Mitsubishi Electric MELSEC iQ-R32MTCPU Manuals

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Mitsubishi Electric MELSEC iQ-R32MTCPU Programming Manual (482 pages)

MELSEC iQ-R Series, Positioning Control

Brand: Mitsubishi Electric | Category: Controller | Size: 4.1 MB

Safety Precautions
3
Conditions of Use for the Product
11
Introduction
11
Table of Contents
12
Relevant Manuals
17
Terms
18
Manual Page Organization
19
Chapter 1 Positioning Control by the Motion Cpu

22
- Positioning Control by the Motion CPU
  22
Chapter 2 Positioning Dedicated Signals

24
Internal Relays

26
- Axis Status
  29
- Axis Command Signals
  39
- Command Generation Axis Status
  48
- Command Generation Axis Command Signal
  51
- Synchronous Encoder Axis Status
  54
- Synchronous Encoder Axis Command Signal
  55
- Output Axis Status
  56
- Output Axis Command Signal
  58
- Synchronous Control Signal
  60
- Synchronous Analysis Complete Signal
  62
- Synchronous Control Start Signal
  64
- Synchronous Analysis Request Signal
  66
- Machine Common Command Signals
  68
- Machine Command Signals
  69
- Machine Status
  71
- Common Devices
  73
Data Registers

90
- Axis Monitor Devices
  93
- JOG Speed Setting Registers
  106
- Servo Input Axis Monitor Device
  108
- Servo Input Axis Control Device
  110
- Command Generation Axis Monitor Device
  112
- Command Generation Axis Control Device
  115
- Synchronous Encoder Axis Monitor Device
  117
- Synchronous Encoder Axis Control Device
  119
- Output Axis Monitor Device
  120
- Output Axis Control Device
  123
- Machine Control Device
  130
- Machine Monitor Device
  132
- G-Code Control Common Command Signal
  136
- G-Code Control Common Control Device
  137
- G-Code Control Common Status
  138
- G-Code Control Common Monitor Device
  139
- G-Code Control Line Command Signal
  140
- G-Code Control Line Control Device
  141
- G-Code Control Line Status
  142
- G-Code Control Line Monitor Device
  144
- G-Code Control Line Monitor Device (Expansion)
  148
- G-Code Control Axis Status
  153
- G-Code Control Axis Monitor Device
  155
- Common Devices
  157
Motion Registers (#)

163
- Monitor Devices 2 of each Axis
  164
Special Relays (SM)

167
Special Registers (SD)

167
Chapter 3 Parameters for Positioning Control

168
Parameters Used by the Motion CPU

168
Indirect Setting Method by Devices for Parameters

170
Fixed Parameters

170
Home Position Return Data

180
JOG Operation Data

190
External Signal Parameter

191
Expansion Parameters

194
Speed-Torque Control Data

203
Pressure Control Data

209
- 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
  210
- Abnormal Pressure Switching Mode
  210
- Abnormal Pressure Setting
  210
- 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
  211
- Pressure Release Execution Point Device
  211
Override Data

212
- Override Ratio Setting Device
  212
Vibration Suppression Command Filter Data

213
Servo Parameters

216
Parameter Block

217
Chapter 4 Servo Programs for Positioning Control

238
Servo Program Composition Area

238
- Servo Program Composition
  238
Servo Instructions

240
Positioning Data

244
Setting Method for Positioning Data

250
- Setting Method for Direct Setting by Numerical Values
  250
- Indirect Setting Method by Devices
  250
Chapter 5 Positioning Control

252
Basics of Positioning Control

252
Axis Linear Positioning Control

272
Axes Linear Interpolation Control

275
5.4 3 Axes Linear Interpolation Control

278
5.5 4 Axes Linear Interpolation Control

282
Auxiliary Point-Specified Circular Interpolation Control

285
Radius-Specified Circular Interpolation Control

289
Central Point-Specified Circular Interpolation Control

293
Helical Interpolation Control

297
- Circular Interpolation Specified Method by Helical Interpolation
  298
Axis Fixed-Pitch Feed Control

311
Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation

314
Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation

317
Speed Control (I)

320
Speed Control (II)

323
Speed/Position Switching Control

326
- Speed/Position Switching Control Start
  326
- Re-Starting after Stop During Control
  332
Speed Control with Fixed Position Stop

336
Continuous Trajectory Control

340
Position Follow-Up Control

371
High-Speed Oscillation

375
Simultaneous Start

377
Home Position Return

379
Current Value Change

415
Chapter 6 Manual Control

417
JOG Operation

417
- Individual Start
  417
- Simultaneous Start
  420
Manual Pulse Generator Operation

422
Chapter 7 Auxiliary and Applied Functions

427
M-Code Output Function

427
Backlash Compensation Function

429
Torque Limit Function

430
Skip Function in Which Disregards Stop Command

432
Speed-Torque Control

433
- Operation of Speed-Torque Control
  434
Acceleration/Deceleration Time Change Function

447
Pressure Control

452
- System Configuration
  453
- Outline of Pressure Control
  454
- Pressure Profile
  455
- Feed/Dwell Operation
  459
- Pressure Release Operation
  461
- Operation by Stroke Limit
  461
- Using Point No. to Substitute M-Code
  461
- Pressure Control Settings
  462
- Mode Reset after Passing Dwell Time
  463
- Stop Causes During Pressure Control Mode
  463
Override Function

464
Vibration Suppression Command Filter

469
- Vibration Suppression Command Filter Operation
  469
- Precautions When Using Vibration Suppression Command Filter
  472
Appendices

475
Appendix 1 Processing Times of the Motion CPU

475
- Revisions
  478
- Warranty
  479
- Trademarks
  480

Mitsubishi Electric MELSEC iQ-R32MTCPU Programming Manual (460 pages)

MELSEC iQ-R Series Motion Controller

Brand: Mitsubishi Electric | Category: Controller | Size: 4.13 MB

Safety Precautions
3
Conditions of Use for the Product
11
Introduction
11
Table of Contents
12
Relevant Manuals
17
Terms
18
Manual Page Organization
19
Chapter 1 Multiple Cpu System

22
- Multiple CPU System
  22
Setting Operation for Multiple CPU System

32
Data Communication between CPU Modules in the Multiple CPU System

33
Chapter 2 Common Parameters

51
Parameters Used by the Motion CPU

51
R Series Common Parameter

54
- System Parameter
  55
- CPU Parameter
  57
- Module Parameter
  60
Motion CPU Common Parameter

61
Motion CPU Operating Status

73
- Initial Processing
  73
- RUN/STOP Status Control
  75
Chapter 3 Devices

77
Device List

77
- Devices that Can be Used with each Function
  79
User Device

81
- Input (X)
  81
- Output (Y)
  81
- Internal Relay (M)
  81
- Link Relay (B)
  81
- Annunciator (F)
  81
- Data Register (D)
  81
- Link Register (W)
  81
- Motion Register (#)
  81
System Device

82
- Special Relay (SM)
  82
- Special Register (SD)
  82
CPU Buffer Memory Access Device

82
Module Access Device

83
Constants

83
Device Setting

84
- Device Assignment Method
  84
- Device Points Setting
  86
Latch Function

88
Chapter 4 Auxiliary and Applied Functions

90
Limit Switch Output Function

90
- Operations
  90
- Limit Output Data Setting
  92
External Input Signal

96
- External Signal
  96
- High-Speed Input Request Signal
  97
Mark Detection Function

102
- Operations
  103
- Mark Detection Setting
  104
Servo ON/OFF

110
- Follow up Function
  111
Absolute Position System

112
- Synchronous Control Absolute Position System
  114
- Saving and Recovering Backup Data
  114
Clock Function

115
File Transfer Function

116
File Transmission at Boot Function

120
File Transmission Via FTP Server

127
Parameter Change Function

130
- Parameters Used with Parameter Change
  132
Mixed Operation Cycle Function

162
- Control Details
  165
- Precautions During Control
  168
Chapter 5 Functions Used with Sscnet Communication

171
Servo Parameter Management

171
- Transmission of Servo Parameters
  171
- Servo Parameter Read/Change Function
  173
Optional Data Monitor Function

175
- Optional Data Monitor Setting
  177
- Example of Using Transient Commands
  182
SSCNET Control Function

185
- Connect/Disconnect Function of SSCNET Communication
  186
- Amplifier-Less Operation Function
  189
Virtual Servo Amplifier Function

193
Driver Communication Function

195
- Control Details
  195
- Precautions During Control
  196
- Servo Parameter
  199
Connection of SSCNETIII/H Head Module

200
Connection of Sensing Module

207
- System Configuration
  207
- Sensing Module Parameters
  208
- Data of Refresh Device
  217
- Link Data (Station Mode)
  218
- Link Data (Axis Mode)
  240
- Sensing Module Functions (Station Mode)
  241
- Sensing Module Functions (Axis Mode)
  245
- Errors Detected by Sensing Module
  252
- Precautions When Using Sensing Module
  252
Compatible Devices with SSCNETIII(/H)

253
Chapter 6 Communication Functions

295
Communication Function List

295
Security Function

296
- File Password
  296
- Software Security Key Authentication
  298
- IP Filter Function
  303
Remote Operation

304
- Remote RUN/STOP
  304
Communication Function Via PERIPHERAL I/F

306
- Direct Connection
  306
- Connection Via HUB
  309
Vision System Connection Function

313
- Vision System Parameter Setting
  317
- Flow of Vision System Control
  326
- Sample Program
  327
Test Mode

330
Positioning Control Monitor Function

334
- Scroll Monitor
  334
- Current Value History Monitor
  335
- Speed Monitor
  336
Label Access from External Devices

337
Chapter 7 Digital Oscilloscope

339
Features

339
Function Overview

339
Digital Oscilloscope Specifications

340
Digital Oscilloscope Operating Procedure

341
Sampling Settings File

341
Sampling Functions

342
- Sampling Type
  342
- Sampling Start Settings
  342
- Sampling Interval
  342
- Sampling Target
  343
- Trigger Settings
  343
- Saving Sampling Results
  345
Digital Oscilloscope Status

346
Digital Oscilloscope Errors

347
Chapter 8 Motion Cpu Memory Structure

348
Memory and Files

348
- Standard ROM/SD Memory Card Specifications
  348
- File Handling Precautions
  349
- Stored Files
  350
SD Memory Card

352
- SD Memory Card Handling
  352
- SD Memory Card Forced Stop
  352
Memory Initialization

354
Installing the Operating System Software

355
- Installation Procedure Using MT Developer2
  356
- Installation Procedure Using SD Memory Card
  357
Add-On Function

359
- Add-On Module Structure
  360
- Installing Add-On Library
  360
- Add-On Function Load Error
  360
- Add-On Library License Authentication
  360
Chapter 9 Ras Functions

368
Self-Diagnostics Function

368
- Self-Diagnostics Timing
  368
- Error Checking Methods
  368
- Operations at Error Detection
  370
- Cancelling Errors
  371
Safety Functions

372
- Processing Time Monitor and Check
  372
Event History Function

375
- Event History Settings
  375
- Saving Event History
  375
- Viewing the Event History
  377
- Clearing the Event History
  377
Appendices

378
Appendix 1 Error Codes

378
- Error Codes System
  378
- Operations at Error Occurrence
  379
- Cancelling Errors
  379
- Error Codes Stored Using the Motion CPU
  379
- Warning (0800H to 0FFFH)
  381
- Minor Error (1000H to 1FFFH)
  387
- Minor Error (SFC) (3100H to 3BFFH)
  400
- Moderate Error (2000H to 3BFFH)
  413
- Major Error (3C00H to 3FFFH)
  422
- Add-On License Error Details Codes
  423
Appendix 2 Event List

424
- Guide for Reference of Event List
  424
- Event History List
  425
Appendix 3 Special Relays

428
Appendix 4 Special Registers

433
- Revisions
  456
- Warranty
  457
- Trademarks
  458

Mitsubishi Electric MELSEC iQ-R32MTCPU Programming Manual (250 pages)

Motion Controller, G-Code Control, MELSEC iQ-R Series

Brand: Mitsubishi Electric | Category: Controller | Size: 1.87 MB

Safety Precautions
3
Conditions of Use for the Product
11
Introduction
11
Table of Contents
12
Relevant Manuals
16
Terms
17
Manual Page Organization
18
Chapter 1 Overview

21
G-Code Control Overview

21
Performance Specifications

22
G-Code Control Add-On Library Configuration

23
- G-Code Control Add-On Library
  23
- Files Size/Memory Usage
  23
Chapter 2 Starting up the System

24
Starting up the G-Code Control System

24
2.2 License Authentication of G-Code Control Add-On Library

26
Control Cycle of G-Code Control

26
G-Code Control System Device Assignment Method

27
G-Code Control System Start/End

27
G-Code Control System Stop Operation

28
- Immediate Stop
  29
- Deceleration Stop
  29
Chapter 3 G-Code Control Dedicated Signals

30
G-Code Control Common Command Signal

31
G-Code Control Common Control Device

32
G-Code Control Common Status

33
G-Code Control Common Monitor Device

34
G-Code Control Line Command Signal

36
G-Code Control Line Control Device

39
G-Code Control Line Status

40
G-Code Control Line Monitor Device

47
G-Code Control Line Monitor Device (Expansion)

57
G-Code Control Axis Status

63
G-Code Control Axis Monitor Device

65
Internal Relay (M)/Data Register (D) Availability

69
- Internal Relays
  69
- Data Registers
  72
Chapter 4 G-Code Control Parameters

74
G-Code Control System Parameter

75
- Line Basic Setting
  78
- Modal Initial Setting
  78
- Control Setting
  78
- Override Setting
  80
- Plane Composition
  81
- Normal Line Control
  81
- Auxiliary Function
  82
- Polar Coordinate Interpolation
  82
- High-Accuracy Control
  82
G-Code Control Axis Parameter

84
- Line Axis Information
  85
- Stored Stroke Limit
  86
- Speed/Time Constant
  87
- Rotation Axis Information
  88
- Tandem Function
  89
- High-Accuracy Control
  90
G-Code Control Processwork Parameter

91
- Tool Radius Compensation
  91
- Tool Compensation Data
  92
- Workpiece Coordinate Offset
  92
- Program Coordinate Rotation
  92
Chapter 5 G-Code Control Programs

93
G-Code Control Program Composition

93
- G-Code Program Format
  94
Fetching G-Code Program Files

96
- Fetching G-Code Program File During Operation
  96
Pre-Read Buffer

97
Decimal Point Input

98
Coordinate System

99
- Basic Machine Coordinate System
  99
- Work Coordinate System
  99
- Local Coordinate System
  100
- Automatic Coordinate System Setting
  100
- Coordinate System for Rotation Axes
  100
G-Code

101
M-Code

164
- M00: Program Stop
  165
- M01: Optional Stop
  166
- M02: Program End
  167
- M30: Program End
  168
Chapter 6 Auxiliary and Applied Functions

169
Relationship between G-Code Control and each Function

169
Auxiliary Function (M Function)

171
- M-Code Output
  171
- Auxiliary Function Complete
  173
Feed Function

175
- Fast Forward Speed
  175
- Cutting Feed Speed
  176
- Feed Speed Specification and the Effects on each Control Axis
  177
- Deceleration Check
  180
Tool Compensation Function

184
- Tool Compensation
  184
- Tool Length Compensation
  185
- Tool Radius Compensation
  185
Operation Supporting Functions

209
- Automatic Operation Start (Cycle Start)
  209
- Automatic Operation Hold (Feed Hold)
  210
- Reset
  211
- Single Block
  212
Normal Line Control Function

213
High-Accuracy Control

226
Tandem Function

237
G-Code Program Operation by GOT

238
- GOT Program Input/Output Function
  238
- GOT Program Edit Function
  238
Appendices

239
Appendix 1 G-Code Control Error/G-Code Control Event Details Codes

239
- G-Code Control Error Details Codes
  239
- Add-On License Error Details Codes
  244
Appendix 2 G-Code Control Event Details Codes

245
- G-Code Control Event Details Codes
  245
- Revisions
  246
- Warranty
  247
- Trademarks
  248

Mitsubishi Electric MELSEC iQ-R32MTCPU Programming Manual (216 pages)

Brand: Mitsubishi Electric | Category: Controller | Size: 2.78 MB

Mitsubishi Electric MELSEC iQ-R32MTCPU Programming Manual (124 pages)

MELSEC iQ-R series Motion Controller (Machine Control)

Brand: Mitsubishi Electric | Category: Controller | Size: 1.59 MB

Safety Precautions
3
Conditions of Use for the Product
11
Introduction
11
Table of Contents
12
Relevant Manuals
14
Terms
15
Manual Page Organization
16
Chapter 1 Overview

19
Machine Control Overview

19
Performance Specifications

21
Chapter 2 Starting up the System

22
Starting up the Machine Control System

22
Machine Control System Positioning Controls

23
- Machine Program Operation Start
  23
- Machine JOG Operation
  23
Machine Control System Stop Operation

24
Machine Control System Device Assignment Method

24
Chapter 3 Machines

25
Overview of a Machine

25
- Machine Position
  25
Chapter 4 Machine Control Dedicated Signals

27
Internal Relays

28
- Machine Common Command Signals
  28
- Machine Command Signals
  29
- Machine Status
  34
Data Registers

37
- Machine Control Device
  37
- Machine Monitor Device
  40
Chapter 5 Machine Control Parameters

49
Machine Common Parameter

49
- Point Block Setting
  49
Machine Parameter

50
- Machine Basic Setting
  52
- Joint Axis Structure
  52
- Arm Length Setting
  52
- Machine Speed Setting
  52
- XYZ Stroke Limit Setting
  53
- Base Transformation (Install Coordinate Offset)
  53
- Tool Transformation
  55
- Option Setting a
  55
- Option Setting B
  55
Motion Control Parameter of Machine Configuration Axes

56
- Axis Setting Parameter
  56
Chapter 6 Machine Control Data

57
Machine Positioning Data

57
Point Block Data

65
- Structure of Point Block Data
  65
Chapter 7 Positioning Control

68
Basics of Positioning Control

68
Continuous Trajectory Control (Machine Program Operation)

78
Chapter 8 Manual Control

88
JOG Operation

88
Manual Pulse Generator Operation

88
Machine JOG Operation

89
Chapter 9 Auxiliary and Applied Functions

92
Relationship between Machine Control and each Function

92
Proximity Pass Function

93
- JOINT Remaining Distance Method (End Point Distance)
  93
Speed Restriction Function

101
- Joint Interpolation Speed Limit
  101
- Servo Motor Maximum Speed Check
  102
Base/Tool Transformation Change Function

103
Wait-On/Off

106
Point Arrival Notification

108
Appendices

110
Appendix 1 Sample Program of Machine Control

110
Appendix 2 Machine Control Error Details Codes

115
- Machine Error Details Codes
  115
Appendix 3 Machine Control Event Details Codes

119
- Machine Event Details Codes
  119
- Revisions
  120
- Warranty
  121
- Trademarks
  122

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Mitsubishi Electric MELSEC iQ-R32MTCPU Manuals

Mitsubishi Electric MELSEC iQ-R32MTCPU Programming Manual (482 pages)

Table of Contents

Chapter 1 Positioning Control by the Motion Cpu

Chapter 2 Positioning Dedicated Signals

Internal Relays

Data Registers

Motion Registers (#)

Special Relays (SM)

Special Registers (SD)

Chapter 3 Parameters for Positioning Control

Parameters Used by the Motion CPU

Indirect Setting Method by Devices for Parameters

Fixed Parameters

Home Position Return Data

JOG Operation Data

External Signal Parameter

Expansion Parameters

Speed-Torque Control Data

Pressure Control Data

Override Data

Vibration Suppression Command Filter Data

Servo Parameters

Parameter Block

Chapter 4 Servo Programs for Positioning Control

Servo Program Composition Area

Servo Instructions

Positioning Data

Setting Method for Positioning Data

Chapter 5 Positioning Control

Basics of Positioning Control

Axis Linear Positioning Control

Axes Linear Interpolation Control

5.4 3 Axes Linear Interpolation Control

5.5 4 Axes Linear Interpolation Control

Auxiliary Point-Specified Circular Interpolation Control

Radius-Specified Circular Interpolation Control

Central Point-Specified Circular Interpolation Control

Helical Interpolation Control

Axis Fixed-Pitch Feed Control

Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation

Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation

Speed Control (I)

Speed Control (II)

Speed/Position Switching Control

Speed Control with Fixed Position Stop

Continuous Trajectory Control

Position Follow-Up Control

High-Speed Oscillation

Simultaneous Start

Home Position Return

Current Value Change

Chapter 6 Manual Control

JOG Operation

Manual Pulse Generator Operation

Chapter 7 Auxiliary and Applied Functions

M-Code Output Function

Backlash Compensation Function

Torque Limit Function

Skip Function in Which Disregards Stop Command

Speed-Torque Control

Acceleration/Deceleration Time Change Function

Pressure Control

Override Function

Vibration Suppression Command Filter

Appendices

Appendix 1 Processing Times of the Motion CPU

Mitsubishi Electric MELSEC iQ-R32MTCPU Programming Manual (460 pages)

Table of Contents

Chapter 1 Multiple Cpu System

Setting Operation for Multiple CPU System

Data Communication between CPU Modules in the Multiple CPU System

Chapter 2 Common Parameters

Parameters Used by the Motion CPU

R Series Common Parameter

Motion CPU Common Parameter

Motion CPU Operating Status

Chapter 3 Devices

Device List

User Device