Page 1 MELSEC iQ-F FX5 Motion Module/ Simple Motion Module User's Manual (Advanced Synchronous Control) -FX5-40SSC-G -FX5-80SSC-G -FX5-40SSC-S -FX5-80SSC-S...
Page 3: Safety Precautions
SAFETY PRECAUTIONS (Read the precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. If the equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.
Page 4 [DESIGN PRECAUTIONS] WARNING ● Make sure to set up the following safety circuits outside the programmable controller to ensure safe system operation even during external power supply problems or programmable controller failure. Otherwise, malfunctions may cause serious accidents. Emergency stop circuits, protection circuits, and protective interlock circuits (for conflicting operations such as forward/reverse rotations or for preventing damage to the equipment such as upper/lower limit positioning) must be configured external to the programmable controller.
Page 5 WARNING [Precautions for using products in a UL/cUL Class , Division 2 environment] ● Products with the CI., DIV.2 mark on the rating plate are suitable for use in Class , Division 2, Groups A, B, C and D hazardous locations, or nonhazardous locations only. This mark indicates that the product is certified for use in the Class , Division 2 environment where flammable gases, vapors, or liquids exist under abnormal conditions.
Page 6 [INSTALLATION PRECAUTIONS] WARNING ● Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to do so may cause electric shock or damage to the product. ● Use the product within the generic environment specifications described in the generic specifications of the user's manual (Hardware) of the CPU module used.
Page 7 [WIRING PRECAUTIONS] WARNING ● Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to do so may cause electric shock or damage to the product. ● Make sure to attach the terminal cover, provided as an accessory, before turning on the power or initiating operation after installation or wiring work.
Page 8 [WIRING PRECAUTIONS] CAUTION ● Do not supply power externally to the [24 +] and [24 V] terminals (24 V DC service power supply) on the CPU module or extension modules. Doing so may damage the product. Note that power may be supplied even when an electronic load which equips with an internal bias power supply is connected.
Page 9 ● Do not disassemble or modify the programmable controller. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative. ● After the first use of the SD memory card, do not insert/remove the memory card more than 500 times.
Page 10 [OPERATION PRECAUTIONS] CAUTION ● Construct an interlock circuit in the program so that the whole system always operates on the safe side before executing the control (for data change) of the programmable controller in operation. Read the manual thoroughly and ensure complete safety before executing other controls (program change, parameter change, forced output, and operation status change) to the programmable controller in operation.
Page 11: Introduction
• Since the examples indicated by this manual, technical bulletin, catalog, etc. are used as a reference, please use it after confirming the function and safety of the equipment and system. Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustrative examples.
Page 12: Table Of Contents
CONTENTS SAFETY PRECAUTIONS ..............1 INTRODUCTION .
Page 13 Auxiliary shaft parameters ..............106 Auxiliary shaft clutch parameters.
Page 14: Relevant Manuals
• Installation For details, refer to the following. MELSEC iQ-F FX5S/FX5UJ/FX5U/FX5UC User’s Manual (Hardware) e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool. e-Manual has the following features: • Required information can be cross-searched in multiple manuals.
Page 15: Terms
TERMS Unless otherwise specified, this manual uses the following terms. Term Description 4-axis module Another term for FX5-40SSC-S and FX5-40SSC-G 8-axis module Another term for FX5-80SSC-S and FX5-80SSC-G Axis A target for motion control Buffer memory A memory in an intelligent function module, where data (such as setting values and monitoring values) are stored.
Page 16: Chapter 1 Outline Of Advanced Synchronous Control
OUTLINE OF ADVANCED SYNCHRONOUS CONTROL The outline, specifications and the operation method of synchronous control using the Simple Motion module/Motion module are explained in this chapter. This chapter helps to understand what can be done using the positioning system and which procedure to use for a specific purpose.
Page 17: Outline Of Synchronous Control
Outline of Synchronous Control "Synchronous control" can be achieved using software instead of controlling mechanically with gear, shaft, speed change gear or cam, etc. "Synchronous control" synchronizes movement with the input axis (servo input axis, command generation axis or synchronous encoder axis), by setting "the parameters for advanced synchronous control" and starting synchronous control on each output axis.
Page 18 List of synchronous control module The module is used in synchronous control as follows. Input axis module Synchronous encoder axis parameter Synchronous parameter Synchronous encoder axis Command generation Main shaft module axis parameter Main shaft Composite main Main shaft Command generation axis (main input axis) shaft gear gear...
Page 19 ■Input axis • Input axis module Name Parts Function description Maximum number of usable Reference Number per module Number per axis 4-axis module 8-axis module Servo input • Used to drive the input axis with the position of Page 28 Servo ...
Page 20 • Speed change gear module Name Parts Function description Maximum number of usable Reference Number per module Number per axis 4-axis module 8-axis module Speed change • It is used to change the speed by setting speed Page 125 Speed gear change ratio during the operation.
Page 21: Performance Specifications
Performance Specifications Performance specifications Item Number of settable axes 4-axis module 8-axis module Input axis Servo input axis 4 axes/module 8 axes/module Command generation 4 axes/module 8 axes/module axis Synchronous encoder 4 axes/module axis Composite main shaft gear 1/output axis Main shaft main input axis 1 axis/output axis Main shaft sub input axis...
Page 22 ■Stroke ratio data format • FX5-SSC-S Cam resolution Maximum number of cam registration Cam storage area Cam open area 4-axis module 8-axis module 4-axis module 8-axis module 1024 2048 4096 8192 16384 • FX5-SSC-G Cam resolution Maximum number of cam registration Cam storage area Cam open area 4-axis module...
Page 23 Cam operation specifications Item Specification Operation method of cam data (1) Engineering tool Write/read/verify to cam storage area (2) Via buffer memory (Cam data operation function) Write/read to cam storage area and cam open area Cam auto-generation function Automatically generate the cam for rotary cutter. Cam position calculation function Calculate the cam position by the program.
Page 24: 1.3 Operation Method Of Synchronous Control
Operation Method of Synchronous Control Synchronous control execution procedure The synchronous control is executed using the following procedure. Preparation STEP 1 Set the following parameters. One of the following two methods can be used. • Common parameters <Method 1> [FX5-SSC-S] ([Pr.24], [Pr.82], [Pr.89], [Pr.96], Directly set (write) the parameters in the Simple [Pr.97], [Pr.150], [Pr.151]) Motion module/Motion module using...
Page 25 Precautions • Mechanical elements such as limit switches are considered as already installed. • Parameter settings for positioning control apply for all axes with the Simple Motion module/Motion module. • Be sure to execute the home position return when the home position return request flag is ON. 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 1.3 Operation Method of Synchronous Control...
Page 26: Starting/Ending For Synchronous Control
Starting/ending for synchronous control Set the advanced synchronous control parameters for each output axis to start synchronous control. The status changes to synchronous control after the advanced synchronous control parameters are analyzed at the start of synchronous control, and the output axes synchronize with input axis operations. [Cd.380] Synchronous control start (Target axis bit) [Md.141] BUSY...
Page 27 Starting history The starting history is updated when starting synchronous control. "9020: Synchronous control operation" is stored in "[Md.4] Start No.". Status when starting synchronous control The following bits in "[Md.31] Status" are turned OFF when starting synchronous control in the same way as for the positioning control start.
Page 28: Stop Operation Of Output Axis
Stop operation of output axis If the following causes occur in stopping the output axis during synchronous control, synchronous control is completed after stops processing for the output axis ("[Md.141] BUSY" is OFF, "[Md.26] Axis operation status" is standby). Synchronous alignment must be executed for the output axis to restart the synchronous control. (Page 127 Output Axis Module) Stop cause Stop process...
Page 29 Deceleration stop The output axis stops with deceleration according to the setting in "[Pr.37] Stop group 1 rapid stop selection" to "[Pr.39] Stop group 3 rapid stop selection". The deceleration time set in "[Pr.446] Synchronous control deceleration time" is used for deceleration stop, and the shorter time set for the rapid stop time between "[Pr.36] Rapid stop deceleration time"...
Page 30: Chapter 2 Input Axis Module
INPUT AXIS MODULE The settings for the parameter and monitor data for the input axis module that used with synchronous control are explained in this chapter. Refer to the following manual for details on the connection and control for the servo amplifier and the synchronous encoder that are used for input axis module.
Page 31 If "1: Command position value" or "2: Actual position value" is set in "[Pr.300] Servo input axis type", set "1: Update command position value" in "[Pr.21] Command position value during speed control" to start the speed position change control. If "0: Do not update command position value" or "2: Clear command position value to zero"...
Page 32: Servo Input Axis Parameters
Servo input axis parameters n: Axis No. - 1 Setting item Setting details Setting value Default value Buffer memory address [Pr.300] • Set the current value type to be ■Set in decimal. 32800+10n Servo input axis type generated of the input value for the 0: Invalid servo input axis.
Page 33 [Pr.301] Servo input axis smoothing time constant Set the averaging time to execute a smoothing process for the input movement amount from the servo input axis. The smoothing process can moderate speed fluctuation, when the "Actual position value" or "Feedback value" is used as input values.
Page 34 [Pr.304] Servo input axis rotation direction restriction Set this parameter to restrict the input movement amount for the servo input axis to one direction. This helps to avoid reverse operation caused by machine vibration, etc. when "Actual postion value" or "Feedback value" is used as input values.
Page 35: Servo Input Axis Monitor Data
Servo input axis monitor data n: Axis No. - 1 Monitor item Storage details Monitor value Buffer memory address [Md.300] • The position value for the servo input axis ■Monitoring is carried out in decimal. 33120+10n Servo input axis position value is stored.
Page 36 [Md.303] Servo input axis rotation direction restriction amount While the rotation direction is restricted for a servo input axis, the accumulation for input movement amount in the opposite direction of the enabled direction is stored in servo input axis position units (Page 29 Servo input axis position units) as follows.
Page 37: Command Generation Axis
Command Generation Axis Overview of command generation axis The command generation axis is an axis that executes only the command generation that is generated when "1: Valid" is set in "[Pr.340] Command generation axis valid setting". It can be controlled individually from the axis connected with a servo amplifier.
Page 38 The sub functions that can be used for the command generation axis are shown below. : Combination possible : Combination restricted : Combination not possible Sub function Control mode ABS linear INC linear Forward Reverse Forward Reverse Current run speed run speed run speed/ run speed/...
Page 39 The following shows the support status of sub functions excluding the above. : Combination possible, : Combination not possible Function Combination status Sub function Absolute position system  Continuous operation interrupt function  Follow up function  ■Change command generation axis parameters and positioning data The command generation axis does not store parameters or positioning data in the buffer memory.
Page 40 Units for the command generation axis The position units and speed units for the command generation axis are shown below based on the setting "[Pr.1] Unit setting". ■Command generation axis position units Setting value of "[Pr.1] Unit Command generation axis position Range setting"...
Page 41: Command Generation Axis Parameters
Command generation axis parameters All command generation axis parameters are prepared for each command generation axis. However, change the parameters using GX Works3 or control data because the parameters are not in the buffer memory. Setting item Setting details Setting value Default value Buffer memory address...
Page 42 List of parameters that can be used Each parameter specification is common with the servo amplifier axis. For specification details, refer to "MAJOR POSITIONING CONTROL" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application) : Available, : Not available ■Servo network configuration parameters [FX5-SSC-G] Name Servo amplifier axis...
Page 43 ■Detailed parameters1 Name Servo amplifier axis Command generation axis [Pr.11] Backlash compensation amount   [Pr.12] Software stroke limit upper limit value : Initial value 0  [Pr.13] Software stroke limit lower limit value : Initial value 0  [Pr.14] Software stroke limit selection ...
Page 44 ■Home position return basic parameters Name Servo amplifier axis Command generation axis [Pr.43] Home position return method   [Pr.44] Home position return direction   [Pr.45] Home position address   [Pr.46] Home position return speed   [Pr.47] Creep speed [FX5-SSC-S] ...
Page 45: Command Generation Axis Control Data
Command generation axis control data All command generation axis control data is prepared for each command generation axis. n: Axis No. - 1 Setting item Setting details Setting value Default value Buffer memory address [Cd.300] Specify the parameter No. to be ■Set in decimal.
Page 46 List of control data that can be used The specification is common with the servo amplifier axis. For specification details, refer to "MAJOR POSITIONING CONTROL" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application) : Available, : Not available ■System control data Name Servo amplifier axis...
Page 47 Name Servo amplifier axis Command generation axis [Cd.33] Simultaneous starting axis start data No.3   [Cd.34] Step mode   [Cd.35] Step valid flag   [Cd.36] Step start information   [Cd.37] Skip command   [Cd.38] Teaching data selection ...
Page 48: Command Generation Axis Monitor Data
Command generation axis monitor data n: Axis No. - 1 Monitor item Storage details Monitor value Buffer memory address [Md.345] The accumulative position value for the ■Monitoring is carried out in decimal. 61000+120n Command generation axis accumulative command generation axis is stored. -2147483648 to 2147483647 61001+120n position value...
Page 49 List of monitor data that can be used The specification is common with the servo amplifier axis. For specification details, refer to "MAJOR POSITIONING CONTROL" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application) : Available, : Not available ■System monitor data Name Servo amplifier axis...
Page 50 ■Axis monitor data Name Servo amplifier axis Command generation axis [Md.20] Command position value   [Md.21] Machine feed value   [Md.22] Speed command   [Md.23] Axis error No.   [Md.24] Axis warning No.   [Md.25] Valid M code ...
Page 51 Name Servo amplifier axis Command generation axis [Md.101] Actual position value   [Md.102] Deviation counter value   [Md.103] Motor rotation speed   [Md.104] Motor current value   [Md.106] Servo amplifier software No. [FX5-SSC-S]   [Md.107] Parameter error No. [FX5-SSC-S] ...
Page 52: Command Generation Axis Positioning Data
Command generation axis positioning data All positioning data is not in the buffer memory. Therefore, change the data using GX Works3 or control data. The specification of command generation axis positioning data is common with "major positioning controls". However, the positioning data is 100 points for each axis.
Page 53 Name Servo amplifier axis Command generation axis 11h: INC circular right   12h: INC circular left   13h: Forward run speed 2   14h: Reverse run speed 2   15h: ABS linear 3   16h: INC linear 3 ...
Page 54: Write/Read Method For Command Generation Axis Parameter And Positioning Data
Write/read method for command generation axis parameter and positioning data The command generation axis parameter and positioning data are not stored in the buffer memory, so that each setting value changes by the control data. The fetch timing of each parameter and positioning data is in accordance with each specification. Therefore, some parameter is not used for control until PLC READY ON or the power supply ON.
Page 55 Read method for command generation axis parameter Specify the command generation axis parameter No. to "[Cd.300] Command generation axis parameter No. designation". Set "2: Read request" to "[Cd.302] Command generation axis parameter control request". The setting value to the command generation axis parameter is read with 2 words in "[Cd.301] Command generation axis parameter setting value".
Page 56 Write method for command generation axis positioning data Specify the command generation axis positioning data No. to "[Cd.303] Command generation axis positioning data No. designation". When "1" is set, "1" of the positioning data is specified. Specify the command generation axis positioning data [Da._] to "[Cd.304] Command generation axis positioning data designation".
Page 57 Read method for command generation axis positioning data Specify the command generation axis positioning data No. to "[Cd.303] Command generation axis positioning data No. designation". When "1" is set, "1" of the positioning data is specified. Specify the command generation axis positioning data [Da._] to "[Cd.304] Command generation axis positioning data designation".
Page 58: Synchronous Encoder Axis
Synchronous Encoder Axis Overview of synchronous encoder axis The synchronous encoder is used to drive the input axis based on input pulse from a synchronous encoder that is connected externally. The status of a synchronous encoder axis can also be monitored after the system's power supply turns ON. [FX5-SSC-S] [Pr.24] Manual pulse generator/Incremental synchronous encoder input selection...
Page 59 [FX5-SSC-G] [Pr.320] Synchronous encoder axis type Input pulse of synchronous [Pr.329] Resolution of synchronous encoder via CPU encoder Counter disable/ Counter enable [Pr.321] Synchronous encoder axis unit setting [Pr.322] Synchronous encoder axis unit conversion: Unit conversion Numerator [Pr.323] Synchronous encoder axis unit conversion: Denominator [Pr.325] Synchronous encoder...
Page 60 Control method for synchronous encoder axis The following controls can be executed for the synchronous encoder axis by using "[Cd.320] Synchronous encoder axis control start" and "[Cd.321] Synchronous encoder axis control method". Setting value of "[Cd.321] Synchronous Control details encoder axis control method" 0: Current value change "[Md.320] Synchronous encoder axis position value"...
Page 61 Units for the synchronous encoder axis The position units and speed units for the synchronous encoder axis are shown below for the setting of "[Pr.321] Synchronous encoder axis unit setting". ■Synchronous encoder axis position units Setting value of "[Pr.321] Synchronous encoder axis unit setting" Synchronous encoder Range axis position unit...
Page 62: Setting Method For Synchronous Encoder
Setting method for synchronous encoder Incremental synchronous encoder [FX5-SSC-S] ■Setting method Connect the synchronous encoder to the "Manual pulse generator/Incremental synchronous encoder input" of the Simple Motion module. Set the input method for the incremental synchronous encoder signal using the following parameters. (It may be common to use the same set up for the manual pulse generator input.) •...
Page 63 Synchronous encoder via servo amplifier [FX5-SSC-S] There are restrictions in the function and the encoder that can be used by the version of the servo amplifier. ■Setting method Used to use a rotary encoder connected to the servo amplifier which supports the scale measurement mode as a synchronous encoder axis.
Page 64 ■Point of the setting method • "Scale measurement function selection (PA22)" is set to the servo amplifier set by "ABS" or "INC" from the "External synchronous encoder input" list of the amplifier setting dialog using the Simple Motion Module Setting Function. •...
Page 65 ■Setting example The following shows an example for setting a serial absolute synchronous encoder Q171ENC-W8 using MR-J4-_B-RJ as synchronous encoder axis 1 of the Simple Motion module. Simple Motion module MR-J4-_B-RJ Q171ENC-W8 (4194304 pulses/rev) Axis 1 Axis 2 Axis 3 Synchronous encoder axis 1 Set the parameters as below.
Page 66 Synchronous encoder via servo amplifier [FX5-SSC-G] ■Setting method Used to use a rotary encoder connected to the servo amplifier which supports the scale measurement mode as a synchronous encoder axis. To use the scale measurement function, set the following CiA402 objects automatically to the PDO mapping. Refer to the servo amplifier manual for details of each object.
Page 67 Precautions • When "1: Used in absolute position detection system" is set in the servo parameter "Scale measurement function selection (PA22.3)" and the synchronous encoder movement amount (encoder pulse units) on disconnection or during the power supply OFF exceeds "2147483647" or "-2147483648", the synchronous encoder axis position value is restored with its opposite sign.
Page 68 ■Restrictions • The scale measurement function can only be used when semi closed control mode is selected. Refer to the servo amplifier manual for details. • When "1: Used in absolute position detection system" is set in the servo parameter "Scale measurement function selection (PA22.3)", "AL.25.2 (Scale measurement encoder - Absolute position erased)"...
Page 69 Synchronous encoder via CPU ■Setting method Used to operate a gray code encoder that is connected to the input part of the CPU module or the extension input module as a synchronous encoder axis. By setting "201: Synchronous encoder via CPU" in "[Pr.320] Synchronous encoder axis type", the synchronous encoder is controlled by the encoder value which is the input value of "[Cd.325] Input value for synchronous encoder via CPU".
Page 70 Using an incremental synchronous encoder with FX5-SSC-G When using an incremental synchronous encoder with the FX5-SSC-G, connect the encoder with the input part of the CPU module or the extension high-speed pulse input/output module, then import the incremental synchronous encoder data using the high-speed counter function of the CPU module.
Page 71: Synchronous Encoder Axis Parameters
Synchronous encoder axis parameters j: Synchronous encoder axis No. - 1 Setting item Setting details Setting value Default Buffer value memory address [Pr.320] • Set the synchronous encoder axis type to be ■Set in decimal. 34720+20j Synchronous encoder used. 0: Invalid axis type Fetch cycle: At power supply ON 1: Incremental synchronous encoder [FX5-...
Page 72 Setting item Setting details Setting value Default Buffer value memory address [Pr.329] • Set the resolution of the synchronous ■Set in decimal. 34734+20j Resolution of encoder when the synchronous encoder -2147483648 to 2147483647 [pulse] 34735+20j synchronous encoder axis type is set to synchronous encoder via via CPU CPU.
Page 73 [Pr.320] Synchronous encoder axis type Set the synchronous encoder type to be generated of the input value for the synchronous encoder axis. Setting value Details 0: Invalid Synchronous encoder axis is invalid. 1: Incremental synchronous encoder [FX5-SSC-S] Generate the input value based on the incremental synchronous encoder input. 101 to 108: Synchronous encoder via servo amplifier Generate the input value based on the synchronous encoder input via servo amplifier connected to the (Connectable servo amplifier: Axis 1 to axis 8...
Page 74 ■Setting example of the unit conversion and the length per cycle. The following shows an example a rotary encoder is connected which resolution is 4000 [pulse/rev] to the motor axis side on the rotation table that drives by 1/5 pulley system, and the control unit is degree. •...
Page 75 [Pr.326] Synchronous encoder axis phase compensation advance time Set the time to advance or delay the phase (input response) of the synchronous encoder axis. Refer to the following for the delay time inherent to the system using the synchronous encoder axis. Page 142 Phase Compensation Function Setting value Details...
Page 76 [Pr.328] Synchronous encoder axis rotation direction restriction Set this parameter to restrict the input movement amount for the synchronous encoder axis to one direction. This helps to avoid reverse operation caused by such as machine vibration of the synchronous encoder input. Setting value Details 0: Without rotation direction...
Page 77: Synchronous Encoder Axis Control Data
Synchronous encoder axis control data j: Synchronous encoder axis No. - 1 Setting item Setting details Setting value Default Buffer value memory address [Cd.320] • If set to "1", the synchronous encoder axis control is ■Set in decimal. 35040+10j Synchronous encoder axis started.
Page 78 [Cd.320] Synchronous encoder axis control start If set to "1", the synchronous encoder axis control is started. [Md.320] Synchronous encoder axis position value [Cd.320] Synchronous encoder axis control start [Cd.321] Synchronous encoder axis 0: Current value change control method [Cd.322] Synchronous encoder axis position value setting address If set to "101 to 108", the synchronous encoder axis control starts based on the high-speed input request [DI] for the specified servo amplifier axis.
Page 79 [Cd.322] Synchronous encoder axis position value setting address Set a new current value in synchronous encoder axis position units to apply to the current value change for the synchronous encoder axis (Page 59 Synchronous encoder axis position units). [Cd.323] Synchronous encoder axis error reset If set to "1", "[Md.326] Synchronous encoder axis error No."...
Page 80: Synchronous Encoder Axis Monitor Data
Synchronous encoder axis monitor data j: Synchronous encoder axis No. - 1 Monitor item Storage details Monitor value Buffer memory address [Md.320] • The position value for the synchronous encoder ■Monitoring is carried out in decimal. 35200+20j Synchronous encoder axis position axis is stored.
Page 81 [Md.322] Synchronous encoder axis speed The speed for a synchronous encoder axis is stored in synchronous encoder axis speed units (Page 59 Synchronous encoder axis speed units). If the speed for the synchronous encoder axis exceeds the monitor range (Page 56 Overview of synchronous encoder axis), the warning "Input axis speed display over"...
Page 82 [Md.326] Synchronous encoder axis error No. When an error for a synchronous encoder axis is detected, the error code corresponding to the error details is stored. If set to "1" in "[Cd.323]Synchronous encoder axis error reset", the value is set to "0". [Md.327] Synchronous encoder axis warning No.
Page 83: Chapter 3 Cam Function
CAM FUNCTION The details on cam data and operation for cam function in the output axis (cam axis) are explained in this chapter. The cam function controls the output axis by creating cam data that corresponds to the operation. The functions to operate cam data include "Cam data operation function", "Cam auto-generation function", and "Cam position calculation function".
Page 84 Cam data The cam data used in the cam function includes "storage data" which is used for reading/writing with EM Configurator and "open data" which is transmitted to the internal memory at cam control. Storage data Open data  (Reading and writing not possible) Linear cam Stroke ratio data format Stroke ratio data format...
Page 85 ■Stroke ratio data format The stroke ratio data format is defined in equal divisions for one cam cycle based on the cam resolution, and configured with stroke ratio data from points within the cam resolution. Refer to the following for setting methods for cam data. Page 88 Create Cam Data Setting item Setting details...
Page 86 ■Coordinate data format The coordinate data format is defined in coordinates of more than 2 points for one cam cycle. The coordinate data is represented as "(Input value, Output value)". Input value: Cam axis position value per cycle Output value: Stroke position from cam reference position With this format, "[Pr.441] Cam stroke amount"...
Page 87 When an input value that is 0 or the cam axis length per cycle does not exist in the coordinate data, the coordinate is calculated from the line segment between the nearest two coordinates. Output value: Y [Output axis position units] Generated line Generated line segment from...
Page 88 Cam reference position The cam reference position is calculated as shown below. ■Stroke ratio data format Cam reference position = The preceding cam reference position + (Cam stroke amount  Stroke ratio at the last point) ■Coordinate data format Cam reference position = The preceding cam reference position + Output value corresponding to "Input value = Cam axis length per cycle"...
Page 89 Cam data starting point This setting is only valid for cam data using the stroke ratio data format. The cam data point corresponding to "Cam axis position value per cycle = 0" can be set as the cam data starting point. The default value of the cam data starting point is 0.
Page 90: Create Cam Data
Create Cam Data Memory configuration of cam data Cam data is arranged in the following 2 areas. Memory configuration Storage item Details Remark Cam storage area Cam data Data is written by the following • Data is preserved even when operations.
Page 91 2) Operation with buffer memory Simple Motion module/Motion module Buffer memory [Cd.600] Cam data operation request (1: Read) Coordinate data [Cd.600] Cam data operation Stroke ratio request (1: Read) data Auto-generation data • Rotary cutter 1) Operation with an engineering tool [Cd.608] Auto-generation Cam auto-...
Page 92 Cam data operation with buffer memory It is possible to specify the area where cam data is written. The cam data is read from the cam open area. (Page 91 Cam data operation function) With the cam auto-generation function, auto-generation data is saved in the cam storage area, and the cam data is generated into the cam open area.
Page 93: Cam Data Operation Function
Cam data operation function This function is used to write/read cam data via buffer memory with the cam operation control data. To operate the points more than the amount of data for each operation (as follows), the operation should be executed separately. Cam data format Amount of data for each operation Stroke ratio data format...
Page 94 [Cd.600] Cam data operation request Set the following commands to write/read cam data. Setting value Details 1: Read (Cam open area) The cam is read from the cam open area and stored to the buffer memory. 2: Write (Cam storage area) The cam data is written to the cam storage area and the cam open area from the buffer memory.
Page 95 [Cd.605] Cam resolution/coordinate number Set/load the cam resolution/the coordinate number. Operation Details Reading The cam resolution/the coordinate number of the set cam data is read. Writing Set the cam resolution with the following values when using the stroke ratio data format. 256/512/1024/2048/4096/8192/16384 Set the coordinate number within the range from 2 to 8192 when using the coordinate data format.
Page 96: Cam Auto-Generation Function
Cam auto-generation function The cam auto-generation function is used to generate cam data automatically for specific purposes based on parameter settings. With this function, cam data is generated in the cam open area. It is possible to generate up to 1 Mbyte including the regular cam data. (Example: 64 cam data (with the stroke ratio format, resolution is 4096) can be automatically generated.) The processing time of cam auto-generation takes longer if the data point is larger.
Page 97 [Cd.608] Cam auto-generation request Set "1: Cam auto-generation request" to execute cam auto-generation. Cam data is generated in the cam open area of the specified cam No. based on the cam auto-generation data. The setting value is reset to "0" automatically after completing the process. The cam auto-generation data is saved in the cam storage area.
Page 98 [Cd.611] Cam auto-generation data Set the cam auto-generation data corresponding to "[Cd.610] Cam auto-generation type". ■For a rotary cutter The cam data starting point for a rotary cutter is 0. Buffer memory address Item Setting value Details 53204 Cam resolution 256/512/1024/2048/4096/8192/16384 Set the cam resolution for generating the cam.
Page 99: Chapter 4 Advanced Synchronous Control
ADVANCED SYNCHRONOUS CONTROL The parameters and monitor data for synchronous control such as "Main shaft module", "Speed change gear module", and "Output axis module" are explained in this chapter. Configure the required settings according to the control and application requirements for each module. Main Shaft Module Overview of main shaft module For the main shaft module, the input value is generated as a composite value from two input axes (the main and sub input...
Page 100 Setting item Setting details Setting value Default value Buffer memory address [Pr.402] • Select the composite method for input values from the ■Set in hexadecimal. 0001H 36402+200n Composite main main input axis and sub input axis. H _ _ _ _ shaft gear Fetch cycle: Operation cycle Main input method...
Page 101 [Pr.403] Main shaft gear: Numerator, [Pr.404] Main shaft gear: Denominator Set the numerator and the denominator for the main shaft gear to convert the input value. The input value is converted as follows. [Pr.403] Main shaft gear: Numerator = Input value before conversion × Input value after conversion [Pr.404] Main shaft gear: Denominator The input value direction can be reversed by setting a negative value in the numerator of the main shaft gear.
Page 102: Main Shaft Clutch Parameters
Main shaft clutch parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer value memory address [Pr.405] • Set the control method for the clutch. ■Set in hexadecimal. 0000H 36408+200n Main shaft clutch Fetch cycle: Operation cycle H _ _ _ _ control setting ON control mode...
Page 103 Setting item Setting details Setting value Default Buffer value memory address [Pr.413] • For smoothing with a slippage method, set the ■Set in decimal. 36420+200n Slippage amount at slippage amount at clutch ON. 0 to 2147483647 36421+200n main shaft clutch Fetch cycle: At completing condition (Turning clutch [Main input axis position units , or cam axis...
Page 104 ■High speed input request signal Set the high speed input request signal No. for the ON control mode (1) and the OFF control mode (2) when using the setting "5: High speed input request". Signal No. Setting value Signal No. Setting value (Hexadecimal) (Hexadecimal)
Page 105 [Pr.409] Main shaft clutch OFF address Set the clutch OFF address when address mode is configured for the OFF control mode of the main shaft clutch. When the reference address is the position value per cycle after main shaft gear, the setting address is converted for control within the range from 0 to (Cam axis length per cycle - 1).
Page 106 [Pr.413] Slippage amount at main shaft clutch ON Set the slippage amount at clutch ON when the slippage method is set in "[Pr.411] Main shaft clutch smoothing method". The slippage amount is set in units based on the current value selected in "[Pr.406] Main shaft clutch reference address setting".
Page 107: Main Shaft Clutch Control Data
Main shaft clutch control data n: Axis No. - 1 Setting item Setting details Setting value Default value Buffer memory address [Cd.400] • Set the clutch command ON/OFF. ■Set in decimal. 44080+20n Main shaft clutch Fetch cycle: Operation cycle 0: Main shaft clutch command command 1: Main shaft clutch command [Cd.401]...
Page 108: Auxiliary Shaft Module
Auxiliary Shaft Module Overview of auxiliary shaft module For the auxiliary shaft module, the input value is generated from the auxiliary shaft. The input value can be converted by the auxiliary shaft gear that provides the deceleration ratio and the rotation direction for the machine system, etc. Refer to the following for details on setting for the auxiliary shaft module.
Page 109 [Pr.418] Auxiliary shaft axis No. Set the input axis No. for the auxiliary shaft. Setting value Details 0: Invalid The input value is always 0. 1 to 8: Servo input axis Set the servo input axis (axis 1 to axis 8). When the servo input axis is not set in the system setting, the input value is always 0.
Page 110: Auxiliary Shaft Clutch Parameters
Auxiliary shaft clutch parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer value memory address [Pr.422] • Set the control method for the clutch. ■Set in hexadecimal. 0000H 36436+200n Auxiliary shaft Fetch cycle: Operation cycle H _ _ _ _ clutch control setting...
Page 111 Setting item Setting details Setting value Default Buffer value memory address [Pr.430] • For smoothing with a slippage method, set the ■Set in decimal. 36448+200n Slippage amount at slippage amount at clutch ON. 0 to 2147483647 36449+200n auxiliary shaft clutch Fetch cycle: At completing condition (Turning clutch ON) [Auxiliary shaft position units , or cam axis...
Page 112 ■High speed input request signal Set the high speed input request signal No. for the ON control mode (1) and the OFF control mode (2) when using the setting "5: High speed input request". Signal No. Setting value Signal No. Setting value (Hexadecimal) (Hexadecimal)
Page 113 [Pr.426] Auxiliary shaft clutch OFF address Set the clutch OFF address when address mode is configured for the OFF control mode of the auxiliary shaft clutch. When the reference address is the position value per cycle after auxiliary shaft gear, the setting address is converted for control within the range from 0 to (Cam axis length per cycle - 1).
Page 114 [Pr.430] Slippage amount at auxiliary shaft clutch ON Set the slippage amount at clutch ON when the slippage method is set in "[Pr.428] Auxiliary shaft clutch smoothing method". The slippage amount is set in units based on the current value selected in "[Pr.423] Auxiliary shaft clutch reference address setting".
Page 115: Auxiliary Shaft Clutch Control Data
Auxiliary shaft clutch control data n: Axis No. - 1 Setting item Setting details Setting value Default value Buffer memory address [Cd.403] • Set the clutch command ON/OFF. ■Set in decimal. 44083+20n Auxiliary shaft Fetch cycle: Operation cycle 0: Auxiliary shaft clutch clutch command command OFF 1: Auxiliary shaft clutch...
Page 116: Clutch
Clutch Overview of clutch The clutch is used to transmit/disengage command pulses from the main/auxiliary shaft input side to the output axis module through turning the clutch ON/OFF, which controls the operation/stop of the servo motor. A clutch can be configured for the main and auxiliary shafts. Control method for clutch Set the ON and OFF control methods separately in "[Pr.405] Main shaft clutch control setting"...
Page 117 ■Clutch command ON/OFF The clutch is turned ON/OFF by the operation of clutch command ON/OFF. (Setting in the OFF control mode are not applicable in this mode.) Clutch command Clutch ON/OFF status Current value before clutch Movement amount after clutch Item Main shaft clutch Auxiliary shaft clutch...
Page 118 ■Address mode The clutch is turned ON when the reference address reaches "Clutch ON address". The movement amount after passing through the ON address is calculated as the output movement amount of the clutch based on the reference address passing through, thereby controlling the clutch with an accurate movement amount. Clutch ON/OFF status Clutch ON address Current value specified in...
Page 119 OFF control mode ■OFF control invalid Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control. ■One-shot OFF The clutch is turned OFF after moving the distance "Movement amount before clutch OFF" (One-shot operation) after "Clutch ON/OFF status"...
Page 120 ■Address mode The clutch is turned OFF when the reference address reaches "Clutch OFF address". The movement amount before passing through the OFF address is calculated as the output movement amount of the clutch based on the reference address passing through, thereby controlling the clutch with an accurate movement amount. Clutch ON/OFF status Clutch OFF address Current value specified in...
Page 121: Smoothing Method For Clutch
Smoothing method for clutch Set the clutch smoothing method in "[Pr.411] Main shaft clutch smoothing method" and "[Pr.428] Auxiliary shaft clutch smoothing method". The 2 types of clutch smoothing include the following. • Time constant method smoothing • Slippage method smoothing When not using clutch smoothing, set "0: Direct"...
Page 122 ■Time constant method linear acceleration/deceleration smoothing Set "2: Time constant method (Linear)" in the clutch smoothing method. Clutch ON/OFF status Clutch smoothing status Speed before clutch processing Speed after clutch smoothing Clutch smoothing time constant Slippage method smoothing Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON, and with slippage at clutch OFF when the clutch turns OFF.
Page 123 ■Slippage method linear acceleration/deceleration smoothing Set "4: Slippage method (Linear)" or "5: Slippage method (Linear: Input value follow up)" in the clutch smoothing method. The differences between "4: Slippage method (Linear)" and "5: Slippage method (Linear: Input value follow up)" are shown below.
Page 124 • When the clutch smoothing status ON section is shortened Clutch ON/OFF status ON section is shortened. Clutch smoothing status Input speed (Speed before clutch processing) Output speed (Speed after clutch processing) Slippage amount at clutch ON Slippage amount at clutch OFF Clamped at high speed ["5: Slippage method (Linear: Input value follow up)"...
Page 125 ["5: Slippage method (Linear: Input value follow up)" is set.] The output speed is changed depending on the input speed. (When the input speed is decelerated and accelerated again, the speed might be accelerated rapidly.) Clutch ON/OFF status Clutch smoothing status Input speed (Speed before clutch processing)
Page 126: Use Example Of Clutch
Use example of clutch The following machine shows an example using clutch control for a flying shear cutting system that synchronizes off a start signal from a sensor input. Sensor input (High speed input Main shaft gear request [DI]) Main shaft main Main shaft clutch input axis 100 mm...
Page 127: Speed Change Gear Module
Speed Change Gear Module Overview of speed change gear module A speed change gear module is used to change the input speed from the main shaft/auxiliary shaft/composite auxiliary shaft gear during operation. When not using a speed change gear module, set "0: No speed change gear" in "[Pr.434] Speed change gear".
Page 128: Speed Change Gear Parameters
Speed change gear parameters n: Axis No. - 1 Setting item Setting details Setting value Default value Buffer memory address [Pr.434] • Set the arrangement for the speed change gear. ■Set in decimal. 36460+200n Speed change gear Fetch cycle: At start (Synchronous control) 0: No speed change gear 1: Main shaft side 2: Auxiliary shaft side...
Page 129: Output Axis Module
Output Axis Module Overview of output axis module For the output axis module, the cam axis position value per cycle is calculated based on the input value (the output value from a speed change gear), and is converted based on the set cam data. The command position value which is a command is output to the servo amplifier.
Page 130 Units for the output axis The position units for the output axis are shown below based on the setting "[Pr.1] Unit setting". Setting value of "[Pr.1] Unit setting" Output axis position unit Range 0: mm -214748.3648 to 214748.3647 [mm] 10 (10 m) (-214748364.8 to 214748364.7 [m])
Page 131: Output Axis Parameters
Output axis parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer value memory address [Pr.438] • Set the units for the cam axis length per cycle. ■Set in hexadecimal. 0000H 36470+200n Cam axis cycle • There is no influence on the control for the parameter H _ _ _ _ unit setting for monitor display.
Page 132 [Pr.439] Cam axis length per cycle Set the length per cycle of the cam axis to generate the cam axis position value per cycle. The unit settings are in the cam axis cycle units (Page 128 Units for the output axis). Set a value within the range from 1 to 2147483647.
Page 133 [Pr.440] Cam No. Set the cam No. for cam control. Cam No.0 operates as a linear cam for 100% of its stroke ratio along the cam axis length per cycle. The cam No. can be changed during synchronous control. The value set in "[Pr.440] Cam No." is valid when the cam axis position value per cycle passes through the 0th point of cam data, or is on the 0th point.
Page 134 [Pr.445] Cam axis phase compensation time constant Set the time constant to affect the phase compensation amount for the first order delay. 63 [%] of the phase compensation amount is reflected in the time constant setting. [Pr.444] Cam axis phase Current value per cycle after phase compensation compensation advance time Current value per cycle before phase compensation...
Page 135 [Pr.446] Synchronous control deceleration time Set the time to decelerate to a stop when deceleration stop occurs during synchronous control. Set the time from "[Pr.8] Speed limit value" until the speed becomes 0 in units of ms. Operation assumes an immediate stop when "0" is set. [Pr.447] Output axis smoothing time constant Set the averaging time to execute a smoothing process for the movement amount of the output axis after cam data conversion.
Page 136: Synchronous Control Change Function
Synchronous Control Change Function Overview of synchronous control change function This function can change the cam reference position, the cam axis position value per cycle and the position value per cycle after the main/auxiliary shaft gear during the synchronous control. The following 5 methods exist for the synchronous control change function.
Page 137 [Cd.407] Synchronous control change command Set the synchronous control change command. Setting value Details Reference Cam reference position movement Page 135 Cam reference position movement Change cam axis position value per cycle Page 135 Change cam axis position value per cycle Change position value per cycle after main shaft gear Page 136 Change position value per cycle after main shaft gear Change position value per cycle after auxiliary shaft gear...
Page 138 ■Change position value per cycle after main shaft gear The position value per cycle after main shaft gear is changed to the value set in "[Cd.408] Synchronous control change value". This operation is completed within one operation cycle. Clutch control is not executed if the position value per cycle after main shaft gear (the value before being changed and after being changed) has already passed through the ON/OFF address in address mode.
Page 139 [Cd.409] Synchronous control reflection time Set the reflection time for synchronous control change processing as follows. [Cd.407] Synchronous control Setting details for "[Cd.409] Synchronous control reflection time change command 0: Cam reference position movement The time to reflect the movement amount to the cam reference position. 1: Change cam axis position value per Setting not required.
Page 140: Synchronous Control Monitor Data
Synchronous Control Monitor Data Synchronous control monitor data is updated only during synchronous control. The monitor values ([Md.400], [Md.401], [Md.402], [Md.407], [Md.408], and [Md.409]) from the last synchronous control session are restored the next time the system's power supply turns ON. Restarting operation status from the last synchronous control session is possible through returning to the last position via positioning control (Page 145 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION).
Page 141 Monitor item Storage details Monitor value Buffer memory address [Md.420] • The ON/OFF status of main shaft clutch is stored. ■Monitoring is carried out in decimal display. 42828+40n Main shaft clutch ON/OFF Refresh cycle: Operation cycle (During synchronous 0: Clutch OFF status status control only) 1: Clutch ON status...
Page 142 [Md.401] Position value per cycle after main shaft gear The input movement amount after the main shaft gear is stored within the range from 0 to (Cam axis length per cycle - 1). The unit is in cam axis cycle units (Page 128 Units for the output axis). The value is restored according to "[Pr.460] Setting method of position value per cycle after main shaft gear"...
Page 143 [Md.421] Main shaft clutch smoothing status The smoothing status of the clutch is stored. The status is updated by the clutch smoothing method as follows. Method Details Time constant method The status is always "1: On clutch smoothing" during the clutch ON status. The status will be "0: Not on clutch smoothing"...
Page 144: Phase Compensation Function
Phase Compensation Function In synchronous control, delays in progresses, etc. cause the phase to deviate at the output axis motor shaft end with respect to the input axis (servo input axis or synchronous encoder axis). The phase compensation function compensates in this case so that the phase does not deviate.
Page 145 Phase compensation of delay time of the output axis Set delay time equivalent to the position deviation on the servo amplifier in "[Pr.444] Cam axis phase compensation advance time" for the output axis. The delay time equivalent to position deviation of the servo amplifier is calculated using the following formula.
Page 146: Output Axis Sub Functions
Output Axis Sub Functions The following shows which sub functions apply for the output axis in synchronous control. : Valid, : Invalid Sub function Output Details axis Backlash compensation function The same control as other methods.  Electronic gear function ...
Page 147: Chapter 5 Advanced Synchronous Control Initial Position
ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION The initial position for synchronous control is explained in this chapter. Configure these settings for situations that require initial position alignment for synchronous control. Synchronous Control Initial Position The following synchronous control monitor data can be aligned to a set position when starting synchronous control, as the initial position for synchronous control.
Page 148 Position value after composite main shaft gear at synchronous control start The position value after composite main shaft gear is restored as follows according to the main input axis operation executed before starting synchronous control. Operation of main Servo input axis Command Synchronous encoder axis input axis...
Page 149 Position value per cycle after main/auxiliary shaft gear at synchronous control start The position value per cycle after main shaft gear/position value per cycle after auxiliary shaft gear is restored as follows according to the main input axis/auxiliary shaft operation executed before starting synchronous control. Operation of main Servo input axis Command...
Page 150 [Auxiliary shaft] Position value per cycle after auxiliary shaft gear = Position value per cycle after auxiliary shaft gear at the last synchronous control session + Auxiliary shaft gear ratio  Amount of change of auxiliary shaft current value from the last synchronous control session The position value per cycle after main shaft gear/position value per cycle after auxiliary shaft gear at the last synchronous control session is restored when "0: Invalid"...
Page 151: Synchronous Control Initial Position Parameters
Synchronous Control Initial Position Parameters n: Axis No. - 1 Setting item Setting details Setting value Default Buffer value memory address [Pr.460] • Select the setting method for the position value per ■Set in decimal. 36500+200n Setting method of cycle after main shaft gear. 0: Previous value position value per Fetch cycle: At start (Synchronous control)
Page 152 [Pr.460] Setting method of position value per cycle after main shaft gear Select the setting method of "[Md.401] Position value per cycle after main shaft gear" when starting synchronous control. Setting value Details 0: Previous value The position value per cycle after main shaft gear from the last synchronous control session is stored. 1: Initial setting value of position value per cycle The value set in "[Pr.465] Position value per cycle after main shaft gear (Initial setting)"...
Page 153 [Pr.465] Position value per cycle after main shaft gear (Initial setting) Set the initial setting value of the position value per cycle after main shaft gear when "[Pr.460] Setting method of position value per cycle after main shaft gear" is set to "1: Position value per cycle after main shaft gear (Initial setting)". The unit settings are in cam axis cycle units (Page 128 Units for the output axis).
Page 154: Cam Axis Position Restoration Method
Cam Axis Position Restoration Method Cam axis position value per cycle restoration If "[Pr.462] Cam axis position restoration object" is set to "0: Cam axis position value per cycle restoration" when starting synchronous control, the cam axis position value per cycle is restored based on the cam reference position and the cam axis command position value.
Page 155 • With two-way cam pattern operation, if the corresponding cam axis position value per cycle is not found, the error "Cam axis position value per cycle restoration disable" (error code: 1C28H [FX5-SSC-S], or error code: 1E78H [FX5-SSC-G]) will occur and synchronous control will not be started. •...
Page 156 Cam axis position value per cycle restoration operation ■With a two-way cam pattern operation • Search from "Cam axis position value per cycle = 0". (Cam data starting point = 0) Cam axis position value per cycle Search from "Cam axis position value per cycle=0". Cam axis command position value Restore to the first command position value that matches.
Page 157 • The search fails. (Pattern 2) When the cam axis position value per cycle restoration is executed in a cam stroke range that straddles 0 [degree] Cam axis position value per cycle When "degree" is the unit in a cam stroke range that straddles 0 degree, the range for the command position 360 degree value is 0 to 359.99999.
Page 158 • Search from a value in the middle of the cam axis position value per cycle. (Cam data starting point = 0) [Pr.468] Cam axis position value per cycle (Initial setting) Cam axis position value per cycle Cam axis command position value (Command position value) New cam reference position Cam reference position...
Page 159 Example The following shows an example of restarting the cam (a cam similar to a cam with a linear feed where two identical positioning points do not exist on the cam) from the command position value after a forced stop, when the forced stop has stopped operation.
Page 160: Cam Reference Position Restoration
Cam reference position restoration If "[Pr.462] Cam axis position restoration object" is set to "1: cam reference position restoration" when starting synchronous control, the cam reference position is restored based on the cam axis position value per cycle and the cam axis command position value.
Page 161 • Restore operation at start of advanced synchronous control Command position value [pulse] The estimated cam pattern for Cam starting point is set to "Cam axis position value per cycle = 0 [pulse]" as the origin is determined. "command position value = 0 [pulse]". Time [ms] Cam reference position becomes "0 - 200 = -200 [pulse]".
Page 162: Cam Axis Command Position Value Restoration
Cam axis command position value restoration If "[Pr.462] Cam axis position restoration object" is set to "2: Cam axis command position value restoration" when starting synchronous control, the cam axis command position value is restored based on the cam axis position value per cycle and the cam reference position.
Page 163 Setting item Setting value [Pr.468] Cam axis position value per cycle (Initial setting) 0 [pulse] • Move to advanced synchronous control starting point Command position value [pulse] Time [ms] Move to the position of 150 [pulse] by return to cam starting position, or by home position return. •...
Page 164: Synchronous Control Analysis Mode
Synchronous Control Analysis Mode With synchronous control analysis mode, advanced synchronous control parameters are only analyzed when there is a command to start synchronous control. This mode is used to confirm the synchronous positions of the output axes in order to align axes with position control before starting synchronous control.
Page 165 Example The following shows a procedure of aligning the synchronous position of an output axis that references the input axis. Set the following values in the synchronous control initial position parameters. Setting item Setting value [Pr.460] Setting method of position value per cycle after main shaft gear 2: Calculate from input axis [Pr.462] Cam axis position restoration object 2: Cam axis command position value restoration...
Page 166: Cam Position Calculation Function
Cam Position Calculation Function The cam position is calculated by the program with this function. This function can be used to calculate the cam position for the synchronous control initial position before starting synchronous control. Example The following shows the procedure for synchronous position alignment, in a synchronous system where cam axes 2 and 3 are synchronized with the cam axis position value per cycle of axis 1.
Page 167 [Cd.612] Cam position calculation request Set the following commands to calculate the cam position. Setting value Details Cam axis command position value calculation request Cam axis position value per cycle calculation request The result is stored in "[Md.600] Cam position calculation result" and the setting value is reset to "0" automatically after completion of cam position calculation.
Page 168: Cam Position Calculation Monitor Data
Cam position calculation monitor data Monitor item Storage details Monitor value Buffer memory address [Md.600] • The result of the cam position calculation ■Monitoring is carried out in decimal. 53800 Cam position calculation result is stored. • When calculating the cam axis 53801 Refresh cycle: At completing condition command position value:...
Page 169 ■Stroke ratio data format When "the nth point of cam data  [Cd.617] Cam position calculation: Cam axis position value per cycle < the n + 1st point of cam data", the position corresponding to "[Cd.618] Cam position calculation: Cam axis command position value" is searched from the nth point of cam data.
Page 170 ■Coordinate data format (1) The range before the 1st point of cam data When the 1st point of the cam data is larger than 0 and "[Cd.617] Cam position calculation: Cam axis position value per cycle < the 1st point of cam data", the position corresponding to "[Cd.618] Cam position calculation: Cam axis command position value"...
Page 171 When "[Cd.617] Cam position calculation: Cam axis position value per cycle" is corresponding to the 1st point of cam data Search order At the 2nd point Search starting point At the 3rd point At the 1st point At the 5th point At the 0th point [Cd.617] Cam position calculation: Cam axis...
Page 172 (3) The range from the last point of cam data to the cam axis length per cycle When "the last point of cam data  [Cd.617] Cam position calculation: Cam axis position value per cycle < cam axis length per cycle", the position corresponding to "[Cd.618] Cam position calculation: Cam axis command position value"...
Page 173: Method To Restart Synchronous Control
Method to Restart Synchronous Control The relationship of the synchronous position for synchronous control is always saved in the Simple Motion module/Motion module. Synchronous control can be restarted without returning all axes to their starting points by restoring the synchronized relationship through the synchronous control initial position parameters (Page 149 Synchronous Control Initial Position Parameters).
Page 174: Appendices
APPENDICES Appendix 1 List of Buffer Memory Addresses (for Synchronous Control) The following shows the relation between the buffer memory addresses and the various items. Refer to "List of Buffer Memory Addresses" in the following manual for the list of general buffer memory addresses. MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application) Parameters ■Servo input axis parameters...
Page 175 ■Synchronous parameters: Main shaft n: Axis No. - 1 Item Fetch cycle Buffer memory address [Pr.400] Main input axis No. At start (Synchronous control) 36400+200n [Pr.401] Sub input axis No. At start (Synchronous control) 36401+200n [Pr.402] Composite main shaft gear Operation cycle 36402+200n [Pr.403]...
Page 176 ■Synchronous parameters: Speed change gear n: Axis No. - 1 Item Fetch cycle Buffer memory address [Pr.434] Speed change gear At start (Synchronous control) 36460+200n [Pr.435] Speed change gear smoothing time constant At start (Synchronous control) 36461+200n [Pr.436] Speed change ratio: Numerator Operation cycle 36462+200n 36463+200n...
Page 177 Monitor data ■Servo input axis monitor data n: Axis No. - 1 Item Refresh cycle Buffer memory address [Md.300] Servo input axis position value Operation cycle 33120+10n 33121+10n [Md.301] Servo input axis speed Operation cycle 33122+10n 33123+10n [Md.302] Servo input axis phase compensation amount Operation cycle 33124+10n 33125+10n...
Page 178 Item Refresh cycle Buffer memory address [Md.46] Last executed positioning data No. Immediate 60937+120n [Md.47] Positioning data being executed Positioning identifier Immediate 60938+120n M code Immediate 60939+120n Dwell time Immediate 60940+120n Command speed Immediate 60942+120n 60943+120n Positioning address Immediate 60944+120n 60945+120n [Md.48] Deceleration start flag...
Page 179 ■Cam operation monitor data: Cam position calculation Item Refresh cycle Buffer memory address [Md.600] Cam position calculation result At completing condition (Cam position 53800 calculation completion) 53801 APPX Appendix 1 List of Buffer Memory Addresses (for Synchronous Control)
Page 180 Control data ■Command generation axis control data n: Axis No. - 1 Item Fetch cycle Buffer memory address [Cd.3] Positioning start No. At start 61860+128n [Cd.5] Axis error reset 14.2 ms [FX5-SSC-S] 61862+128n 16.0 ms [FX5-SSC-G] [Cd.6] Restart command 14.2 ms [FX5-SSC-S] 61863+128n 16.0 ms [FX5-SSC-G] [Cd.7]...
Page 181 ■Synchronous control system control data Item Fetch cycle Buffer memory address [Cd.380] Synchronous control start Operation cycle 36320 [Cd.381] Synchronous control analysis mode At start (Synchronous control) 36322 ■Synchronous encoder axis control data j: Synchronous encoder axis No. - 1 Item Fetch cycle Buffer memory address...
Page 182 ■Cam operation control data: Cam auto-generation Item Fetch cycle Buffer memory address [Cd.608] Cam auto-generation request Main cycle 53200 [Cd.609] Cam auto-generation cam No. At request (Cam auto-generation request) 53201 [Cd.610] Cam auto-generation type At request (Cam auto-generation request) 53202 [Cd.611] Cam auto-generation data At request (Cam auto-generation request)
Page 183: Appendix 2 Sample Program Of Synchronous Control
Appendix 2 Sample Program of Synchronous Control Program example [FX5-SSC-S] The following shows a sample program of executing synchronous control on the axis 1 with the axis 4 as an input axis using the 4-axis module. (The axis 4 is configured as the virtual servo amplifier.) Set MR-J4(W)-B on the axis 1 and the virtual servo amplifier on the axis 4 in the "System Configuration"...
Page 184 Set the synchronous parameter of the axis 1. Create the program to start synchronous control. The sample program when head I/O No. of the Simple Motion module is set to 01H is shown below. • For using labels Classification Label name Description Module label FX5SSC_1.stSysMntr2_D.bSynchronizationFlag_D...
Page 185 Program example For details of the module FBs, refer to "Simple Motion Module FB/Motion Module FB" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module Function Block Reference APPX Appendix 2 Sample Program of Synchronous Control...
Page 186 • For using buffer memory Program example APPX Appendix 2 Sample Program of Synchronous Control...
Page 187: Program Example [Fx5-Ssc-G]
Program example [FX5-SSC-G] The following shows a sample program of executing synchronous control on the axis 1 with the axis 4 as an input axis using the 4-axis module. (The axis 4 is configured as the virtual servo amplifier.) On the "CC-Link IE TSN" screen, set MR-J5-G for station No. 1 and 2, then set station No.1 and station No.2 as axis 1 and axis 4, respectively, on the "Parameter"...
Page 188 Create the cam data (cam No.1). Set the synchronous parameter of the axis 1. APPX Appendix 2 Sample Program of Synchronous Control...
Page 189 Create the program to start synchronous control. The sample program when headstart I/O No. of the Simple Motion module is set to 01H is shown below. • For using labels Classification Label name Description Module label FX5SSC_1.stSysMntr2_D.bSynchronizationFlag_D Synchronization flag FX5SSC_1.stSysCtrl_D.bPLC_Ready_D PLC READY FX5SSC_1.stSysCtrl_D.bAllAxisServoOn_D All axis servo ON...
Page 190 Program example For details of the module FBs, refer to "Simple Motion Module FB/Motion Module FB" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module Function Block Reference APPX Appendix 2 Sample Program of Synchronous Control...
Page 191 APPX Appendix 2 Sample Program of Synchronous Control...
Page 192: Index
INDEX ..39 Command generation axis length per cycle ..43 Command generation axis parameter ....107 Auxiliary shaft axis No.
Page 193 ..129,133 Movement amount before main shaft clutch ON Synchronous control deceleration time ....... . 100,102 .
Page 194: Revisions
Japanese manual number: IB-0300254-J 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 195: Warranty
WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty 3. Overseas service Overseas, repairs shall be accepted by Mitsubishi's local Range overseas FA Center. Note that the repair conditions at If any faults or defects (hereinafter "Failure") found to be each FA Center may differ.
Page 196: Information And Services
INFORMATION AND SERVICES For further information and services, please contact your local Mitsubishi Electric sales office or representative. Visit our website to find our locations worldwide. MITSUBISHI ELECTRIC Factory Automation Global Website Locations Worldwide www.MitsubishiElectric.com/fa/about-us/overseas/ TRADEMARKS Microsoft and Windows are trademarks of the Microsoft group of companies.
Page 198 Manual number: IB(NA)-0300255ENG-K(2311)MEE MODEL: FX5SSC-U-ADV-E MODEL CODE: 1XB022 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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Melsec iq-f-fx5-40ssc-g Melsec iq-f-fx5-80ssc-g Melsec iq-f-fx5-40ssc-s Melsec iq-f-fx5-80ssc-s

Mitsubishi Electric MELSEC iQ-F FX5 Series User Manual

Chapter 1 Outline of Advanced Synchronous Control

Chapter 2 Input Axis Module

Chapter 3 Cam Function

Chapter 4 Advanced Synchronous Control

Chapter 5 Advanced Synchronous Control Initial Position

Appendix 1 List of Buffer Memory Addresses (for Synchronous Control)

Appendix 2 Sample Program of Synchronous Control

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