition operator". Da.15 Condition operator Setting value Setting details : ∗∗=P1 Value Set the "P1" value. : ∗∗≤P1, P2≤∗∗ : DEV=ON Value Set the device's bit No.

  • Page 174: List Of Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.6 List of monitor data 5.6.1 System monitor data Storage item Storage details Whether the mode is the test mode from the peripheral device or not is stored. • Md.1 In test mode flag When not in test mode : OFF •...
  • Page 175 0: Not in test mode 1: In test mode Monitoring is carried out with a decimal. – Monitor Storage value value (Corresponding 0: A1SD75P1-S3/AD75P1-S3 name) 1: A1SD75P2-S3/AD75P2-S3 2: A1SD75P3-S3/AD75P3-S3 Monitoring is carried out with a Monitor value hexadecimal. Example) When name is "AD75"...
  • Page 176 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal. Monitor Md.7 The No. of the axis that started is Storage value value stored. 1: Axis 1 Start axis 2: Axis 2 3: Axis 3 [Stored contents]...
  • Page 177 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Default value Storage buffer memory address (common for axis 1 to axis 3) Md.12 Starting history pointer The pointer No. following the pointer No. where the latest start history is stored is stored. 0000 Pointer No.
  • Page 178 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal. The No. of the axis for which an Monitor Md.13 Storage value value error was detected when starting 1: Axis 1 Start axis is stored.
  • Page 179 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Default value Storage buffer memory address (common for axis 1 to axis 3) Md.18 Starting history pointer at error The pointer No. following the pointer No. where the latest start history during errors is stored is stored. 0000 Pointer No.
  • Page 180 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal. Md.19 Monitor The axis No. for which an Storage value value Axis in which the 1: Axis 1 error was detected is stored.
  • Page 181 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Default value Storage buffer memory address (common for axis 1 to axis 3) Md.23 Error history pointer The pointer No. following the pointer No. where the latest error history is stored is stored. Pointer No.
  • Page 182 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal. Md.24 The axis No. for which a Monitor Storage value Axis in which the value warning was detected is 1: Axis 1 warning stored.
  • Page 183 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Default value Storage buffer memory address (common for axis 1 to axis 3) Md.28 Warning history pointer The pointer No. following the pointer No. where the latest warning history is stored is stored. Pointer No.

  • Page 184: Axis Monitor Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.6.2 Axis monitor data Storage item Storage details The currently commanded address is stored. (Different from the actual motor position during operation) The current position address is stored. • Update timing : 56.8ms Md.29 Current feed value •...
  • Page 185 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a hexadecimal. Low-order buffer memory Example) 800 Monitor value 1000 0000 1001 High-order buffer memory Example) 801 ◊...
  • Page 186 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details When an axis warning is detected, the warning code corresponding to the details of the warning is stored. • The latest warning code is always stored. (When a new axis warning occurs, Md.34 Axis warning No.
  • Page 187 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a decimal. Monitor Warning No. value 1008 Refer to section "14.3 List of warnings"...
  • Page 188 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details • The speed commanded by the AD75 to each axis is stored. (May differ from the actual motor speed.) Md.37 Axis feedrate • “0” is stored when the axis is stopped. •...
  • Page 189 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a hexadecimal. Low-order buffer memory Example) 812 Monitor value High-order buffer memory Example) 813 1012 0000 1013...
  • Page 190 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details The ON/OFF state of each flag is stored. The following items are stored. In speed control flag : This signal is used to judge whether the system is in speed control or position control.
  • Page 191 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a hexadecimal. Monitor value Buffer 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 memory Not used Not used...
  • Page 192 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details • 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 : The composite speed or reference axis speed is stored in the reference...
  • Page 193 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a hexadecimal display. Low-order buffer memory Example) 820 1020 Monitor 0000 1021 value High-order buffer memory Example) 821 ◊...
  • Page 194 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details • Md.46 Special start data command The "command code" used with special start and indicated by the start data code setting value pointer currently being executed is stored. The "command parameter" used with special start and indicated by the start data Md.47 Special start data command pointer currently being executed is stored.
  • Page 195 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a decimal display. Monitor Storage value value 00: Block start (Normal start) 01: Condition start 02: Wait start 1027...
  • Page 196 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage item Storage details • The point No. (1 to 50) of the start data currently being executed is stored. Md.51 Start data pointer being • executed "0" is stored when positioning is completed. •...
  • Page 197 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Reading the monitor value Default value Axis 1 Axis 2 Axis 3 Monitoring is carried out with a decimal display. Monitor Storage value 1032 value 1 to 50 Monitoring is carried out with a decimal display. Monitor Storage value 1033...

  • Page 198: List Of Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.7 List of control data 5.7.1 System control data Setting item Setting details • The clock data (hour) from the PLC CPU is set after the AD75 power is turned Cd.1 Clock data setting (hour) •...
  • Page 199 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value (common for axis 1 to axis 3) Set with a BCD code. 00 to 23 (hour) Setting value 0000 1100 Buffer memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 No setting 0 to 2 0 to 3...
  • Page 200 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details • Cd.5 Positioning data No. Set the positioning data No. targeted for reading or writing. • When writing the positioning data stored in the Cd.8 data storage address into the positioning data designated with Cd.5 , set the type of the data targeted for writing.
  • Page 201 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value (common for axis 1 to axis 3) Set with a decimal. Setting value 1104 Positioning data 1 to 600 Set with a hexadecimal. Setting value Buffer 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 memory...
  • Page 202 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details Cd.8 Read/write positioning data • Store the data when reading or writing. • Cd.9 Flash ROM write request Write the OS memory contents into the flash ROM. • Set whether the setting data will be initialized or not. Initialization: Indicates that the setting values of the setting data are returned to the default values.
  • Page 203 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value (common for axis 1 to axis 3) Each stored item is stored in the following storage address. Storage address Stored item Reference Axis 1 Axis 2 Axis 3 1108 1118 1128 Positioning identifier Da.1...

  • Page 204: Axis Control Data

    5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.7.2 Axis control data Setting item Setting details • Cd.11 Positioning start No. Set the positioning start No. • Clears the axis error detection, axis error No., axis warning detection and axis warning No. Cd.12 Axis error reset •...
  • Page 205 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 Axis 3 Set with a decimal. Setting value 1150 1200 1250 Positioning data No. · 1 to 600 : Positioning data No. ·...
  • Page 206 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details • When changing the current feed value using the start No. "9003", set the new current feed value. • The value is set within the following range. Pr.1 inch degree pulse µ...
  • Page 207 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 Axis 3 Set with a decimal. Actual New current value Cd.15 value 1154 1204 1254 New speed value Cd.16 1155 1205 1255 ◊...
  • Page 208 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details • Set the JOG speed for JOG operation. • The value is set within the following range. inch degree Pr.1 pulse (×10 (×10 (×10 mm/min) (pulse/s) Pr.11 inch/min) degree/min) Cd.19 JOG speed Standard 0 to...
  • Page 209 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 Axis 3 Set with a decimal. Actual JOG speed Cd.19 value ◊ Integer value Unit conversion table × 10 Cd.19 1160 1210 1260 Unit...
  • Page 210 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details Cd.22 Manual pulse generator • Set whether or not to carry out manual pulse generator operation. enable flag • Set the magnification of the No. of pulses input from the manual pulse generator. Cd.23 Manual pulse generator 1 •...
  • Page 211 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 Axis 3 Set with a decimal. Setting value 1167 1217 1267 Manual pulse generator enable flag 0: Disable manual pulse generator operation 1: Enable manual pulse generator operation Set with a decimal.
  • Page 212 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details • Cd.27 Step mode When using step operation, set which unit to step with. • Cd.28 Step start information When using step operation, set whether to continue or restart operation. •...
  • Page 213 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 Axis 3 Set with a decimal. Setting value 1173 1223 1273 Step mode 0: Carry out step operation with deceleration unit 1: Carry out step operation with data No.
  • Page 214 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting item Setting details • To interrupt the operation during continuous operation, set "1". Cd.32 Interrupt request during • If the interrupt request is received after setting "1", "0" will be automatically stored continuous operation by the OS.
  • Page 215 5 DATA USED FOR POSITIONING CONTROL MELSEC-A Storage buffer memory address Setting value Default value Axis 1 Axis 2 Axis 3 Set with a decimal. Setting value 1181 1231 1281 Continuous operation interrupt request 1: Interrupt continuous control or continuous path control.
  • Page 216 5 DATA USED FOR POSITIONING CONTROL MELSEC-A MEMO 5 - 122 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 217: Sequence Program Used For Positioning Control

    Chapter 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL The programs required to carry out positioning control with the AD75 are explained in this chapter. The sequence program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, start block data and condition data, etc., must be set in the AD75 according to the control to be executed, and program for setting the control data or a program for starting the various control must be created.)

  • Page 218: Precautions For Creating Program

    6 SEQUENCE PROGRAM USED FOR POSITIONINGCONTROL MELSEC-A 6.1 Precautions for creating program The common precautions to be taken when writing data from the PLC CPU to the AD75 buffer memory are described below. (1) Reading/writing the data Setting the data explained in this chapter (various parameters, positioning data, positioning start information) should be set using the AD75 software package.
  • Page 219 Circular S-pattern Speed/position changeover Control other interpolation acceleration/ control (CHG input than that on left control deceleration simultaneously for two axes) A1SD75P1-S3 10 times/axis 10 times/axis 10 times/axis 10 times/axis AD75P1-S3 A1SD75P2-S3 10 times/axis 10 times/axis 10 times/axis 10 times/axis...

  • Page 220: List Of Devices Used

    6 SEQUENCE PROGRAM USED FOR POSITIONINGCONTROL MELSEC-A 6.2 List of devices used The application of the input/output Nos. [X] [Y], internal relays [M] and data registers [D] used in this chapter are shown below. Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 AD75 READY signal...
  • Page 221 6 SEQUENCE PROGRAM USED FOR POSITIONINGCONTROL MELSEC-A Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 Acceleration/deceleration time change Commanding acceleration/deceleration disable command time change disable Torque change command Commanding torque change Step operation command Commanding step operation –...
  • Page 222 6 SEQUENCE PROGRAM USED FOR POSITIONINGCONTROL MELSEC-A Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 Parameter initialization command pulse Parameter initialization commanded Parameter initialization command storage Parameter initialization command held Flash ROM write command pulse Flash ROM write commanded Flash ROM write command storage Flash ROM write command held...
  • Page 223 6 SEQUENCE PROGRAM USED FOR POSITIONINGCONTROL MELSEC-A Device Device Application Details when ON name Axis 1 Axis 2 Axis 3 Read/write request ( Cd.7 Read/write request) Teaching results ( Cd.7 Read/write request) Axis state ( Md.35 Axis operation status) Restart request ( Cd.13 Restart command) Parameter initialization results ( Cd.10 Parameter initialization request)

  • Page 224: Creating A Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.3 Creating a program The "positioning control operation program" actually used is explained in this chapter. The functions and programs explained in "SECTION 2" are assembled into the "positioning control operation program" explained here. (To monitor the control, add the required monitor program that matches the system.

  • Page 225: Positioning Control Operation Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.3.2 Positioning control operation program The various programs that configure the "positioning control operation program" are shown below. When creating the program, refer to the explanation of each program and section "6.4 Positioning program examples", and create an operation program that matches the positioning system.
  • Page 226 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Continued from previous page Start details setting program * Program required to carry out • "Zero point return control" • "Main positioning control" No.8 • "Advance d positioning control" Positioning start No. Refer to section 6.5.2 setting program Start program...
  • Page 227 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Continued from previous page Auxiliary program * Program added according to control details. (Create as required.) No.13 Speed change program Refer to section 12.5.1 No.14 Override program Refer to section 12.5.2 No.15 Acceleration/deceleration time Refer to section 12.5.3 change program...

  • Page 228: Positioning Program Examples

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.4 Positioning program examples An example of the "Axis 1" positioning program is given in this section. [No. 1] to [No. 3] parameter and data setting program * When setting the parameters or data with the sequence program, set them in the AD75 using the TO command from the PLC CPU.
  • Page 229 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A No.3 Positionig start information setting program Start block data of block No.7000 (axis 1) For setting of points 1 to 5 (Conditions) Shapes: Continued at points 1 to 4, ended at point 5 Special start command : Normal start at all of points 1 to 5 <Positioning data are already preset>...
  • Page 230 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A No.5 External start function valid setting program <External start valid write> <External start invalid write> No.6 Clock data setting program <CPU clock data read command ON> <Clock data write command ON> <Date, hour, minute second data transmission> <Clock data writing set>...
  • Page 231 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (3) Positioning with positioning data No.1 (Control other than speed/position changeover control) <Positioning data No.1 setting> <Positioning data No. write> (4) Positioning with positioning data No.1 (Speed/position changeover control) <Positioning data No.1 setting> <Positioning data No.1 write>...
  • Page 232 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A No.10 Reset program <Positioning start signal OFF> <M code OFF request write> No.11 JOG operation program <JOG operation speed setting> <JOG operation speed write> <In JOG flag ON> <JOG operation completed> <Forward run JOG operation execution> <Reverse run JOG operation execution>...
  • Page 233 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A No.13 Speed change program <Speed change command pulse> <Speed change command hold> <New speed value setting> <Speed change request setting> <Speed change write> <Speed change result read> <Speed change command storage OFF> No.14 Override program <Override command pulse>...
  • Page 234 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A No.17 Step operation program <Step operation command pulse> <Step operation run selection> <Data No. unit step mode selection> <Step operation command write> No.18 Skip program <Skip operation command pulse> <Skip operation command ON storage> <Skip operation command write>...
  • Page 235 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A No.20 Continuous operation interrupt program <Continuous operation interrupt command pulse> <Continuous operation interrupt write> No.21 Restart program <Restart command pulse> <Axis status read> <Restart command ON during stop> <Restart request write> <Restart complete read> <Restart command storage OFF>...
  • Page 236 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A No.24 Error reset program <Error code read> <Error code read complete confirmation> <Error reset command pulse> <Error reset execution> <Error code read complete OFF> No.25 Stop program <Stop command pulse> <Stop execution> <Axis stop signal OFF due to axis stop>...

  • Page 237: Program Details

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5 Program details 6.5.1 Initialization program (1) Zero point return request OFF program This program forcibly turns OFF the "zero point return request flag" ( Md.40 Status signal: b3) which is ON. When using a system that does not require zero point return, assemble the program to cancel the "zero point return request"...

  • Page 238: Start Details Setting Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5.2 Start details setting program This program sets which control, out of "zero point control", "main positioning control" or "advanced positioning control" to execute. For "advanced positioning control", "high- speed zero point return" and "speed/position changeover control", add the respectively required sequence program.

  • Page 239: Start Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5.3 Start program This program is used to start the control with start commands. The control can be started with the following two methods. (1) Starting by inputting positioning start signal [Y10, Y11, Y12] (2) Starting by inputting external start signal Buffer memory Drive unit...
  • Page 240 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (1) Starting by inputting positioning start signal Operation when starting (1) When the positioning start signal turns ON, the start complete signal and BUSY signal turn ON, and the positioning operation starts. It can be seen that the axis is operating when the BUSY signal is ON.
  • Page 241 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Starting time chart The time chart for starting each control is shown below. (1) Time chart for starting "machine zero point return" Near-point dog Zero point signal Positioning start signal [Y10] PLC READY signal [Y1D] AD75 READY signal [X0]...
  • Page 242 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Time chart for starting "high-speed zero point return" Positioning start signal [Y10] [Y1D] PLC READY signal AD75 READY signal [X0] Start complete signal [X1] [X4] BUSY signal Error detection signal [XA] 9002 Cd.11 Positioning start No.
  • Page 243 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Time chart for starting "main positioning control" Operation pattern Dwell time Positioning data No. 1(11) 2(00) Positioning start signal [Y10] [Y1D] PLC READY signal AD75 READY signal [X0] Start complete signal [X1] BUSY signal [X4] Positioning complete signal...
  • Page 244 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Machine zero point return operation timing and process time Positioning start [Y10,Y11,Y12] signal BUSY signal [X4,X5,X6] Start complete signal [X1,X2,X3] Md.35 Axis operation status Waiting In zero point return Waiting Output pulse to external source (PULSE) Positioning operation Zero point return request flag...
  • Page 245 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Position control operation timing and process time Positioning start signal [Y10,Y11,Y12] BUSY signal [X4,X5,X6] M code ON signal (WITH mode) [XD,XE,XF] Cd. 14 M code OFF request Start complete signal [X1,X2,X3] Waiting Controlling position Waiting Md.35 Axis operation status...
  • Page 246 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (2) Starting by inputting external start signal When starting positioning control by inputting the external start signal, the start command can be directly input into the AD75. This allows the variation time equivalent to one scan time of the PLC CPU to be eliminated.

  • Page 247: Continuous Operation Interrupt Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5.4 Continuous operation interrupt program 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.
  • Page 248 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (3) If the operation cannot be decelerated to a stop because the remaining distance is insufficient when "continuous operation interrupt request" is executed with continuous path control, the interruption of the continuous operation will be postponed until the positioning data shown below.

  • Page 249: Restart Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5.5 Restart program 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.13 Restart command). ("Restarting"...
  • Page 250 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (3) Control data requiring setting Set the following data to execute restart. Buffer memory address Setting Setting item Setting details value Axis 1 Axis 2 Axis 3 Cd.13 Restart command Set "1: restarts". 1152 1202 1252...
  • Page 251 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (5) Time chart for restarting Dwell time Positioning start signal [Y10] Axis stop signal [Y13] PLC READY signal [Y1D] AD75 READY signal [X0] Start complete signal [X1] BUSY signal [X4] Positioning complete signal [X7] Error detection signal [XA]...

  • Page 252: Stop Program

    6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5.6 Stop program The axis stop signal [Y13, Y14, Y1C] or a stop signal from an external source is used to stop the control. Create a program to turn the axis stop signal [Y13, Y14, Y1C] ON as the stop program.
  • Page 253 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (2) Types of stop processes The operation can be stopped with deceleration stop, sudden stop or immediate stop. (1) Deceleration stop The operation stops with "deceleration time 0 to 3" ( Pr.9 , Pr.29 , Pr.30 , Pr.31 ).
  • Page 254 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (3) Order of priority for stop process The order of priority for the AD75 stop process is as follows. Deceleration stop < Sudden stop < Immediate stop (1) During deceleration (including automatic deceleration), the operation will stop at that deceleration speed even if the decelerations to command turns ON or a deceleration stop cause occurs.

  • Page 255: Memory Configuration And Data Process

    Chapter 7 MEMORY CONFIGURATION AND DATA PROCESS The AD75 memory configuration and data transmission are explained in this chapter. The AD75 is configured of three memories. By understanding the configuration and roles of these memories, the AD75 internal data transmission process, such as "when the power is turned ON"...

  • Page 256: Configuration And Roles Of Ad75 Memory

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A 7.1 Configuration and roles of AD75 memory 7.1.1 Configuration and roles of AD75 memory The AD75 is configured of the following three memories. Area configuration Memory Role configuration Area that can be directly accessed •...
  • Page 257 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A Details of areas • Parameter area Area where parameters, such as positioning parameters and zero point return parameters, required for positioning control are set and stored. (Set the items indicated with Pr.1 to Pr.58 for each axis.) •...
  • Page 258 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A User accesses this memory. The data used for actual control Data is backed up here. is stored here. Buffer memory Flash ROM OS memory Parameter area Parameter area Parameter area Positioning data area (No.

  • Page 259: Buffer Memory Area Configuration

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A 7.1.2 Buffer memory area configuration The AD75 buffer memory is configured of the following types of areas. Buffer memory address Writing Buffer memory area configuration possibility Axis 1 Axis 2 Axis 3 Basic parameter area 0 to 14 150 to 164 300 to 314...

  • Page 260: Data Transmission Process

    7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A 7.2 Data transmission process The data is transmitted between the AD75 memories with steps (1) to (10) shown below. • The data transmission patterns numbered (1) to (10) on the right page correspond to the numbers (1) to (10) on the left page.
  • Page 261 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (1) Transmitting data when power is turned ON or PLC CPU is reset When the power is turned ON or the PLC CPU is reset, the "parameters", "positioning data" and "positioning start information" stored (backed up) in the flash ROM is transmitted to the buffer memory and OS memory.
  • Page 262 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A PLC CPU (7) Flash ROM write (6) Block transmission request (Set "1" in Cd.9 , using TO command) (Set data in bufer memory [5100] to [6109] using TO command] AD75 Buffer memory Parameter area (a) Pr.1 Pr.6 Parameter area (a)
  • Page 263 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (6) Transmitting blocks from PLC CPU ( When setting data in positioning data No. 101 to 600 using the sequence program, first the data is set in the "block transmission area" (buffer memory address [5100] to [6109]).
  • Page 264 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A PLC CPU AD75 Buffer memory Parameter area (a) Pr.1 Pr.6 Parameter area (a) Pr.10 Pr.25 Parameter area (b) Pr.45 Pr.58 Positioning data area Parameter area (b) (No.1 to 100) Pr.7 Pr.9 Positioning start information area Pr.26 Pr.44 (No.7000)
  • Page 265 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (9) Reading data from buffer memory or OS memory to peripheral device ( The following transmission processes are carried out with the [AD75 read] from the peripheral device. 1) The "parameters", "positioning data (No. 1 to 100)" and "positioning start information (No.
  • Page 266 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A The data transmission is carried out as shown in the previous pages, but the main method of using this data process is shown below. (A) Correcting the execution data (OS memory) The following methods can be used to correct the OS memory. Using sequence program From peripheral device Write new value into buffer memory using TO command...
  • Page 267 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (B) Setting positioning data No. 101 to 600 data The positioning data is set with the following procedures. From peripheral device Using sequence program (brock transmission) No.1 to 100 No.101 to 600 Positioning data Turn OFF the PLC READY signal [Y1D] Write positioning data into buffer...
  • Page 268 7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (Example) When setting the positioning data No. 101 to 300 of axis 1 to the OS memory (The number of data that can be set for block transmission at one time is up to 100 pieces.) Start Turn OFF the PLC READY signal...
  • Page 269 SECTION 2 CONTROL DETAILS AND SETTING SECTION 2 is configured for the following purposes shown in (1) to (3). (1) Understanding of the operation and restrictions of each control. (2) Carrying out the required settings in each control (3) Dealing with errors The required settings in each control include parameter setting, positioning data setting, control data setting by a sequence program, etc.
  • Page 270 MEMO Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 271: Zero Point Return Control

    Chapter 8 ZERO POINT RETURN CONTROL The details and usage of "zero point return control" are explained in this chapter. Zero point return control includes "machine zero point returns" that establish a machine zero point without using address data, and "high-speed zero point returns" that store the coordinates established by the machine zero point return, and carry out positioning to that position.

  • Page 272: Outline Of Zero Point Return Control

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.1 Outline of zero point return control 8.1.1 Two types of zero point return control In "zero point return control" a position is established as the starting point (or "zero point") when carrying out positioning control, and positioning is carried out toward that starting point.
  • Page 273 8 ZERO POINT RETURN CONTROL MELSEC-A Zero point return auxiliary functions Refer to section "3.3.4 Combination of AD75 main functions and auxiliary functions" for details on "auxiliary functions" that can be combined with zero point return control. Also refer to "Chapter 12 CONTROL AUXILIARY FUNCTIONS" for details on each auxiliary function.

  • Page 274: Machine Zero Point Return

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2 Machine zero point return 8.2.1 Outline of the machine zero point return operation Important Use the zero point return retry function when the zero point position is not always in the same direction from the workpiece operation area (when the zero point is not set near the upper or lower limit of the machine).

  • Page 275: Machine Zero Point Return Method

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.2 Machine zero point return method The method by which the machine zero point is established (method for judging the zero point position and machine zero point return completion) is designated in the machine zero point return according to the configuration and application of the positioning method.

  • Page 276: Zero Point Return Method (1): Near-Point Dog Method

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.3 Zero point return method (1): Near-point dog method The following shows an operation outline of the "near-point dog method" zero point return method. Operation chart The machine zero point return is started. (The machine begins the acceleration designated in " Zero point return acceleration time selection", in the Pr.53 direction designated in "...
  • Page 277 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions A pulse generator with a zero point signal is required. When using a pulse generator without a zero point signal, generate a zero point signal using an external signal. Precautions during operation (1) An error "Start at zero point" (error code: 201) will occur if another machine zero point return is attempted after a machine zero point return completion when the zero point return retry function is not set ("0"...

  • Page 278: Zero Point Return Method (2): Stopper Stop Method 1)

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.4 Zero point return method (2): Stopper stop method 1) The following shows an operation outline of the "stopper stop method 1)" zero point return method. Operation chart The machine zero point return is started. (The machine begins the acceleration designated in "...
  • Page 279 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions (1) Always limit the servomotor torque after the " Pr.49 Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to section "12.4.2 Torque limit function".) (2) The zero point return retry function cannot be used with the “stopper stop method 1).”...
  • Page 280 8 ZERO POINT RETURN CONTROL MELSEC-A (3) If the " Pr.51 Zero point return dwell time" elapses before the stop at the stopper, the workpiece will stop at that position, and that position will be regarded as the zero point. At this time, an error will not occur.

  • Page 281: Zero Point Return Method (3): Stopper Stop Method 2)

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.5 Zero point return method (3): Stopper stop method 2) The following shows an operation outline of the "stopper stop method 2)" zero point return method. Operation chart The machine zero point return is started. (The machine begins the acceleration designated in "...
  • Page 282 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions (1) Always limit the servomotor torque after the " Pr.49 Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to section "12.4.2 Torque limit function".) (2) A pulse generator with zero point signal is required.
  • Page 283 8 ZERO POINT RETURN CONTROL MELSEC-A (3) If the zero point signal is input before the workpiece stops at the stopper, the workpiece will stop at that position, and that position will be regarded as the zero point. At this time, an error will not occur. Pr.

  • Page 284: Zero Point Return Method (4): Stopper Stop Method 3)

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.6 Zero point return method (4): Stopper stop method 3) The following shows an operation outline of the "stopper stop method 3)" zero point return method. The "stopper stop type 3)" method is effective when a near-point dog has not been installed.
  • Page 285 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions (1) Always limit the servomotor torque after the " Pr.49 Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to section "12.4.2 Torque limit function".) (2) The zero point retry function cannot be used in "stopper stop method 3)".

  • Page 286: Zero Point Return Method (5): Count Method 1)

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.7 Zero point return method (5): Count method 1) The following shows an operation outline of the "count method 1)" zero point return method. Operation chart The machine zero point return is started. (The machine begins the acceleration designated in " Zero point return acceleration time selection", in the Pr.53 direction designated in "...
  • Page 287 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions A pulse generator with a zero point signal is required. When using a pulse generator without a zero point signal, generate a zero point signal using an external signal. Precautions during operation (1) If “ Pr.52 Setting for the movement amount after near-point dog ON” is smaller than the deceleration distance traveled from “...

  • Page 288: Zero Point Return Method (6): Count Method 2)

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.8 Zero point return method (6): Count method 2) The following shows an operation outline of the "method 2)" zero point return method. The "count method 2)" method is effective when a "zero point signal" cannot be received.
  • Page 289 8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions When this method is used, a deviation will occur in the stop position (zero point) compared to other zero point return methods because an error of about 1 ms occurs in taking in the near-point dog ON. Precautions during operation (1) If “...

  • Page 290: High-Speed Zero Point Return

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.3 High-speed zero point return 8.3.1 Outline of the high-speed zero point return operation High-speed zero point return operation In a high-speed zero point return, positioning is carried out by a machine zero point return to the " Md.43 Zero point absolute position" stored in the AD75. The following shows the operation during a high-speed zero point return start.
  • Page 291 8 ZERO POINT RETURN CONTROL MELSEC-A Operation timing and processing time of high-speed zero point returns The following shows details about the operation timing and time during high-speed zero point returns Positioning start [Y10,Y11,Y12] signal [X4,X5,X6] BUSY signal Start complete signal [X1,X2,X3] Standing by Standing by...

  • Page 292: Positioning To The Zero Point

    8 ZERO POINT RETURN CONTROL MELSEC-A 8.4 Positioning to the zero point Positioning to the zero point is explained in this section. To carry out positioning to the zero point, "1-axis linear control (ABS) positioning data" is created in which the " Md.43 Zero point absolute position" is set in the positioning address ( Da.5 ).
  • Page 293 8 ZERO POINT RETURN CONTROL MELSEC-A Start time chart Positioning start signal [Y10] PLC READY signal [Y1D] AD75 READY signal [X0] [X1] Start complete signal [X4] BUSY signal [XA] Error detection signal Cd.11 Positioning start No. OFF(0) Zero point absolute position overflow flag [ Md.40 Status:b11] OFF(0) Zero point absolute position underflow flag...
  • Page 294 8 ZERO POINT RETURN CONTROL MELSEC-A Creating the program AD75 buffer memory PLC CPU data register Md.40 Status D100 Address 817 D101 D102 (Address) D103 Md.43 Zero point absolute position (Positioning data No.) Cd.11 Positioning start No. 1150 2290 Positioning identifier( Da.1 to Da.4 ) 2291 Da.9 M code 2292...
  • Page 295 8 ZERO POINT RETURN CONTROL MELSEC-A Example * Reception program for high-speed machine zero point return commands <High-speed machine zero point return command pulse> <High-speed machine zero point return command hold> <AD75 status information read> <Overflow / underflow extraction> <High-speed machine zero point return start enable>...
  • Page 296 8 ZERO POINT RETURN CONTROL MELSEC-A MEMO 8 - 26 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 297: Main Positioning Control

    Chapter 9 MAIN POSITIONING CONTROL The details and usage of the main positioning controls (control functions using the "positioning data") are explained in this chapter. The main 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 298: Outline Of Main Positioning Controls

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1 Outline of main positioning controls "Main positioning controls" are carried out using the "positioning data" stored in the AD75. The basic controls such as position control and speed control are executed by setting the required items in this "positioning data", and then starting that positioning data. The control method for the "main positioning controls"...

  • Page 299: Data Required For Main Positioning Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1.1 Data required for main positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "main positioning controls". Setting item Setting details Set the method by which the continuous positioning data (Ex: positioning data No. 1, Operation pattern Da.1 No.

  • Page 300: Operation Patterns Of Main Positioning Controls

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1.2 Operation patterns of main positioning controls In "main positioning control" (advanced 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. ·...
  • Page 301 9 MAIN POSITIONING CONTROL MELSEC-A (1) Independent positioning control (Positioning complete) This control is set when executing only one designated data item of positioning. If a dwell time is designated, the positioning will complete after the designated time elapses. This data (operation pattern [00] data) becomes the end of block data when carrying out block positioning.
  • Page 302 9 MAIN POSITIONING CONTROL MELSEC-A (2) Continuous positioning control (a) The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the AD75 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 303 9 MAIN POSITIONING CONTROL MELSEC-A (3) Continuous path control (a) Continuous path control The speed is changed between the speed of the positioning data currently being positioned and the speed of the positioning data that will be positioned next. The speed is not changed if the current speed and the next speed are equal.
  • Page 304 9 MAIN POSITIONING CONTROL MELSEC-A (b) 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 cases 1) to 4). 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...
  • Page 305 9 MAIN POSITIONING CONTROL MELSEC-A POINT (3) When the interpolation axis reveres direction suddenly, the command pulses from AD75 are output as shown in the figure below. Forward run command Reverse run command The t1 and t2 are calculated using the following expressions, where a command frequency is f (pps). t1 = 1/2 f (s) t2 = 1/f (s) A time of t1 must be maintained by the drive unit for a specified period T (s).
  • Page 306 9 MAIN POSITIONING CONTROL MELSEC-A (c) Speed handling Continuous path control command speeds are set with each positioning data. The AD75 then 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 307 9 MAIN POSITIONING CONTROL MELSEC-A (d) Speed changeover (Refer to " Speed changeover mode".) Pr.20 Standard speed changeover mode (1) 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 308 9 MAIN POSITIONING CONTROL MELSEC-A [When the speed cannot change over in P2] [When the movement amount is small during automatic deceleration] When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2. The movement amount required to carry out the automatic deceleration cannot be secured, so the machine immediately stops in a speed ≠...
  • Page 309 9 MAIN POSITIONING CONTROL MELSEC-A (3) Speed changeover condition If the movement amount is small in regard to the target speed, the current speed may not reach the target speed even if acceleration/deceleration is carried out. In this case, the machine is accelerated/decelerated so that it nears the target speed.

  • Page 310: Designating The Positioning Address

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1.3 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 zero point as a reference. This address is regarded as the positioning address. (The start point can be anywhere.) Address ·...

  • Page 311: Confirming The Current Value

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1.4 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 AD75. These addresses ("current feed value" and "machine feed value") are stored in the monitor data area, and used in monitoring the current value display, etc.
  • Page 312 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) A 56.8ms error will occur in the current value update timing when the stored "current feed value" and "machine feed value" are used in the control. (2) The "current feed value" and "machine feed value" may differ from the values set in "...

  • Page 313: Control Unit "Degree" Handling

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1.5 Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. (1) Current feed value and machine feed value addresses When the control method is the absolute system, " Md.29 Current feed value" becomes the ring address of 0 to 359.99999 °...
  • Page 314 9 MAIN POSITIONING CONTROL MELSEC-A 2) When the software stroke limit is valid The positioning is carried out in a clockwise/counterclockwise direction depending on the software stroke limit range setting method. Because of this, positioning with "shortcut control" may not be possible.

  • Page 315: Interpolation Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.1.6 Interpolation control Meaning of interpolation control In "2-axis linear interpolation control", "2-axis fixed-dimension feed 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 axis directions. This kind of control is called "interpolation control".
  • Page 316 9 MAIN POSITIONING CONTROL MELSEC-A Starting the interpolation control The positioning data Nos. of the reference axis (axis in which interpolation control was set in " Da.2 Control method") are started when starting the interpolation control. (Starting of the interpolation axis is not required.) The following errors will occur and the positioning will not start if both reference axis and the interpolation axis are started.
  • Page 317 9 MAIN POSITIONING CONTROL MELSEC-A Limits to interpolation control There are limits to the interpolation control that can be executed and speed ( Pr.21 Interpolation speed designation method) that can be set, depending on the " Pr.1 Unit setting" of the reference axis and interpolation axis. (For example, 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 318: Setting The Positioning Data

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2 Setting the positioning data 9.2.1 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.

  • Page 319: 1-Axis Linear Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.2 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) 1-axis linear control (ABS linear 1) Operation chart In absolute system 1-axis linear control, addresses established by a machine zero point return are used.
  • Page 320 9 MAIN POSITIONING CONTROL MELSEC-A (2) 1-axis linear control (INC linear 1) Operation chart In increment system 1-axis linear control, addresses established by a machine zero point return are used. Positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "...

  • Page 321: 2-Axis Linear Interpolation Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.3 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.
  • Page 322 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control. • When the movement amount for each axis exceeds "1073741824 (=2 )"...
  • Page 323 9 MAIN POSITIONING CONTROL MELSEC-A (2) 2-axis linear interpolation control (INC linear 2) Operation chart In increment system 2-axis linear interpolation control, addresses established by a machine zero point return on a 2-axis coordinate plane 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 "...
  • Page 324 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation. • When the movement amount for each axis exceeds "1073741824 (=2 )"...

  • Page 325: 1-Axis Fixed-Dimension Feed Control

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.4 1-axis fixed-dimension feed control In "1-axis fixed-dimension feed control" (" Da.2 Control method" = fixed-dimension feed 1), one motor is used to carry out fixed-dimension feed control in a set axis direction. In fixed-dimension feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
  • Page 326 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) An error "Continuous path control not possible" (error code: 516) 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- dimension feed control.) (2) If the movement amount for each axis exceeds "1073741824 (=2 )", an error...

  • Page 327: 2-Axis Fixed-Dimension Feed Control (Interpolation)

    9 MAIN POSITIONING CONTROL MELSEC-A 9.2.5 2-axis fixed-dimension feed control (interpolation) In "2-axis fixed-dimension feed control" (" Da.2 Control method" = fixed-dimension feed 2), two motors are used to carry out fixed-dimension feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-dimension feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
  • Page 328 9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) An error "Continuous p