Mitsubishi Electric MELSEC iQ-R16MTCPU Manuals

• 3

  Safety Precautions
• 11

  Conditions of Use for the Product
• 11

  Introduction
• 12

  Table of Contents
• 17

  Relevant Manuals
• 18

  Terms
• 19

  Manual Page Organization

22

Chapter 1 Positioning Control By the Motion Cpu

• 22

  Positioning Control By the Motion CPU
  • 22

    Parameters and Programs Used for Positioning Control
  • 23

    Starting a Servo Program
  • 23

    Direct Positioning Start From the PLC CPU
  • 23

    JOG Operation
  • 23

    Manual Pulse Generator Operation

24

Chapter 2 Positioning Dedicated Signals

• 26

  Internal Relays
  • 29

    Axis Status
  • 39

    Axis Command Signals
  • 48

    Command Generation Axis Status
  • 51

    Command Generation Axis Command Signal
  • 54

    Synchronous Encoder Axis Status
  • 55

    Synchronous Encoder Axis Command Signal
  • 56

    Output Axis Status
  • 58

    Output Axis Command Signal
  • 60

    Synchronous Control Signal
  • 62

    Synchronous Analysis Complete Signal
  • 64

    Synchronous Control Start Signal
  • 66

    Synchronous Analysis Request Signal
  • 68

    Machine Common Command Signals
  • 69

    Machine Command Signals
  • 71

    Machine Status
  • 73

    Common Devices
• 90

  Data Registers
  • 93

    Axis Monitor Devices
  • 106

    JOG Speed Setting Registers
  • 108

    Servo Input Axis Monitor Device
  • 110

    Servo Input Axis Control Device
  • 112

    Command Generation Axis Monitor Device
  • 115

    Command Generation Axis Control Device
  • 117

    Synchronous Encoder Axis Monitor Device
  • 119

    Synchronous Encoder Axis Control Device
  • 120

    Output Axis Monitor Device
  • 123

    Output Axis Control Device
  • 130

    Machine Control Device
  • 132

    Machine Monitor Device
  • 136

    G-Code Control Common Command Signal
  • 137

    G-Code Control Common Control Device
  • 138

    G-Code Control Common Status
  • 139

    G-Code Control Common Monitor Device
  • 140

    G-Code Control Line Command Signal
  • 141

    G-Code Control Line Control Device
  • 142

    G-Code Control Line Status
  • 144

    G-Code Control Line Monitor Device
  • 148

    G-Code Control Line Monitor Device (Expansion)
  • 153

    G-Code Control Axis Status
  • 155

    G-Code Control Axis Monitor Device
  • 157

    Common Devices
• 163

  Motion Registers (#)
  • 164

    Monitor Devices 2 of Each Axis
• 167

  Special Relays (SM)
• 167

  Special Registers (SD)

168

Chapter 3 Parameters for Positioning Control

• 168

  Parameters Used By the Motion CPU
• 170

  Indirect Setting Method By Devices for Parameters
• 170

  Fixed Parameters
  • 171

    Unit Setting
  • 171

    Number of Pulses Per Rotation/Travel Value Per Rotation
  • 174

    Backlash Compensation Amount
  • 174

    Upper/Lower Stroke Limit Value
  • 176

    Command In-Position Range
  • 176

    Speed Control 10 X Multiplier Setting for Degree Axis
• 180

  Home Position Return Data
  • 181

    Home Position Return Direction
  • 182

    Home Position Return Method
  • 182

    Home Position Address
  • 182

    Home Position Return Speed
  • 182

    Creep Speed
  • 183

    Travel Value After Proximity Dog ON
  • 184

    Parameter Block Setting
  • 185

    Home Position Return Retry Function/Dwell Time at the Home Position Return Retry
  • 186

    Home Position Shift Amount/Speed Set at the Home Position Shift
  • 187

    Torque Limit Value at the Creep Speed
  • 187

    Operation Setting for Incompletion of Home Position Return
  • 189

    Setting Items for Home Position Return Data
• 190

  JOG Operation Data
• 191

  External Signal Parameter
• 194

  Expansion Parameters
  • 195

    Positive Direction Torque Limit Value Monitor Device/Negative Direction Torque Limit Value Monitor Device
  • 196

    Acceleration/Deceleration Time Change Parameter
  • 197

    Servo Motor Maximum Speed Check Parameter
  • 199

    ABS Direction in Degrees Device
• 203

  Speed-Torque Control Data
  • 205

    Control Mode Switching Request Device
  • 205

    Control Mode Setting Device
  • 205

    Speed Limit Value at Speed-Torque Control
  • 205

    Torque Limit Value at Speed-Torque Control
  • 205

    Speed Command Device
  • 206

    Command Speed Acceleration Time, Command Speed Deceleration Time
  • 206

    Torque Command Device
  • 207

    Command Torque Time Constant (Positive Direction), Command Torque Time Constant (Negative Direction)
  • 208

    Speed Initial Value Selection at Control Mode Switching
  • 208

    Torque Initial Value Selection at Control Mode Switching
  • 208

    Invalid Selection During Zero Speed at Control Mode Switching
• 209

  Pressure Control Data
  • 210

    Pressure Control Selection
  • 210

    Feed/Dwell Startup Device
  • 210

    Dwell Forced Switching Device
  • 210

    Pressure Release Startup Device
  • 210

    Pressure Command Reference
  • 210

    Speed Limit Reference
  • 211

    Abnormal Pressure Setting Time
  • 211

    Mode Reset Selection After Passing Dwell Time
  • 211

    Pressure Profile Start Device
  • 211

    Pressure Control Status Device
  • 211

    Feed Execution Point Device
  • 211

    Dwell Execution Point Device
• 212

  Override Data
  • 212

    Override Ratio Setting Device
• 213

  Vibration Suppression Command Filter Data
  • 214

    Vibration Suppression Command Filter 1
  • 215

    Vibration Suppression Command Filter 2
  • 215

    Feed Current Value Monitor Device After Filter
  • 215

    Command Output Complete Signal After Filter
• 216

  Servo Parameters
• 217

  Parameter Block
  • 219

    Interpolation Control Unit
  • 220

    Speed Limit Value, Acceleration Time, Deceleration Time and Rapid Stop Deceleration Time
  • 222

    S-Curve Ratio
  • 223

    Advanced S-Curve Acceleration/Deceleration
  • 235

    Torque Limit Value
  • 235

    Deceleration Processing On STOP Input
  • 236

    Allowable Error Range for Circular Interpolation
  • 236

    Bias Speed at Start

238

Chapter 4 Servo Programs for Positioning Control

• 238

  Servo Program Composition Area
  • 238

    Servo Program Composition
• 240

  Servo Instructions
• 244

  Positioning Data
• 250

  Setting Method for Positioning Data
  • 250

    Setting Method for Direct Setting By Numerical Values
  • 250

    Indirect Setting Method By Devices

252

Chapter 5 Positioning Control

• 252

  Basics of Positioning Control
  • 252

    Positioning Speed
  • 253

    Positioning Speed at the Interpolation Control
  • 257

    Control Units for 1 Axis Positioning Control
  • 258

    Control Units for Interpolation Control
  • 259

    Control in the Control Unit "Degree
  • 261

    Stop Processing and Restarting After Stop
  • 268

    Acceleration/Deceleration Processing
• 272

  Axis Linear Positioning Control
• 275

  Axes Linear Interpolation Control
• 278

  5.4 3 Axes Linear Interpolation Control
• 282

  5.5 4 Axes Linear Interpolation Control
• 285

  Auxiliary Point-Specified Circular Interpolation Control
• 289

  Radius-Specified Circular Interpolation Control
• 293

  Central Point-Specified Circular Interpolation Control
• 297

  Helical Interpolation Control
  • 298

    Circular Interpolation Specified Method By Helical Interpolation
• 311

  Axis Fixed-Pitch Feed Control
• 314

  Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation
• 317

  Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation
• 320

  Speed Control (I)
• 323

  Speed Control (II)
• 326

  Speed/Position Switching Control
  • 326

    Speed/Position Switching Control Start
  • 332

    Re-Starting After Stop During Control
• 336

  Speed Control with Fixed Position Stop
• 340

  Continuous Trajectory Control
  • 343

    Specification of Pass Points By Repetition Instructions
  • 347

    Speed-Switching By Instruction Execution
  • 350

    Axis Continuous Trajectory Control
  • 353

    To 4 Axes Continuous Trajectory Control
  • 357

    Continuous Trajectory Control for Helical Interpolation
  • 362

    Pass Point Skip Function
  • 364

    FIN Signal Wait Function
• 371

  Position Follow-Up Control
• 375

  High-Speed Oscillation
• 377

  Simultaneous Start
• 379

  Home Position Return
  • 380

    Servo Program for Home Position Return
  • 382

    Home Position Return By the Proximity Dog Method 1
  • 384

    Home Position Return By the Proximity Dog Method 2
  • 386

    Home Position Return By the Count Method 1
  • 387

    Home Position Return By the Count Method 2
  • 388

    Home Position Return By the Count Method 3
  • 390

    Home Position Return By the Data Set Method 1
  • 391

    Home Position Return By the Data Set Method 2
  • 392

    Home Position Return By the Data Set Method 3
  • 393

    Home Position Return By the Dog Cradle Method
  • 396

    Home Position Return By the Stopper Method 1
  • 397

    Home Position Return By the Stopper Method 2
  • 398

    Home Position Return By the Limit Switch Combined Method
  • 400

    Home Position Return By the Scale Home Position Signal Detection Method
  • 402

    Home Position Return By the Dogless Home Position Signal Reference Method
  • 407

    Home Position Return By the Driver Home Position Return Method
  • 408

    Home Position Return Retry Function
  • 411

    Home Position Shift Function
  • 414

    Condition Selection of Home Position Set
• 415

  Current Value Change

417

Chapter 6 Manual Control

• 417

  JOG Operation
  • 417

    Individual Start
  • 420

    Simultaneous Start
• 422

  Manual Pulse Generator Operation

427

Chapter 7 Auxiliary and Applied Functions

• 427

  M-Code Output Function
• 429

  Backlash Compensation Function
• 430

  Torque Limit Function
• 432

  Skip Function in Which Disregards Stop Command
• 433

  Speed-Torque Control
  • 434

    Operation of Speed-Torque Control
• 447

  Acceleration/Deceleration Time Change Function
• 452

  Pressure Control
  • 453

    System Configuration
  • 454

    Outline of Pressure Control
  • 455

    Pressure Profile
  • 459

    Feed/Dwell Operation
  • 461

    Pressure Release Operation
  • 461

    Operation By Stroke Limit
  • 461

    Using Point No. to Substitute M-Code
  • 462

    Pressure Control Settings
  • 463

    Mode Reset After Passing Dwell Time
  • 463

    Stop Causes During Pressure Control Mode
• 464

  Override Function
• 469

  Vibration Suppression Command Filter
  • 469

    Vibration Suppression Command Filter Operation
  • 472

    Precautions When Using Vibration Suppression Command Filter
• 475

  Appendices

475

Appendix 1 Processing Times of the Motion CPU

• 478

  Revisions
• 479

  Warranty
• 480

  Trademarks

• 3

  Safety Precautions
• 11

  Conditions of Use for the Product
• 11

  Introduction
• 12

  Table of Contents
• 16

  Relevant Manuals
• 17

  Terms
• 18

  Manual Page Organization

21

Chapter 1 Overview

• 21

  G-Code Control Overview
• 22

  Performance Specifications
• 23

  G-Code Control Add-On Library Configuration
  • 23

    G-Code Control Add-On Library
  • 23

    Files Size/Memory Usage

24

Chapter 2 Starting Up the System

• 24

  Starting Up the G-Code Control System
• 26

  2.2 License Authentication of G-Code Control Add-On Library
• 26

  Control Cycle of G-Code Control
• 27

  G-Code Control System Device Assignment Method
• 27

  G-Code Control System Start/End
• 28

  G-Code Control System Stop Operation
  • 29

    Immediate Stop
  • 29

    Deceleration Stop

30

Chapter 3 G-Code Control Dedicated Signals

• 31

  G-Code Control Common Command Signal
• 32

  G-Code Control Common Control Device
• 33

  G-Code Control Common Status
• 34

  G-Code Control Common Monitor Device
• 36

  G-Code Control Line Command Signal
• 39

  G-Code Control Line Control Device
• 40

  G-Code Control Line Status
• 47

  G-Code Control Line Monitor Device
• 57

  G-Code Control Line Monitor Device (Expansion)
• 63

  G-Code Control Axis Status
• 65

  G-Code Control Axis Monitor Device
• 69

  Internal Relay (M)/Data Register (D) Availability
  • 69

    Internal Relays
  • 72

    Data Registers

74

Chapter 4 G-Code Control Parameters

• 75

  G-Code Control System Parameter
  • 78

    Line Basic Setting
  • 78

    Modal Initial Setting
  • 78

    Control Setting
  • 80

    Override Setting
  • 81

    Plane Composition
  • 81

    Normal Line Control
  • 82

    Auxiliary Function
  • 82

    Polar Coordinate Interpolation
  • 82

    High-Accuracy Control
• 84

  G-Code Control Axis Parameter
  • 85

    Line Axis Information
  • 86

    Stored Stroke Limit
  • 87

    Speed/Time Constant
  • 88

    Rotation Axis Information
  • 89

    Tandem Function
  • 90

    High-Accuracy Control
• 91

  G-Code Control Processwork Parameter
  • 91

    Tool Radius Compensation
  • 92

    Tool Compensation Data
  • 92

    Workpiece Coordinate Offset
  • 92

    Program Coordinate Rotation

93

Chapter 5 G-Code Control Programs

• 93

  G-Code Control Program Composition
  • 94

    G-Code Program Format
• 96

  Fetching G-Code Program Files
  • 96

    Fetching G-Code Program File During Operation
• 97

  Pre-Read Buffer
• 98

  Decimal Point Input
• 99

  Coordinate System
  • 99

    Basic Machine Coordinate System
  • 99

    Work Coordinate System
  • 100

    Local Coordinate System
  • 100

    Automatic Coordinate System Setting
  • 100

    Coordinate System for Rotation Axes
• 101

  G-Code
  • 101

    G-Code List
  • 102

    Modal/Unmodal
  • 102

    G-Code Priority
  • 105

    G00: Positioning (Fast Forward)
  • 106

    G01: Linear Interpolation
  • 107

    G02: Circular Interpolation CW (Center Specified)
  • 109

    G03: Circular Interpolation CCW (Center Specified)
  • 111

    G02: Circular Interpolation CW (R-Specified)
  • 113

    G03: Circular Interpolation CCW (R-Specified)
  • 115

    G04: Dwell (Time Specified)
  • 116

    G09: Exact Stop Check
  • 117

    G12.1: Polar Coordinate Interpolation Mode Start
  • 122

    G13.1: Polar Coordinate Interpolation Mode Cancel
  • 123

    G17 to G19: Plane Selection
  • 124

    G38: Tool Radius Compensation Vector Setting
  • 126

    G39: Tool Radius Compensation Corner Arc
  • 128

    G40: Tool Radius Compensation Cancel
  • 129

    G41: Tool Radius Compensation - Left
  • 130

    G42: Tool Radius Compensation - Right
  • 131

    G40.1: Normal Line Control Cancel
  • 132

    G41.1: Normal Line Control - Left ON
  • 133

    G42.1: Normal Line Control - Right ON
  • 134

    G43: Tool Length Compensation (+)
  • 136

    G44: Tool Length Compensation
  • 138

    G49: Tool Length Compensation Cancel
  • 139

    G52: Local Coordinate System Setting
  • 143

    G53: Basic Machine Coordinate System Selection
  • 144

    G54 to G59: Work Coordinate System 1 Selection to Work Coordinate System 6 Selection
  • 147

    G61: Exact Stop Check Mode
  • 148

    G61.1: High-Accuracy Control Mode
  • 149

    G62: Automatic Corner Override
  • 152

    G64: Cutting Mode
  • 153

    G68: Program Coordinate Rotation Mode Start
  • 158

    G69: Program Coordinate Rotation Mode Cancel
  • 159

    G90: Absolute Value Command
  • 161

    G91: Incremental Value Command
  • 163

    G94: Feed Per Minute (Non-Synchronized Feed)
• 164

  M-Code
  • 165

    M00: Program Stop
  • 166

    M01: Optional Stop
  • 167

    M02: Program End
  • 168

    M30: Program End

169

Chapter 6 Auxiliary and Applied Functions

• 169

  Relationship Between G-Code Control and Each Function
• 171

  Auxiliary Function (M Function)
  • 171

    M-Code Output
  • 173

    Auxiliary Function Complete
• 175

  Feed Function
  • 175

    Fast Forward Speed
  • 176

    Cutting Feed Speed
  • 177

    Feed Speed Specification and the Effects On Each Control Axis
  • 180

    Deceleration Check
• 184

  Tool Compensation Function
  • 184

    Tool Compensation
  • 185

    Tool Length Compensation
  • 185

    Tool Radius Compensation
• 209

  Operation Supporting Functions
  • 209

    Automatic Operation Start (Cycle Start)
  • 210

    Automatic Operation Hold (Feed Hold)
  • 211

    Reset
  • 212

    Single Block
• 213

  Normal Line Control Function
• 226

  High-Accuracy Control
  • 228

    Acceleration/Deceleration before Interpolation
  • 230

    Optimum Speed Control
  • 236

    Vector Accuracy Interpolation
  • 236

    Arc Entrance/Exit Speed Control
• 237

  Tandem Function
• 238

  G-Code Program Operation By GOT
  • 238

    GOT Program Input/Output Function
  • 238

    GOT Program Edit Function
• 239

  Appendices

239

Appendix 1 G-Code Control Error/G-Code Control Event Details Codes

• 239

  G-Code Control Error Details Codes
• 244

  Add-On License Error Details Codes

245

Appendix 2 G-Code Control Event Details Codes

• 245

  G-Code Control Event Details Codes
• 246

  Revisions
• 247

  Warranty
• 248

  Trademarks