Mitsubishi Electric A171SHCPUN Programming Manual Download Page 190

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7. POSITIONING CONTROL

−

[Program Example]

This program conducts circular interpolation control using auxiliary point
designation under the conditions below.
(1) System configuration

Circular interpolation control of Axis 1 and Axis 2 using auxiliary point
designation.

A172SHCPUN

Axis 1

Positioning start command (X000)

A172B

A172S

ENC

A1S

X10

Axis 2

Axis 3

Axis 4

MR-[]-B

(2) Positioning details

The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram
below.

(10000,
20000)

10000

50000

80000

20000

30000

40000

Axis 2 positioning direction

(Forward direction)

Axis 1 positioning
direction
(Forward direction)

End point (80000, 30000)

Positioning by No. 31 servo program

Auxiliary point (40000, 50000)

Arc center
point

Start
point

(3) Positioning conditions

(a) The positioning conditions are shown below.

Servo Program Number

Item

No. 31

Positioning method

Absolute data

Positioning speed

1000

(b) Positioning start ........... leading edge of X000 (OFF

→

ON)

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Summary of Contents for A171SHCPUN

Page 1: ...MOTION CONTROLLER SV13 22 REAL MODE Programming Manual type A172SHCPUN A171SHCPUN Downloaded from ManualsNet com search engine ...

Page 2: ...ting installation opera tion maintenance or inspections to ensure correct usage Thoroughly understand the machine safety information and precautions before starting operation The safety precautions are ranked as Warning and Caution in this instruction manual WARNING When a dangerous situation may occur if handling is mistaken leading to fatal or major injuries CAUTION When a dangerous situation ma...

Page 3: ...e switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not touch the control unit servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric shocks Do not touch the internal power supply internal grounding or signal wires of the contr...

Page 4: ...y stop circuit so that the operation can be stopped immediately and the power shut off Use the control unit servo amplifier servomotor and regenerative resistor with the combi nations listed in the instruction manual Other combinations may lead to fires or faults If safety standards ex robot safety rules etc apply to the system using the control unit servo amplifier and servomotor make sure that t...

Page 5: ...ity parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor encoder type increment absolute position type etc parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor capacity and type standard low i...

Page 6: ...ol units servo amplifiers or servomotors that are damaged or that have missing parts Do not block the intake outtake ports of the servomotor with cooling fan Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the control unit servo amplifier or servomotor The control unit servo amplifier and servomotor are precision machines so do not drop or appl...

Page 7: ... Incorrect connections will lead the servomotor to operate abnormally Do not connect a commercial power supply to the servomotor as this may lead to trouble Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions ...

Page 8: ...e self diagnosis of the control unit or servo amplifier confirm the check details according to the instruction manual and restore the operation If a dangerous state is predicted in case of a power failure or product failure use a servomotor with magnetic brakes or install a brake mechanism externally Use a double circuit construction so that the magnetic brake operation circuit can be operated by ...

Page 9: ...e and inspections are completed confirm that the position detection of the absolute position detector function is correct Do not short circuit charge overheat incinerate or disassemble the batteries The electrolytic capacitor will generate gas during a fault so do not place your face near the control unit or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically change th...

Page 10: ... 6 3 6 4 1 6 4 2 7 1 2 7 1 3 7 1 4 7 1 5 7 1 6 7 1 7 7 2 7 3 7 4 7 5 7 6 7 7 7 8 7 9 7 10 7 11 7 12 7 13 7 14 1 7 14 2 7 15 1 7 15 2 7 16 7 16 1 7 16 2 7 16 3 7 16 4 7 16 6 7 17 7 18 7 19 7 19 2 7 19 3 7 20 7 21 7 21 1 7 21 2 7 21 3 8 1 2 8 2 8 3 8 4 8 6 8 7 8 8 8 9 8 10 8 11 APPENDIX1 APPENDIX2 APPENDIX3 APPENDIX4 APPENDIX5 This manual confers no industrial property rights or any rights of any ot...

Page 11: ... devices 3 38 3 3 Special Relays SP M 3 41 3 4 Special Registers SP D 3 44 4 PARAMETERS FOR POSITIONING CONTROL 4 1 to 4 24 4 1 System Settings 4 1 4 2 Fixed Parameters 4 2 4 2 1 Setting the number of pulses per revolution travel value per revolution unit magnification 4 3 4 2 2 Upper stroke limit value lower stroke limit value 4 5 4 2 3 Command in position range 4 6 4 3 Servo Parameters 4 6 4 3 1...

Page 12: ...ue Change Instructions DSFLP CHGA 5 8 5 3 1 DSFLP instruction 5 8 5 3 2 CHGA instruction 5 11 5 4 Speed Change Instructions DSFLP CHGV 5 14 5 4 1 DSFLP instruction 5 14 5 4 2 CHGV instruction 5 17 5 5 Retracing during Positioning 5 20 5 6 Torque Limit Value Change Request CHGT 5 23 5 7 SFC Program 5 25 5 7 1 Starting and stopping SFC programs 5 25 5 7 2 Servo program start request 5 26 6 SERVO PRO...

Page 13: ...eed Control II 7 64 7 14 Speed Position Switching Control 7 67 7 14 1 Starting speed position switching control 7 67 7 14 2 Restarting speed position switching control 7 74 7 15 Speed Switching Control 7 79 7 15 1 Starting speed switching control speed switching points end designation 7 79 7 15 2 Setting speed switching points using repeat instructions 7 85 7 16 Constant Speed Control 7 90 7 16 1 ...

Page 14: ... APP 1 APPENDIX 2 ERROR CODES STORED BY THE PCPU APP 5 2 1 Servo Program Setting Errors Stored in D9190 APP 7 2 2 Minor Errors APP 10 2 3 Major Errors APP 16 2 4 Servo Errors APP 19 2 5 PC Link Communication Errors APP 26 2 6 LED Indications When Errors Occur at the PCPU APP 27 APPENDIX 3 SPECIAL RELAYS AND SPECIAL REGISTERS APP 28 3 1 Special Relays SP M APP 28 3 2 Special Registers SP D APP 31 A...

Page 15: ...3P software package Abbreviated to GSV13P SW2SRX GSV22P software package SW2NX GSV22P software package Abbreviated to GSV22P CAUTION When designing the system provide external protective and safety circuits to ensure safety in the event of trouble with the motion controller There are electronic components which are susceptible to the effects of static electricity mounted on the printed circuit boa...

Page 16: ...ut goes OFF 7 Error reset command M1807 20n The error reset command is used to clear the minor error code or major error code storage area of an axis for which the error detection signal has come ON M1607 20n ON and reset the error detection signal M1607 20n Error detection M1607 20n Error reset M1807 20n Major error code storage area Minor error code storage area ON ON OFF 00 Error code 00 OFF 8 ...

Page 17: ...M SSCNET Servo System Controller NETwork POINTS 1 When using the PLC extension base and bus connection type GOT select the A168B as the PLC extension base When not using the PLC extension base you can connect the bus connection type GOT directly to the extension connector of the CPU base unit 2 When using a teaching unit A31TU E with a dead man switch a dedicated connecting cable A31TUCBL03M is re...

Page 18: ...72SHCPUN Set axes 1 to 8 for PX0 to PX1F Axes 1 to 8 are set A171SHCPUN Set axes 1 to 4 for the first half PX0 to PX0F Axes 1 to 4 are set Manual pulse generator synchronous encoder interface module A172SENC 1 The same axis number must not be set The external signal setup window has been improved for a better understanding The conventional A171SENC can also be used for A171SHCPUN and A172SHCPUN Ho...

Page 19: ...s is displayed with the following alert Start by A172SHCPUN Replaces A171SCPU with A172SHCPUN The character string A171SHCPUN is displayed only when A171SHCPUN is used for startup Replaces A171SENC with A172SENC This message is displayed only when A171ENC has been set 3 Select YES and the existing settings will be replaced with those for the startup CPU module Select NO and the existing A171SCPU s...

Page 20: ...AT NT 98 English SW3RNC GSVE Without restriction SW0SRX SV22C SW0SRX SV22F SW2NX GSV22P Without restriction For automatic machinerySV22 Without Motion SFC PC98 Japanese SW0NX CAMP Without restriction SW0NX SV22C SW0NX SV22F No 1 Software package versions which accept the setting of the MR J2S B servo amplifier For the following combinations of the programming software packages and operating system...

Page 21: ...o 3 axes for interpolation or the SVST instruction up to 4 axes for interpolation 2 It changes current values or speed by means of the DSFLP instruction or CHGA CHGV instruction 3 It changes the torque limit value by means of the CHGT instruction 4 It executes JOG operation 5 It sets the data required to execute manual pulse generator operation 2 Control handled by the PCPU a The PCPU executes ser...

Page 22: ...equest M2001 SVST J1 K15 Sequence program Created and modified using a peripheral device Note SCPU Control Example DSFRP instruction Example SVST instruction 1 In the sequence program the servo program number and controlled axis number are set with the DSFRP SVST instruction 2 When the DSFRP SVST instruction is executed the PCPU is requested to execute the program with the designated servo program...

Page 23: ...a required to execute zeroing JOG operation data Data required for JOG operation Limit switch output data ON OFF pattern data required to execute the limit switch output function Servo program No 15 Program number allowing program designation with the DSFRP SVST instruction Servo instruction designation of the positioning control method Positioning data which must be set Axis used positioning addr...

Page 24: ...OG exe cution command Reverse JOG execution command for interlock Switchs the forward JOG execution command M1802 ON OFF DMOVP K1000 D964 SET M10 Sequence program Created and modified using a peripheral device Note SCPU Control In the sequence program after setting the JOG speed turn the JOG operation execution flag M1802 M1803 ON 1 Set the positioning control parameters using a peripheral device ...

Page 25: ...cations of the connected servo equipment Parameter block Data required to execute acceleration deceleration etc in positioning control Zeroing data Data required to execute zeroing JOG operation data Data required to execute JOG operation Limit switch output data ON OFF pattern data required to execute the limit switch output function PCPU Control REMARK Note Any of the following peripheral device...

Page 26: ...ual pulse generatorP1 1 pulse input magnification setting is 100 Setting of axis 1 manual pulse generator operation enable flag Manual pulse generator operation completed flag Sequence program SCPU Control Use the sequence program to turn the manual pulse generator operation enable flag ON after setting the manual pulse generator used operation number and magnification for 1 pulse input 1 Set the ...

Page 27: ...1 GENERAL DESCRIPTION 1 13 Servo amplifier Servo motor PCPU Manual pulse generator Downloaded from ManualsNet com search engine ...

Page 28: ...ontrol They are designated by the servo program JOG operation data and zeroing data to easily change acceleration and deceleration acceleration time deceleration time and speed limit value during positioning control Section 4 4 7 Limit switch output data Limit switch output data ON OFF pattern data is set for each axis to be used when USE is set for the limit switch output setting in the fixed par...

Page 29: ...city Micro computer program Max 58 kbytes Max 26 kbytes No of internal relays M Note 1 1000 M0 to M999 No of latch relays L 1048 points M1000 to M2047 No of step relays S 0 point none at initial status Total 2048 points common to M L S set with parameters No of link relays B 1024 points B0 to B3FF Points 256 points Time setting Device 100 ms timer 0 1 to 3276 7s T0 to T199 10 ms timer 0 01 to 327 ...

Page 30: ...t Self diagnostic function Watchdog error monitoring memory CPU input output battery etc error detection Operation mode on error Select stop continue Output mode selection when switching from STOP to RUN Select re output operation status before STOP default or output after operation execution Clock function Year month day hour minute day of the week leap year automatic distinction Program paramete...

Page 31: ...d can be used together Method Position follow up control Absolute data method Commands can be selected for each axis Control Unit Command Unit Address Setting Range Travel Value Setting Range mm 10 1 µm inch 10 5 inch 2147483648 to 2147483647 degree 10 5 degree 0 to 35999999 PULSE 1 PULSE 2147483648 to 2147483647 0 to 2147483647 Position commands Control Unit Speed Setting range mm 0 01 to 6000000...

Page 32: ...ded Number of output points 8 point axis Limit switch output function Number of ON OFF setting points 10 points axis Number of input points Max 9 points TRA input of A172SENC 1 point one motion slot PLC input module 8 points High speed reading of designated data Data latch timing At leading edge of the TRA input signal Within 0 8ms of the signal leading edge for the PLC input module Absolute posit...

Page 33: ...ous encoder interface module A172SENC Corresponding to external signal input 8 axes A171SENC Corresponding to exter nal signal input 4 axes A171S 1CH No of SSCNET I F 2CH SSCNET1 For connection of servo amplifier SSCNET2 For personal computer link dedicated A171S S3 2CH as given to the left No of available A271DVP Unavailable Max two A30TU E System configuration Teaching unit OS with teaching func...

Page 34: ...osition switching signal Signal that switches control from speed to position control Manual pulse generator input Signal from the manual pulse generator Fig 3 1 Flow of Positioning Signals Servo System CPU System PCPU Y Note 2 D Note 3 M Note 4 SP D SP M X Note 1 Note 1 SP D SP M and X are signals that notify the SCPU of the PCPU control status Note 2 Y are signals that notify the PCPU of position...

Page 35: ...oder axis status 4 points 1 axis M1360 Synchronous encoder axis status 4 points 1 axis M1364 User device 236 points M1364 User device 236 points M1600 Axis status 20points 8 axes M1600 Axis status 20points 4axes M1760 Unusable 40 points M1680 Unusable 120 points M1800 Axis command signal 20 points 4 axes M1800 Axis command signal 20 points 8 axes M1880 Unusable 40 points M1960 M1960 M2000 M2047 Co...

Page 36: ... M1720 to M1739 17 Unusable 18 Unusable 19 M code output in progress SCPU PCPU 3 5ms 8 M1740 to M1759 3 Axis command signals Axis No A172SHCPUN Device Number A171SHCPUN Device Number Signal Name 1 M1800 to M1819 M1800 to M1819 Signal Name Signal Direction Refresh Cycle Fetch Cycle 0 Stop command 1 Rapid stop command 3 5ms 2 M1820 to M1839 M1820 to M1839 2 Forward JOG start 3 Reverse JOG start 4 En...

Page 37: ...able flag SCPU PCPU 10ms M2013 M2013 M2014 Unusable 2 points M2014 Unusable 2 points M2015 JOG simultaneous start command 10ms M2015 JOG simultaneous start command 10ms M2016 CPU completion point setting SCPU PCPU Start timing M2016 CPU completion point setting SCPU PCPU Start timing M2017 M2017 M2018 M2018 M2019 Unusable 3 points M2019 Unusable 3 points M2020 Start buffer full M2020 Start buffer ...

Page 38: ...or when positioning is completed Dwell time DSFRP SVST instruction ON ON OFF OFF OFF t V ON Dwell time Positioning completed ON ON OFF OFF t V Start reception flag M2001 n Note Positioning start completed signal M1600 20n Note End signal OFF command M1804 20n Note DSFRP SVST instruction Start reception flag M2001 n Note Positioning start completed signal M1600 20n Note At the leading edge OFF ON o...

Page 39: ...ompletion of positioning See Section 8 2 b The positioning completed signal goes OFF at the leading edge OFF ON of the end signal OFF command M1804 20n or when a positioning control start is completed At the leading edge OFF ON of the end signal OFF command M1804 20n When the next positioning control start is completed DSFRP SVST instruction Start reception flag M2001 n Positioning completed signa...

Page 40: ...ed 4 Command in position signal M1603 20n a The command in position signal comes ON when the absolute value of the difference between the command position and the feed current value enters the command in position range set in the fixed parameters It goes OFF in the following cases When positioning control starts When a zeroing is executed When speed control is executed When JOG operation is perfor...

Page 41: ...605 20n a The speed position switching latch signal comes ON when control is switched from speed control to position control It can be used as an interlock signal to enable or disable changing of the travel value in position control b The signal goes OFF when any of the following are started Position control Speed position switching control Speed control JOG operation Manual pulse generator operat...

Page 42: ...Appendix 2 2 Note 2 For details on the error codes when major errors occur see Appendix 2 3 9 Servo error detection signal M1608 20n a The servo error detection signal comes ON when an error occurs at the servo amplifier side excluding errors that cause alarms and emergency stops Note 1 and is used to determine whether or not servo errors have occurred When an error is detected at the servo amplif...

Page 43: ...completed signal M1610 20n a The zeroing completed signal comes ON when the execution of zeroing operation in accordance with a servo program has been completed normally b It goes OFF when positioning is started when JOG operation is started or when manual pulse generator operation is started c If an attempt is made to execute a proximity dog zeroing while the zeroing completed signal is ON the ZE...

Page 44: ...signal is controlled by the ON OFF status of the stop signal STOP sent to the A172SENC from an external source Stop signal OFF STOP signal OFF Stop signal ON STOP signal ON b The status of the external stop switch STOP when the STOP signal is ON OFF is indicated in the figure below STOP COM STOP STOP STOP COM STOP signal ON A172SENC STOP signal OFF A172SENC 15 DOG CHANGE signal M1614 20n a The DOG...

Page 45: ...axis only goes into the servo OFF status 17 Torque control in progress signal M1616 20n Signals for axes whose torque is being controlled are ON 18 M code output signal M1619 20n a This signal indicates M code output in progress b This signal is set to OFF at the time of stop command cancel signal skip signal or FIN signal input OFF OFF ON ON M code output in progress signal M1619 20n FIN signal M...

Page 46: ...l I II JOG operation The axis decelerates to a stop in the deceleration time set in the parameter block or servo program The stop command is ignored and deceleration stop processing continues Manual pulse generator operation An immediate stop is executed with no deceleration processing Zeroing 1 The axis decelerates to a stop in the deceleration time set in the parameter block 2 A stop during home...

Page 47: ...on The axis decelerates to a stop in the deceleration time set in the parameter block or servo program Deceleration processing is canceled and rapid stop processing executed instead Manual pulse generator operation An immediate stop is executed with no deceleration processing Zeroing 1 The axis decelerates to a stop in the rapid stop deceleration time set in the parameter block 2 A stop during zer...

Page 48: ...sing the sequence program Positioning start completed signal M1600 20n OFF OFF OFF Positioning completed signal M1601 20n End signal OFF command M1804 20n ON ON ON Dwell time Dwell time t POINT Do not turn the end signal OFF command ON with a PLS command If it is turned ON with a PLS command it will not be possible to turn OFF the positioning start completed signal M1600 20n or the positioning com...

Page 49: ...ode storage area OFF ON ON OFF 00 00 Error code 8 Servo error reset command M1808 20n The servo error reset command is used to clear the servo error code storage area of an axis for which the servo error detection signal has come ON M1608 20n ON and reset the servo error detection signal M1608 20n Servo error detection signal M1608 20n OFF ON ON OFF 00 Error code Servo error reset command M1808 20...

Page 50: ...not when motion is started in speed position switching control ON The feed current value is updated starting from when motion is started The feed current value is not cleared on starting OFF The feed current value is updated starting from when motion is started The feed current value is cleared on starting POINT When motion is started with M1812 20n leave M1812 20n ON until positioning control has...

Page 51: ...is 2 400000 CPEND 1 2 WAIT 10 11 1 2 3 4 Execution point M code output in progress P S M code P S FIN signal S P Timing Chart for Operation Description Once positioning to point 1 begins M code 10 is output and the M code output in progress signal goes ON After the PLC takes appropriate action the FIN signal goes ON Travel to the next point does not take place unless the FIN signal goes ON When th...

Page 52: ... executed b The fixed parameters servo parameters and limit switch output parameters can only be changed using a peripheral device when M2000 is OFF If an attempt is made to change this data while M2000 is ON an error will occur c When M2000 is switched from OFF to ON the following processing occurs 1 Processing details The servo parameters are transferred to the servo amplifier The M code storage...

Page 53: ... DSFRP SVST instruction execution request DSFRP SVST instruction execution enable disabled specification Axis 1 start accept flag M2001 M2003 J1J3 SVST K1 Axis 3 start accept flag b The start accept flag ON OFF processing takes the following form 1 The start accept flag for the designated axis comes ON in response to a DSFRP SVST instruction and goes OFF on completion of positioning The start acce...

Page 54: ... SVST instruction causes the start accept flag to come ON the flag goes OFF when M2000 comes ON ON OFF DSFRP SVST instruction Start accept flag PLC READY M2000 OFF ON CAUTION The user must not turn start accept flags ON OFF If a start accept flag that is ON is switched OFF with the sequence program or a peripheral device no error will occur but the positioning operation will not be reliable Depend...

Page 55: ...CPU A172SHCPUN A171SHCPUN Motion Controller User s Manual 5 JOG simultaneous start command M2015 Signal sent from SCPU to PCPU a When M2015 is turned ON JOG operation is simultaneously started on the axes for which JOG operation is to be executed of axes 1 to 4 as set in the JOG operation simultaneous start axis setting register D1015 b When M2015 is turned OFF motion on the axis currently executi...

Page 56: ...rol here a speed change is designated at P3 Speed switching point designation flag M2016 b After completion of start accept processing the speed switching point designation flag can be turned OFF at any time 7 Start buffer full M2020 Signal sent from PCPU to SCPU a This signal comes on when 16 or more requests have been issued simultaneously to the PCPU by means of position start DSFRP SVST instru...

Page 57: ...peed change t Speed change completed ON REMARK A numerical value corresponding to an axis number is entered for n in M2021 n A172SHCPUN A171SHCPUN Axis No n Axis No n 1 0 1 0 2 1 2 1 3 2 3 2 4 3 4 3 5 4 6 5 7 6 8 7 9 PC link communication error flag M2034 Signal sent from PCPU to SCPU This flag comes ON when an error occurs during personal computer linking communication OFF No PC link communicatio...

Page 58: ...inate the cause of the error and switch the power back ON or reset the servo system CPU REMARK Even if a module is loaded at a slot set as NO USE in the system setting data set with a peripheral device that slot will be regarded as not used 11 All axes servo ON command M2042 Signal from SCPU to PCPU The all axes servo ON command is used to enable servo operation a Servo operation enabled M2042 is ...

Page 59: ...e is abnormal OFF When mounted module is normal The module information when the power is switched ON and module information after the power has been switched ON is always checked and errors are detected a When M2047 comes ON the ERROR LED of the A172SHCPUN or A171SHCPUN lights b Use the sequence program to execute appropriate processing stopping the driven axis establishing the servo OFF status wh...

Page 60: ...ce No Purpose Device No Purpose D0 User device 748 points D0 User device 800 points D748 Synchronous encoder axis monitor device 4 points x 1 axis D748 Synchronous encoder axis monitor device 4 points x 1 axis D752 User device 48 points D752 User device 48 points D800 Axis monitor device 20 points x 4 axes D800 Axis monitor device 20 points x 8 axes D880 Unusable 80 points D960 Control change regi...

Page 61: ...eg ister Com mand unit SCPU PCPU 3 5ms 7 D920 to D939 17 18 Real current value when STOP is input Com mand unit END 19 Data set pointer for con stant speed control SCPU PCPU At driving or during driving 8 D940 to D959 3 Control change registers Axis No A172SHCPUN Device No A171SHCPUN Device No Signal Name 1 D960 to D965 D960 to D965 Signal Name Unit Signal Direction Refresh Cy cle Fetch Cycle 0 1 ...

Page 62: ...nual pulse generator 1 SCPU PCPU Manual pulse generator operation enabled D1013 D1013 D1014 Unusable 2 points D1014 Unusable 2 points D1015 JOG operation simultane ous start axis setting register At driving D1015 JOG operation simultane ous start axis setting register At driving D1016 Axis 1 D1016 Axis 1 D1017 Axis 2 D1017 Axis 2 D1018 Axis 3 D1018 Axis 3 D1019 Axis 4 D1019 Axis 4 1 pulse input mo...

Page 63: ...at start time M1812 20n OFF Resets the feed current value to 0 at start time M1812 20n ON Not reset the feed current value at start time 3 During speed control 0 is stored b The stroke range check is performed on this feed current value data 2 Real current value register D802 20n Data from the PCPU to the SCPU a This register stores the current value attained in actual travel the feed current valu...

Page 64: ...ration is stored in this register with no sign appended When the feedback pulse count of the motor connected is 131072 PLS the value found by dividing the second travel value to home position by 10 is stored Note that in the case of a data set type zeroing operation the data remains unchanged the previous value stands 9 Executed program number register D812 20n Data from the PCPU to the SCPU a The...

Page 65: ...in this register when the power to the servo system is turned on or at the leading edge of the PC READY signal M2000 12 Travel value change register D815 20n Data from the SCPU to the PCPU This is the area used when the position control travel value is changed in speed position switching control see Section 7 14 13 Real current value when STOP is input register D817 20n Data from the PCPU to the S...

Page 66: ...updated The use of the data set pointer and PLC set pointer for constant speed control is explained here using the example servo program below Pass point Point Points are set in the order FOR TIMES FOR ON FOR OFF NEXT 0 1 2 etc starting from the head of the sequence defined by the following repeat instructions K 0 9 CPSTART2 Axis 1 Axis 2 Speed D200 FOR TIMES D202 1 ABS 2 0 Axis 1 D0 Axis 2 D2 2 A...

Page 67: ...2 13 14 4 6 15 16 6 A B 7 C D 0 5 6 1 7 8 2 9 10 3 5 7 15 16 A B 7 C D 0 5 6 1 7 8 2 9 10 3 11 12 4 6 Point 0 A B C D 0 5 6 1 7 8 2 9 10 3 11 12 4 13 14 5 Second positioning Data set pointer for constant speed control Indicates the last positioning data input to the PCPU Each time the positioning at a point is completed the value increases by one PLC set pointer Indicates the last positioning data...

Page 68: ... the positioning for a point is completed the positioning data shifts one place The positioning data that can be updated is the data after that indicated by the PC set pointer this is the data which has not yet been input to the PCPU Consequently after completion of the positioning corresponding to point 3 even if the values stored in indirect devices D8 and D10 are updated by the sequence program...

Page 69: ...3 D992 D999 D998 D1005 D1004 JOG speed setting register D965 D964 D971 D970 D977 D976 D983 D982 D989 D988 D995 D994 D1001 D1000 D1007 D1006 A171SHCPUN Table 3 12 Data Storage Areas for Control Change Name Axis 1 Axis 2 Axis 3 Axis 4 Current value change register D961 D960 D967 D966 D973 D972 D979 D978 Speed change register D963 D962 D969 D968 D975 D974 D981 D980 JOG speed setting register D965 D96...

Page 70: ... ranges for the speed change register are indicated below mm inch degree PLUSE Units Item Setting Range Units Setting Range Units Setting Range Units Setting Range Units Speed change value 600000000 600000000 10 2 mm min 600000000 600000000 10 3 inch min 2147483648 2147483647 10 3 degree min 0 10000000 PLS s c When the positioning control change instruction DSFLP is executed the value stored in th...

Page 71: ...2 LY21 LY20 For axis 6 For axis 5 D1011 LY3F LY3E LY3D LY3C LY3B LY3A LY39 LY38 LY37 LY36 LY35 LY34 LY33 LY32 LY31 LY30 For axis 8 For axis 7 1 1 or 0 is stored for each bit 1 Disable The limit switch output status is OFF 0 Enable The limit switch output comes ON and goes OFF in accordance with the set data 2 LY of LY00 to LY3F shows the limit switch output A171SHCPUN b15 b14 b13 b12 b11 b10 b9 b8...

Page 72: ...2SHCPUN b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 D1015 Axes started in forward JOG operation The possible settings for each axis moved in a simultaneous start JOG operation are 1 or 0 1 Simultaneous start executed 0 Simultaneous start not executed Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Axes started in reverse JOG...

Page 73: ...pulse generator operation A172SHCPUN 1 pulse Input Magnification Setting Register Corresponding Axis No Setting Range D1016 Axis 1 D1017 Axis 2 D1018 Axis 3 D1019 Axis 4 D1020 Axis 5 D1021 Axis 6 D1022 Axis 7 D1023 Axis 8 1 to 100 A171SHCPUN 1 pulse Input Magnification Setting Register Corresponding Axis No Setting Range D1016 Axis 1 D1017 Axis 2 D1018 Axis 3 D1019 Axis 4 1 to 100 b For details on...

Page 74: ...tes an immediate stop without deceleration on the driven axis When the WDT error flag has come ON reset the servo system CPU with the key switch If M9073 remains ON after resetting there is a fault at the PCPU side The error cause is stored in the PCPU error cause storage area D9184 see Section 3 5 2 2 PCPU REDAY completed flag M9074 Signal sent from PCPU to SCPU This flag is used to determine whe...

Page 75: ...est error flag M9078 comes ON 4 External emergency stop input flag M9076 Signal from PCPU to SCPU This flag is used to check the ON or OFF status of external emergency stop signal input at the EMG terminal ON External emergency stop input is ON OFF External emergency stop input is OFF 5 Manual pulse generator axis setting error flag M9077 Signal sent from PCPU to SCPU a This flag is used to determ...

Page 76: ...n the rapid stop deceleration time has elapsed after input of the emergency stop signal the feed current value returns to the value at the point when the emergency stop was initiated 2 If the emergency stop is reset before the emergency stop deceleration time has elapsed a servo error occurs 3 If you do not want to establish the servo ON status immediately after an emergency stop has been reset in...

Page 77: ...4 D9182 Limit switch output status storage area for axis 5 and axis 6 D9183 Limit switch output status storage area for axis 7 and axis 8 3 5ms D9184 PCPUWDT error cause At PCPU WDT error occurrence D9185 D9186 Servo amplifier type Power ON D9187 Manual pulse generator axis setting error information Manual pulse generator operation enabled D9188 Test mode request error information Test mode reques...

Page 78: ...f D9180 to D9183 ON 1 OFF 0 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 D9180 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00 For axis 2 For axis 1 D9181 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10 For axis 4 For axis 3 For axis 5 For axis 6 For axis 7 For axis 8 A171SHCPUN 1 or 0 is set at each bit of D9180 to D9183 ON ...

Page 79: ...with the reset key If the error reoccurs after resetting the relevant module or the relevant slot base unit is probably faulty replace the module base unit 250 251 SSCNET interface hardware fault 2 5 0 Faulty SSCNET No 0 SSCNET 1 Amplifier interface 1 SSCNET 2 PC link interface Exchange the CPU unit 300 PCPU software fault 3 All axes stop immediately after which operation cannot be started Reset w...

Page 80: ...rator smoothing magnification setting error 0 Normal 1 Setting error When the magnification setting is outside the range 0 to 59 Manual pulse generator axis setting error 0 Normal 1 Setting error When the axis setting for each digit is outside the range 1 to 8 b A171SHCPUN 1 pulse input magnification setting error 0 Normal 1 Setting error When the input magnification setting is outside the range 1...

Page 81: ...d a A172SHCPUN 0 Axis 8 0 0 0 0 0 0 0 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 1 Axis 2 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 D9188 Stores the operating stopped status of each axis 0 Stopped 1 Operating All set to 0 b A171SHCPUN 0 Axis 4 0 0 0 0 0 0 0 0 0 0 0 Axis 2 Axis 3 Axis 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 D9188 Stores the operating stopped status of each ...

Page 82: ...rs see Appendix 2 1 8 Servo amplifier installation information D9191 Data from the PCPU to the SCPU On switching on the control power supply to the servo system CPU or resetting the servo amplifier installation status is checked and the result is set in this device Lower 4 bits Servo amplifier installation status The installed status will be stored for axes for which an amplifier is installed afte...

Page 83: ...ting the smoothing magnification for the manual pulse generator D9192 Data from the SCPU to the PCPU a This device stores the manual pulse generator smoothing time constant Manual Pulse Generator Smoothing Magnification Setting Register Setting Range D9192 0 to 59 b When the smoothing magnification is set the smoothing time constant is determined by the formula given below Smoothing time constant ...

Page 84: ...96 When an error occurs during PC link communication the error code that corresponds to the error is stored in this device PC Communication Error Code Storage Register Contents D9196 00 No error 01 Receiving timing error 02 CRC error 03 Communication response code error 04 Receiving flame error 05 Communication task start error Each error code is reset to 00 when normal communication is restarted ...

Page 85: ...servo amplifier setting model name are made according to the actual system No settings are required when the unit is used as a PC extension base 2 Data settings and modifications can be made interactively for some peripheral devices 3 When you set the MR J2S series or MR H large capacity series for the servo amplifier set the automatic motor series and automatic for the servo motor Downloaded from...

Page 86: ...achine Every time the positioning direction changes during positioning compensation by the backlash compensation amount is executed The expression below shows the setting range 0 backlash compensation amount AP AL AM 65535 8 3 6 Upper stroke limit 214748364 8 to 214748364 7 µm 21474 83648 to 21474 83647 inch 0 to 359 99999 degree 2147483648 to 2147483647 PLS 2147483647 PLS Set the upper limit for ...

Page 87: ...l 0 001 0 001 10 0 001 l 0 01 0 01 100 0 01 l 0 1 0 1 1000 Example Assuming that the travel value per revolution S is 10 mm and the number of encoder feedback pulses Pf is 8192 PLS rev 10 mm l 8192 PLS rev 0 00122 0 001 0 00122 0 01 This means that the smallest command unit is 0 01 mm and the unit magnification AM is 100 Therefore 0 01 mm units can be specified in commands c Finding the travel val...

Page 88: ...tting method 2 If AL cannot be set by using setting method 1 calculate the numerator and denominator of the electronic gear and set AP as the numerator and AL AM as the denominator Servo system CPU Electronic gear Amplifier Motor Command M AP AL AM The electronic gear is represented by the following relational expression Number of feedback pulses Pf Electronic gear Travel value per revolution S Nu...

Page 89: ...er the feed current value is within the stroke limit range or not If it outside the range an error occurs error code 106 and positioning is not executed When circular interpolation is in progress if the interpolation path goes outside the stroke limit range an error occurs error codes 207 208 and axis motion decelerates to a stop Fixed pitch feed control Executed Speed control I Speed control II N...

Page 90: ...enters the set range command position feed current value command in position range The command in position range check is executed continuously during positioning control Positioning control start Switch from speed to position Speed position switching control start Execution of command in position check Command in position M1603 20n Command in position set value OFF ON v t Execution of command in ...

Page 91: ...Motor rpm R 4 1 7 Number of feedback pulses N Set automatically in accordance with the system settings APP 5 8 Direction of rotation 0 Forward rotation CCW when the positioning address increases 1 Reverse rotation CW when the positioning address decreases 0 Set the direction of rotation as seen from the load side Forward rotation reverse rotation 9 Automatic tuning 0 Speed only 1 Position speed 2 ...

Page 92: ...Notch filter 0 Not used 1 1125 2 750 3 562 4 450 5 375 6 321 7 281 0 Hz Set the frequency for the notch filter 4 3 11 8 Feed forward gain 0 to 100 0 Feed forward control is not executed 0 Set the feed forward coefficient used in positioning control 4 3 7 9 In position range Note 2 0 1 to 214748364 7 µm 0 00001 to 21474 83647 inch 0 00001 to 359 99999 degree 1 to 2147483647 PLS 100 PLS Sets the qua...

Page 93: ...ction 2 selection of no motor operation Note 3 0 Invalid 1 Valid 0 To check the status without connecting a motor set valid 4 3 15 17 Optional function 2 electro magnetic brake interlock output timing 0 Regardless of the rotational speed of the servo motor output occurs under any of the following conditions Servo OFF Occurrence of an alarm Emergency stop input OFF valid 1 Output occurs under any o...

Page 94: ...et the speed at which the motor speed is judged to be 0 4 3 18 7 Excessive error alarm level 1 to 1000kPLS 80 kPLS Set the value at which an excessive droop pulses alarm is output 4 3 19 8 Close encoder rotation direction 9 Home position return reference encoder Unusable 10 Optional function 5 PI PID control switching 0 Invalid 1 Switching in accordance with droop during position control valid 2 S...

Page 95: ...set from a peripheral device but if a setting outside the valid range is set the following servo errors will occur when the power to the servo system CPU is turned ON when the CPU is reset and at the leading edge of the PC ready signal M2000 Servo Error Code Error Contents Processing 2613 Initial parameter error position control gain 1 2614 Initial parameter error speed control gain 1 2615 Initial...

Page 96: ...in order to increase position response with respect to load disturbance b Calculate the position control gain 2 value to be set from the load inertia ratio and the speed control gain 2 Speed control gain 2 1 Position control gain 2 1 load inertia ratio 10 POINTS 1 If the position control gain 1 setting is too low the number of droop pulses will increase and a servo error excessive error will occur...

Page 97: ... motor noise becomes more likely b A guide to setting position gain 2 is presented in Table 4 5 below Table 4 5 Guide to Speed Control Gain 2 Setting Load Inertia Ratio GDL 2 GDM 2 1 3 5 10 20 30 or Greater Remarks Set value ms 800 1000 1500 2000 2000 2000 Setting possible within the range 1 to 9999 valid range 20 to 5000 POINTS 1 When the setting for speed control gain 1 is increased the overshoo...

Page 98: ...d Inertia Ratio GDL 2 GDM 2 1 3 5 10 20 30 or Greater Remarks Set value ms 20 30 40 60 100 200 Setting possible within the range 1 to 9999 valid range 1 to 1000 4 3 5 In position range 1 The in position refers to the quantity of droop pulses in the deviation counter 2 If an in position value is set the in position signal M1602 20n will come ON when the difference between the position command and p...

Page 99: ... Moment of load inertia Ratio of moment of load inertia Motor s moment of inertia 2 If automatic tuning is used the result of automatic tuning is automatically set 4 3 8 Automatic tuning This is a function whereby the moment of inertia of the load is automatically calculated and the most suitable gain is automatically set by sensing the current and speed when motion starts Downloaded from ManualsN...

Page 100: ...Machines with high friction 2 Increase the response setting step by step starting from the low speed response setting observing the vibration and stop stabilization of the motor and machine immediately before stopping as you do so If the machine resonates decrease the set value If the load inertia is 5 times the motor inertia make the set value 1 or greater 3 The figure below shows how the motor s...

Page 101: ... analog data This analog output makes it possible to check the operation status Number of monitored item 2 types 4 3 13 Optional function 1 carrier frequency selection 1 Selection of carrier frequency When low noise is set the amount of electromagnetic noise of audible frequencies emitted from the motor can be reduced 2 Encoder type Set the type of encoder cable used Carrier frequency selection 0 ...

Page 102: ...t OFF valid 1 Output occurs under any of the above conditions provided that the servo motor rotational speed is zero expansion parameters 3 Selection of microvibration suppression function applies to MR J2S B MR J2 B Set to suppress vibration specific to the servo system on stopping 0 Microvibration suppression control is invalidated 1 Microvibration suppression control is valid 4 Motor lock opera...

Page 103: ... effective torque and the peak load display value and the regenerative load ratio is always 0 which is not the case when an actual motor is run 4 3 16 Pre alarm data selection Used to output from the servo amplifier in analog form the data status when an alarm occurs 1 Sampling time selection Set the intervals in which the data status data when an alarm occurs is recorded in the servo amplifier 2 ...

Page 104: ...ontrol during position control The setting becomes effective when switching in accordance with the droop during position control is made valid by the setting for PI PID control switching made using optional function 5 4 3 21 Torque control compensation factor This parameter is used to expand the torque control range up to the speed control value during torque control applies only when using MR H B...

Page 105: ... speed limit value 4 4 1 3 Acceleration time 1 to 65535ms 1000 ms Set the time taken to reach the speed limit value from the start of motion 4 Deceleration time 1 to 65535ms 1000 ms Set the time taken to stop from the speed limit value 5 Rapid stop deceleration time 1 to 65535ms 1000 ms Set the time taken to stop from the speed limit value when a rapid stop is executed 6 S curve ratio 0 to 100 0 S...

Page 106: ... Acceleration time Deceleration time E Rapid stop deceleration time P TORQ Torque limit value STOP Deceleration processing on STOP input Allowable error range for circular interpolation SPEED Change speed when constant speed control is executed S RATIO S curve ratio when S pattern processing is executed b The parameter block No used for home position return is set when setting the home position re...

Page 107: ...rogram Set deceleration time Speed Speed limit value Occurrence of rapid stop cause Time Set rapid stop deceleration time 3 Actual deceleration time Set acceleration time 1 Actual accele ration time 2 Actual rapid stop deceleration time Positioning speed set in the servo program Fig 4 6 Relationships among the Speed Limit Value Acceleration Time Deceleration Time and Rapid Stop Deceleration Time 4...

Page 108: ...de with the set end point address The allowable error range for circular interpolation sets the allowable range for the error between the locus of the arc determined by calculation and the end point address If the error is within the allowable range circular interpolation to the set end point address is executed while also executing error compensation by means of spiral interpolation If the settin...

Page 109: ...ode register D9008 c The step in which the DSFR or DSFL instruction was executed is stored in the error step register D9010 D9011 In order to shift word data use the BMOV instruction see Appendix 4 3 Dedicated devices for the PCPU Of the servo system CPU devices those shown in Table 5 1 are exclusively for use with the PCPU Check the applications of devices before using them in the sequence progra...

Page 110: ... I N Digit Designation Number of Steps Subset Index M9012 M9010 M9011 D n 7 Setting data Setting range D No of axis to be started D1 to D8 A172SHCPUN D1 to D4 A171SHCPUN Direct designation 0 to 4095 Decimal K30000 to K30799 SEQUENCE PROGRAM DSFRP Execution command D n Execution condition n No of servo program to be executed Indirect designation Hexadecimal H7530 to H784F The following processing i...

Page 111: ...s of servo program number setting direct and indirect a In direct setting the servo program number is designated directly as the number itself 0 to 4095 Servo program No 50 would be set as follows When designated with a K device K50 b In indirect setting the servo program number is set as a value in a data register The data registers that can be used are D0 to D799 and they are set as follows 1 K ...

Page 112: ...0799 When the settings for D or n are made by indirect setting with an index register Z V POINTS 1 When two or more axes are started simultaneously set one of the axes to be started in each servo program a When programming a simultaneous start in which linear interpolation is to be executed with axes 1 and 2 and circular interpolation is to be executed with axes 3 and 4 set axis 1 or axis 2 and ax...

Page 113: ...8 A172SHCPUN J1 to J4 A171SHCPUN Direct designation 0 to 4095 SEQUENCE PROGRAM SVST Execution command D n Execution condition n No of servo program to be executed Indirect designation 1 word D0 to D799 W0 to W3FF R0 to R8191 The following processing is executed at the leading edge OFF ON of the SVST instruction The start accept flag M2001 n corresponding to the axis designated in D is turned ON se...

Page 114: ... Axis 1 and axis 2 J1J2 Axis 1 axis 2 and axis3 J1J2J3 Axis 1 axis 2 axis3 and axis4 J1J2J3J4 2 Servo program No setting There are two types of servo program number setting direct and indirect a In direct setting the servo program number is designated directly as the number itself 0 to 4095 Servo program No 50 would be set as follows When designated with a K device K50 b In indirect setting the se...

Page 115: ...re axes A172SHCPUN When the axis number given in any digit of D is a number other than J1 to J4 A171SHCPUN When the axis number given in any digit of D is a number other than J1 to J8 A172SHCPUN When the same axis number is set twice in D When the setting for n is outside the applicable range Program example Start accept flags PLC READY flag turned ON All axes servo start command turned ON When X1...

Page 116: ...at the leading edge OFF ON of the DSFLP instruction 1 The start accept flag M2001 to M2008 M2001 to M2004 corresponding to the axis designated in D is turned ON 2 The current value is changed to the contents of the current value change register for the axis designated in D 3 On completion of the current value change the start accept flag is turned OFF 2 The numbers of registers used for current va...

Page 117: ... one of the axes controlled in interpolation Device symbol only D can be set The started axis is designated as follows Axis 1 D1 Interpolation control with axis 1 and axis 2 D1 or D2 2 Current value change The setting for a current value change is as follows Current value change Set K0 or H0 POINT When using a DSFLP instruction it is not possible to indirectly designate D or n using index register...

Page 118: ...d in D for the current value change is in motion Program Example 1 The program shown below changes the current value for axis 2 to the value designated with an 8 digit digital switch a Conditions 1 Numbers of inputs for the digital switch X010 to X02F 2 Current value change command Leading edge OFF ON of X000 3 Current value change execution flag M0 4 Axis 2 start accept flag used to determine whe...

Page 119: ...3648 to 2147483647 PLS SEQUENCE PROGRAM CHGA Execution command D n Execution condition n Setting of current value to be changed Indirect designation D0 to D799 W0 to W3FF R0 to R8191 1 The following processing is executed at the leading edge OFF ON of the CHGA instruction 1 The start accept flag M2001 to M2008 M2001 to M2004 corresponding to the axis designated in D is turned ON 2 The current valu...

Page 120: ...tting a In direct setting the current value or speed to be changed to is specified directly as a numerical value For the setting range refer to Section 3 4 2 If the current value to be changed 10 the setting is as follows When designated with a K device K10 b The word devices that can be used are indicated in the table below 1 The word devices that can be used are indicated in the table below Word...

Page 121: ...or code area for the relevant axis When the axis designated in D for the current value change is in motion Program Example The program shown below changes the current value for axis 2 1 Conditions 1 Current value change command Leading edge OFF ON of X000 2 Current value change execution flag M0 3 Axis 2 start accept flag used to determine whether axis 2 is stopped or in motion M2002 axis 2 start ...

Page 122: ...f the DSFLP instruction a Current value change 1 The speed change in progress M2021 to M2028 M2021 to M2024 corresponding to the axis designated in D is turned ON 2 A command to change the currently effective positioning speed to the speed stored in the speed change register for the axis designated in D is issued 3 The speed change in progress flag is turned OFF 2 The numbers of registers used for...

Page 123: ...e axes controlled in interpolation Device symbol only D can be set The started axis is designated as follows Axis 1 D1 Interpolation control with axis 1 and axis 2 D1 or D2 2 Speed change The setting for a present value change speed change is as follows Speed change Set K1 or H1 POINT When using a DSFLP instruction it is not possible to indirectly designate D or n using index registers Z V DSFLP D...

Page 124: ...an 8 digit digital switch 1 Conditions 1 Numbers of inputs for the digital switch X010 to X02F 2 Speed Change command Leading edge OFF ON of X000 2 Program example Speed change in progress flag 0 CIRCUIT END X000 DSFL D2 1 K M2002 P DBIN X0010 D968 K8 P The value set with the digital switch is stored in the speed change register for axis 2 D968 D969 Axis 2 present value change execution request PO...

Page 125: ...147483647 10 3 deg min PLS 10000000 to 10000000 PLS min SEQUENCE PROGRAM CHGV Execution command D n Execution condition n Setting of current value to be changed Indirect designation D0 to D799 W0 to W3FF R0 to R8191 1 The following processing is executed at the leading edge OFF ON of the CHGV instruction 1 The speed change flag M2021 to M2028 M2021 to M2024 corresponding to the axis designated in ...

Page 126: ...setting a In direct setting the speed to be changed to is specified directly as a numerical value For the setting range refer to Section 3 2 2 If the speed to be changed 10 the setting as follows When designated with a K device K10 b The word devices that can be used are indicated in the table below 1 The word devices that can be used are indicated in the table below Word Device Usable Devices D 0...

Page 127: ...itions 1 Speed change command Leading edge OFF ON of X000 2 Program example Positioning start completion signal 0 CIRCUIT END X000 CHGV J2 10 K Axis 2 present value change execution request Speed change in progress flag M2062 M2420 POINT Points to note when a speed change is performed If a speed change instruction CHGV is executed in the period between execution of the servo program start request ...

Page 128: ...is returned and a speed limit value is used for control High speed oscillation OSC Speed cannot be changed A minor error 310 is returned Zeroing ZERO Speed cannot be changed A minor error 310 is returned Reference Minor error 301 Speed has been changed during zeroing Minor error 305 The designated speed is not within the range from 0 to the speed limit value Minor error 310 Speed has been changed ...

Page 129: ...arts A minor error 303 is returned Example of Operation during Constant Speed Control The following describes the operations to be performed for a retracing request made during constant speed control 1000 1000 P1 P2 P3 P1 P2 P3 Starting point Start request SVST Axis 2 Axis 1 CPSTART2 Axis 1 Axis 2 Speed 1000 ABS 2 Axis 1 10000 Axis 2 0 ABS 2 Axis 1 10000 Axis 2 10000 ABS 2 Axis 1 20000 Axis 2 1000...

Page 130: ... is ignored 2 In the above example retracing to P2 is performed when a retracing request is made immediately before P2 and P2 is passed during deceleration 3 In the A172SHCPUN and A171SHCPUN the speed change 0 accept flag is not included in the positioning device P1 P2 P3 Reverse return request carried out here Starting point Axis 1 Axis 2 Downloaded from ManualsNet com search engine ...

Page 131: ...t value change axis J1 to J8 A172SHCPU J1 to J4 A171SHCPU Direct designation 1 to 500 SEQUENCE PROGRAM CHGT Execution command D n Execution condition n Change torque limit value Indirect designation 1 word D0 to D799 W0 to W3FF R0 to R8191 Control Details In the real mode the sequence program changes the torque limit value of the designated axis at the leading edge of a CHGT instruction execution ...

Page 132: ...HGT instruction Clamp processing of this torque limit value varies from axis to axis Start in progress 1 When the following torque limit values are set they cannot be changed to values greater than the torque limit value changed by the CHGT instruction Torque limit value at intermediate points during constant speed control or speed switching control Torque limit value at position control switching...

Page 133: ...y M9102 is OFF the SFC program is started from the initial step of block 0 2 SFC program resumptive start By turning special relay M9101 ON while special relay M9102 is ON the SFC program is started from the block and step that was being executed immediately before operation was stopped c On creation of an SFC program if no main sequence program has been created applies only when step 0 is an END ...

Page 134: ...eat Start command M0 Stop command M1 M9101 OFF M9101 ON Initial step Switching condition 1 Step 1 creation of servo program start instruction Switching condition 2 Step 2 End step Main sequence program SFC program Switching conditions and operation output Switching condition 1 M2001 M2002 M2003 M2004 Tran Interlock M2001 M2002 M2003 M2004 Tran Interlock Step 1 servo program start request instructi...

Page 135: ... the order of steps has been changed by addition or insertion this interlock may not be automatically added deleted in the switching conditions Therefore if a step has been added or inserted always display the switching conditions using ZOOM display and check the interlock 4 Only the sequence SVST can be set at an SV step If any additional instructions are to be set either set them in a normal ste...

Page 136: ...tart instruction Switching condition 2 Step 2 End step Main sequence program SFC program Switching conditions and operation output Switching condition 1 M2001 M2002 M2003 M2004 Tran Interlock M2001 M2002 M2003 M2004 Tran Interlock Step 1 servo program start request instruction Switching condition 2 SVST J1J2J3J4 K 10 When a normal step is used PLS M0 SET M9101 SET M9101 PLS M1 Repetition Downloade...

Page 137: ...P instruction is edited and converted a speed change in progress flag M2021 to M2024 M2021 to M2028 is automatically inserted into the switching conditions before and after the relevant SFC step to act as an interlock 4 Set commands such as speed change commands and stop commands which are executed in an arbitrary timing in the main sequence program 5 For details on how to operate peripheral devic...

Page 138: ...e the designated servo instructions can be set Explanation of the program K11 Program No 11 ABS 3 3 axes linear interpolation control using the absolute data method Axis1 3000000 0 Axis2 5500000 0 Used axes and positioning address Axis3 2500000 0 Used Axes Positioning Address 1 3000000 0 m 2 5500000 0 m 3 2500000 0 m Combined speed Commanded speed for the 3 axes axis 1 axis 2 axis 3 combined 40000...

Page 139: ...1 Servo program area The servo program area is an internal memory of the system CPU not in the memory cassette which serves to store the servo program created with a peripheral device The servo program area is an internal RAM 2 Servo program capacity The servo program area has a capacity of 13312 steps Program No 10 Program No 1 Program No 2 Servo programs are stored in the order in which their pr...

Page 140: ...ervo instructions a Item that must be set the servo instruction cannot be executed if this data is not set b Item set if required if this data is not set control is executed using the default value 2 Direct setting indirect setting is possible except for axis No a Direct setting Set with a numerical value b Indirect setting Set with a word device D W When the servo program is executed control is e...

Page 141: ...xis INC 3 Incremental 3 axis linear interpolation 7 to 20 7 4 ABS 4 Absolute 4 axis linear interpolation Linear control 4 axis INC 4 Incremental 4 axis linear interpolation 8 to 23 7 5 ABS Absolute circular interpolation by auxiliary point designation Auxil iary point desig nation INC Incremental circular interpolation by auxiliary point designation 7 to 21 7 6 ABS Absolute circular interpolation ...

Page 142: ...VR Speed control I Reverse rotation start 3 to 14 7 12 For ward rota tion VVF Speed control II Forward rotation start Speed control II Re verse rota tion VVR Speed control II Reverse rotation start 3 to 16 7 13 For ward rota tion VPF Speed position switching control Forward rotation start Re verse rota tion VPR Speed position switching control Reverse rotation start 4 to 17 7 14 1 Speed position s...

Page 143: ...Start Skip FIN Acceleration Number of Steps Section for Detailed Explanation ABS 1 2 to 7 ABS 2 3 to 8 ABS 3 4 to 9 ABS 4 ABS 5 to 10 ABS ABS ABS ABS 4 to 9 ABS ABS Absolute designation of passing point for constant speed control 5 to 10 INC 1 2 to 7 INC 2 3 to 8 INC 3 4 to 9 INC 4 INC 5 to 10 INC INC INC INC 4 to 9 INC INC Incremental designation of passing point for constant speed control 5 to 1...

Page 144: ...s reference speed reference axis speed Applies to PTP control only 0 01 to 6000000 00 mm min 0 001 to 600000 000 inch min 0 001 to 2147483 647 degree min 1 to 10000000 PLS s Dwell time Set the time from positioning to the positioning address to output of the positioning completion signal M1601 20n 0 ms 0 to 5000 ms M code Set the M code For speed switching control and constant speed control differ...

Page 145: ...00 PLS s 2 4 note 2 Note 3 0 to 5000 ms 1 5 0 to 255 1 6 1 to 500 1 7 2147483648 to 2147483647 10 1 µm 2147483648 to 2147483647 10 5 inch 0 to 35999999 10 5 degree 2147483648 to 2147483647 0 to 2147483647 2 2 n08 note 1 1 to 4294967295 10 1 µm 1 to 4294967295 10 5 inch 0 to 35999999 10 5 degree 1 to 4294967295 1 to 2147483647 10 1 µm 1 to 2147483647 10 5 inch 1 to 2147483647 10 5 degree 1 to 21474...

Page 146: ...epeat condition Set the repeat condition for repetition between the FOR TIMES instruction and the NEXT instruction 1 to 32767 Program No Set the program numbers for simultaneous starts 0 to 4095 Commanded speed constant speed Set the speed for points part way through positioning in the servo program 0 01 to 6000000 00 mm min 0 001 to 600000 000 inch min 0 001 to 2147483 647 degree min 1 to 1000000...

Page 147: ...o 100 2 21 1 to 500 1 16 0 Deceleration to a stop in accordance with the deceleration time 1 Deceleration to a stop in accordance with the rapid stop deceleration time 1 0 to 100000 2 17 1 to 32767 18 Controlled by K1 0 to 4095 19 1 to 600000000 10 2 mm min 1 to 600000000 10 3 inch min 1 to 2147483647 10 3 degree min 1 to 10000000 PLS s 2 4 Note 2 Note 3 0 to 4095 1 1 to 5000 ms 1 13 Controlled by...

Page 148: ...ng word devices in the same servo program 6 4 1 Setting by designating numerical values The method of setting by designating numerical values is a method whereby each positioning data item is set as a numerical value and becomes fixed data Data can only be set and corrected at a peripheral device Numerical value setting for positioning data Become fixed data for one servo program Positioning data ...

Page 149: ...11 W10 W1B0 and D600 Positioning data K 11 ABS 3 Axis 1 D 0 Axis 2 D 4 Axis 3 W 010 Combined speed 40000 00 Dwell W 1B0 M code D 600 P B 3 Numerical value setting Axis numbers cannot be set indirectly using word devices Fig 6 4 Example of Setting Positioning Data by Numerical Value Setting 2 Input of Positioning Data In indirect setting with word devices the word device data is input when the PCPU...

Page 150: ...Start request leading edge detection flag devices that can be used Y M L S B F 2 Start accept flag set a number of flags corresponding to the number of axes designated in the servo program 3 DSFRP SVST instruction execution request flag devices that can be used Y M L S B F 4 Axis No designated in the servo program 5 Started servo program No K0 to K4095 A sequence program that issues a start reques...

Page 151: ... SVST instruction execution request flag 6 has come ON the execution request for the next DSFRP SVST instruction is issued The servo program start request is issued in accordance with the DSFRP SVST instruction On completion of execution of the DSFRP SVST instruction the device designated at 6 is reset Start request 1 3 2 1 3 4 5 3 PLS SET DSFRP RST 6 SET 7 8 9 6 DSFRP RST 6 7 PLS 2 The applicatio...

Page 152: ...ted in Figure 6 7 The applications of 1 to 4 are indicated below 1 DSFRP SVST instruction execution request flag devices that can be used Y M L S B F 2 Start accept flag set a number of flags corresponding to the number of axes designated in the servo program 3 Axis No designated in the servo program 4 Started servo program No K0 to K4095 Fig 6 7 Sequence Program For Starting a Servo Program Downl...

Page 153: ...f positioning speed setting speed limit value positioning occurs at set positioning speed if positioning speed setting speed limit value positioning occurs at speed limit value 1 If the speed limit value is 120 000 mm min and the positioning speed setting is 100 000 mm min the positioning speed is controlled as follows V t 120000 100000 Acceleration time Deceleration time Speed limit value Positio...

Page 154: ...ombined speed designation The servo system CPU uses the travel value of each axis D1 to D4 to calculate the positioning speed of each axis V1 to V4 from the set positioning speed V of the controlled system The positioning speed of the controlled system is called the combined speed Set the combined speed and the travel value of each axis in the servo program 2 axes linear interpolation control 0 V1...

Page 155: ...D4 V Conversions are conducted as follows if the control units are not identical for each axis 1 Combination of axes set in millimeters and inches a If interpolation control units are millimeters Travel value For axes set to inches the travel value is converted to millimeters using the formula inch set value 25 4 mm set value Speed Speed control of each axis is based on the long axis speed which i...

Page 156: ...s 1 positioning speed 100 200 50 25 PLS s Axis 2 positioning speed 50 PLS s Combined speed 252 50 2 55 9 PLS s Program Example K 2 INC 2 Axis 1 100 PLS Axis 2 200 PLS Long axis speed 50 PLS s Axis 1 positioning speed Combined speed Axis 2 positioning speed The combined speed exceeds the speed limit value setting of 55 2 Relationship between speed limit value acceleration time deceleration time and...

Page 157: ...is 3 travel value D3 5 000 PLS Axis 4 travel value D4 20 000 PLS Reference axis speed V 7 000 PLS s Reference axis number Axis 4 In this example Axis 4 is set as the reference axis and the control is based on the positioning speed of Axis 4 The servo system CPU calculates the positioning speed of each of the other axes using the following calculation formulas K 52 ABS 4 Axis 1 10000 PLS Axis 2 150...

Page 158: ...n time and rapid stop deceleration time The actual acceleration time deceleration time and rapid stop deceleration time are determined by the reference axis speed setting 1 2 3 4 5 6 Speed limit value Positioning speed reference axis speed Speed Time 1 Actual acceleration time 2 Set acceleration time 3 Actual deceleration time 4 Set deceleration time 5 Actual rapid stop deceleration time 6 Set rap...

Page 159: ...control units designated in the parameter block Unit discrepancy error Error code 40 Discrepancy between fixed parameter control units and the parameter block interpolation control units for all axes Control started using set control units when control units match for axes under interpolation control Control started using the control units with the highest order of priority see below when control ...

Page 160: ...r set value 25 4 inch set value c Discrepancy 3 If a discrepancy exists between interpolation control units and the control units the travel value and positioning speed are calculated for each axis a The electronic gear converts the travel value for the axis to PLS b For axes where the units match the electronic gear converts the positioning speed to units of PLS s Positioning is conducted using p...

Page 161: ...se 90 00000 315 00000 1 For travel in area A set the limit values as follows a Stroke limit lower limit value 315 00000 b Stroke limit upper limit value 90 00000 2 For travel in area B set the limit values as follows a Stroke limit lower limit value 90 00000 b Stroke limit upper limit value 315 00000 b If the stroke limit is invalid If the stroke limit is invalid set the stroke limit upper limit v...

Page 162: ...thod positioning in the shortest distance may not be possible Travel from the present value 0 to 315 00000 must be clockwise if the stroke limit lower limit value is set to 0 and the upper limit value is set to 345 00000 0 315 00000 345 00000 Clockwise positioning 2 Set positioning addresses in the range between 0 and 360 Use the incremental method for positioning in excess of one revolution b Inc...

Page 163: ...put 1 Deceleration stop Process 1 Decelerates and stops according to the stop deceleration time parameter in the parameter block Parameter Speed limit value Operation speed Stop cause Stop Actual deceleration time Stop deceleration time in the parameter block 2 Rapid stop Process 2 Decelerates and stops according to the rapid stop deceleration time parameter in the parameter block Stop cause Stop ...

Page 164: ...pid stop Process 2 is started if a rapid stop cause is input during one of the following types of deceleration stop processing after automatic deceleration starts during positioning control during deceleration after JOG start signal turns OFF during deceleration stop processing due to a stop cause Process 1 Deceleration stop processing Rapid stop cause Rapid stop deceleration processing Stop Examp...

Page 165: ... Rapid stop command M1800 20n Yn1 M3201 20n ON Process 2 4 External FLS input OFF 5 External RLS input OFF Process 1 or Process 2 According to deceleration processing on STOP input parameter in parameter block 6 Servo error detect M1608 20n Xn8 M2408 20n ON Individual Process 3 7 PLC ready M2000 OFF Process 1 8 Emergency stop from exterior Note 2 BREAK key pressed Process 2 9 Servo system CPU stop...

Page 166: ... Speed change flag M2021 n ON OFF 1 3 2 Stop command M1800 20n 1 The start accept flag M2001 n remains ON after a stop due to changing the speed to zero 2 Restart after changing the speed again 3 However control cannot be restarted after the speed is changed if the start accept flag M2001 n is turned OFF due to the stop command M1800 20n turning ON 3 Continuing positioning control This section des...

Page 167: ...om address 1 To use the incremental method to travel to the original address calculated from start address designated travel value from address 2 requires the following processing in the servo program and sequence program Servo Program Use word devices for indirect designation of the travel value in the positioning control servo program Travel value K 10 INC 2 Axis 1 D 0 Axis 2 D 2 Combined speed ...

Page 168: ...dress to calculate the residual travel value 4 Store the residual travel value in the servo program travel value register 5 Run the servo program from the sequence program Stop position due to stop command Address 2 start address after stop Travel value from Address 2 Stored in travel value registers Travel value from Address 1 Axis 1 Axis 2 Address 1 start address Travel value from Address 2 Trav...

Page 169: ...ration and deceleration processing The S curve ratio is set as a parameter to provide gentler acceleration and deceleration than trapezoidal processing The acceleration and deceleration graph is sinusoidal as shown in the diagram below Set the S curve ratio in the parameter block see Section 4 4 2 or in a servo program V t 0 Positioning speed Time Acceleration time Deceleration time As shown in th...

Page 170: ...speed 1000 S curve ratio 80 K 10 INC 2 Axis 1 100000 Axis 2 250000 Combined speed 1000 S curve ratio 80 b Indirect designation The S curve ratio is set by the contents of the data registers The available data registers are shown below Word Device Usable Device D 0 to 799 W 0 to 3FF 1 axis linear positioning control Axis used Axis1 Positioning address 30000 Positioning speed 400000 Indirect designa...

Page 171: ...eration Processing on Stop Input Allowable Error Range for Circular Interpolation SCurve Ratio Cancel Start Speed Change ABS 1 Absolute data A r e a B 0 A r e a A C l o c k w i s e 9 0 0 0 0 0 0 3 1 5 0 0 0 0 0 Incremental 1 OK Must be set Set if required Control Details Control with ABS 1 absolute data method 1 Positioning control from the current stop address pre positioning address to the desig...

Page 172: ...creased address Negative travel value reverse direction decreased address Travel direction for negative sign Travel direction for positive sign Reverse travel Forward direction Current stop position The travel direction is shown below if the current stop address is 3000 and the travel value is 5000 0 8000 Current stop position Travel value 5000 3000 2000 1000 Home position Fig 7 2 Positioning by I...

Page 173: ...g details The positioning by servo program No 0 is shown in the diagram below In this example Axis 4 is used in servo program No 0 Positioning address in servo program No 0 0 10000 80000 Current stop address Home position 3 Operation timing The operation timing for servo program No 0 is shown below 10000 V PLC ready M2000 All axes servo start command M2042 All axis servo start accept flag M2009 Po...

Page 174: ...mple The sequence program which runs the servo program is shown below Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready Servo program No 0 execution request Turns ON servo program No 0 start command flag M1 when X000 turns OFF ON Turns OFF M1 on completion of servo program No 0 execution request M9039 M9074 X000 M9074 M0 M9074 M2009 M9076 M1 M2004 M2000 M2042 PLS SET J4 RST M0 M...

Page 175: ...s OFF ON Turns OFF M 1 on c ompletion of servo program No 0 execution request M 9039 M 9074 X 000 M 9074 M 0 M 9074 M 2009 M 9076 M 1 M 2004 M 2000 M 2042 P LS S ET J4 RST M 0 M 1 0 K M 1 S VST 0 2 4 11 13 Absolute data INC 2 Incremental 2 OK Must be set Set if required Control Details Control with ABS 2 absolute data method 1 Linear interpolation with two axes from the current stop address X1 Y1 ...

Page 176: ...d address Positioning speed Y1 0 X1 X axis travel value Y axis travel value Reverse direction Reverse direction Current stop address Forward direction Forward direction Forward Travel direction for positive travel value Reverse Travel direction for negative travel value indicates set data The travel direction is shown below for an X axis travel value of 6000 and Y axis travel value of 2000 X axis ...

Page 177: ...0 Axis 2 Axis 3 Axis 4 MR B MR B MR B MR B 2 Positioning details The positioning by the Axis 3 and Axis 4 servomotors is shown in the diagram below Positioning by No 11 servo program 40000 50000 Axis 4 positioning direction Home position 0 0 Axis 3 positioning direction 3 Positioning conditions a The positioning conditions are shown below Servo Program Number Item No 11 Positioning speed 30000 b P...

Page 178: ...l Axis used Axis 3 Axis 4 Positioning address Commanded positioning speed Combined speed 30000 K 11 ABS 2 Axis 3 50000 Axis 4 40000 Combined speed 30000 Axis 3 50000 Axis 4 40000 6 Sequence program The sequence program which runs the servo program is shown below Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready Servo program No 11 execution request Turns ON servo program No 11 s...

Page 179: ...ith ABS 3 absolute data method 1 Linear interpolation with 3 axes from the current stop address X1 Y1 Z1 to the designated address X2 Y2 Z2 using the home position as the reference 2 The travel direction is determined from the stop addresses and designated addresses for the respective axes indicates set data Reverse direction 0 Reverse direction Home position Forward direction Forward direction Fo...

Page 180: ...d direction Forward direction Reverse direction Reverse direction Reverse direction Z axis travel value Y axis travel value Position speed Current stop position X axis travel value The travel direction is shown below for an X axis travel value of 10000 a Y axis travel value of 5000 and a Z axis travel value of 6000 Forward direction Reverse direction Z axis travel value 6000 Y axis travel value 50...

Page 181: ...s 2 and Axis 3 servomotors is shown in the diagram below Reverse direction Axis 2 positioning direction Forward direction Axis 3 positioning direction Forward direction Axis 1 positioning direction Forward direction Positioning by No 21 servo program Reverse direction Reverse direction Home position 0 0 0 50000 30000 40000 50000 40000 30000 3 Positioning conditions a The positioning conditions are...

Page 182: ...ept flag M2001 Axis 2 start accept flag M2002 Servo program No 21 Axis 3 start accept flag M2003 5 Servo program The servo program No 21 for 3 axes linear interpolation control is shown below 3 axes linear interpolation control Axis used Axis 1 Axis 2 Axis 3 Positioning address Commanded positioning speed Combined speed 1000 K 21 ABS 3 Axis 1 50000 Axis 2 40000 Axis 3 30000 Combined speed 1000 Axi...

Page 183: ...ON PLC ready Servo program No 11 execution request Turns ON servo program No 11 start command flag M1 when X000 turns OFF ON Turns OFF M1 on completion of servo program No 11 execution request M9039 M9074 X000 M23 M21 M9074 M2009 M9076 M9074 M2001 M2000 M2042 PLS SET J1J2J3 RST M21 M23 21 K M23 SVST 0 2 4 11 13 M2002 M2003 Downloaded from ManualsNet com search engine ...

Page 184: ...imit Value Auxiliary Point Radius Center Point Control Unit Speed Limit Value Acceleration Time Deceleration Time Rapid Stop Deceleration Time Torque Limit Value Deceleration Processing on Stop Input Allowable Error Range for Circular Interpolation SCurve Ratio Cancel Start Speed Change ABS 4 Absolute data INC 4 Incremental 4 OK Must be set Set if required Control Details Positioning control which...

Page 185: ...ontrol of Axis 1 Axis 2 Axis 3 and Axis 4 A172SHCPUN Axis 1 Positioning start command X000 A172B M M M M A172S ENC A1S X10 Axis 2 Axis 3 Axis 4 MR B MR B MR B MR B 2 Positioning details The positioning by the Axis 1 Axis 2 Axis 3 and Axis 4 servomotors is shown in the diagram below Axis 3 Axis 2 Axis 1 Axis 4 Fig 7 7 Axis Configuration Downloaded from ManualsNet com search engine ...

Page 186: ...onditions a The positioning conditions are shown below Servo Program Number Item No 22 Positioning method Incremental Positioning speed 1000 b Positioning start leading edge of X000 OFF ON 4 Operation timing The operation timing for 4 axies linear interpolation control is shown below V PLC ready M2000 All axes servo start command M2042 All axis servo start accept flag M2009 Positioning start comma...

Page 187: ...0 Axis 2 4000 Axis 3 4000 Axis 4 4000 6 Sequence program The sequence program which runs the servo program is shown below Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready Servo program No 22 execution request Turns ON servo program No 22 start command flag M23 when X000 turns OFF ON Turns OFF M23 on completion of servo program No 22 execution request M9039 M9074 X000 M9074 M21 ...

Page 188: ...t Allowable Error Range for Circular Interpolation SCurve Ratio Cancel Start Speed Change ABS Absolute data INC Incremental 2 NG Must be set Set if required Control Details Control with ABS absolute data method 1 Circular interpolation from the current stop address pre positioning address through the designated auxiliary point address to the end point address using the home position as the referen...

Page 189: ...ddress to the end point address indicates set data 0 Forward direction Forward direction Reverse direction Home position Start point Travel value to auxiliary point Travel value to auxiliary point Travel value to end point Positioning speed Auxiliary point End point Y1 Y2 X1 X2 Travel value to end point Center of arc Fig 7 11 Circular Interpolation Control by Incremental Method 3 The setting range...

Page 190: ...g details The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram below 0 10000 20000 10000 50000 80000 20000 30000 40000 Axis 2 positioning direction Forward direction Axis 1 positioning direction Forward direction End point 80000 30000 Positioning by No 31 servo program Auxiliary point 40000 50000 Arc center point Start point 3 Positioning conditions a The positioning condit...

Page 191: ... designation Axis used Axis 1 Axis 2 End point address Positioning speed 1000 Auxiliary point address Axis 1 80000 Axis 2 30000 Axis 1 40000 Axis 2 50000 K 31 ABS Axis 1 80000 Axis 2 30000 Speed 1000 Auxiliary point 1 40000 Auxiliary point 2 50000 6 Sequence program The sequence program which runs the servo program is shown below Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready...

Page 192: ...s Servo Instruction Positioning Method Number of Controllable Axes Parameter Block No Axis Address Travel Value Commanded Speed Dwell Time M Code Torque Limit Value Auxiliary Point Radius Center Point Control Unit Speed Limit Value Acceleration Time Deceleration Time Rapid Stop Deceleration Time Torque Limit Value Deceleration Processing on Stop Input Allowable Error Range for Circular Interpolati...

Page 193: ...C Clockwise Positioning path End point Center point Radius R Start point θ 180 ABS INC Counterclockwise 0 θ 180 Positioning path End point Center point Radius R Start point θ 180 ABS INC Clockwise End point Center point Positioning path Radius R Start point 180 θ 360 ABS INC Counterclockwise 180 θ 360 End point Center point Positioning path Radius R Start point 180 θ 360 Downloaded from ManualsNet...

Page 194: ...bisector of the start point address current stop address to the end point address indicates set data 0 Forward direction Start point address X0 Y0 End address X1 Y1 Positioning speed Center of arc Forward direction Reverse direction Reverse direction Path of circular interpolation Radius R Fig 7 13 Circular Interpolation Control by Absolute Data Method 3 The setting range for the end point address...

Page 195: ...art point address current stop address to the end point address indicates set data 0 Forward direction Start point End address Positioning speed Center of arc Forward direction Reverse direction Reverse direction Path of circular interpolation Radius R Fig 7 15 Circular Interpolation Control by Incremental Method 3 The setting range for the end point address is 2 31 to 2 31 1 4 The maximum arc rad...

Page 196: ...ning by the Axis 1 and Axis 2 servomotors is shown in the diagram below 0 100000 Axis 2 positioning direction Forward direction Axis 1 positioning direction Forward direction End point 100000 50000 Positioning by No 41 servo program Arc center point Start point 10000 30000 10000 Reverse direction Home position Reverse direction Radius 80000 50000 30000 3 Positioning conditions a The positioning co...

Page 197: ... control using radius designation Axis used Axis 1 Axis 2 End point address Positioning speed 1000 Radius 80000 Axis 1 100000 Axis 2 50000 K 41 ABS Axis 1 100000 Axis 2 50000 Speed 1000 Radius 80000 6 Sequence program The sequence program which runs the servo program is shown below Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready Servo program No 41 execution request Turns ON s...

Page 198: ...iary Point Radius Center Point Control Units Speed Limit Value Acceleration Time Deceleration Time Rapid Stop Deceleration Time Torque Limit Value Deceleration Processing on Stop Input Allowable Error Range for Circular Interpolation S Curve Ratio Cancel Start Speed Change ABS ABS Absolute data INC INC Incremental 2 NG Must be set Set if required Control Details Details of control with the servo i...

Page 199: ...ue to circular interpolation Center of arc Fig 7 17 Circular Interpolation Control by Absolute Date Method 2 To conduct positioning control of a full circle divide the circular interpolation control into two operations 0 Forward direction Forward direction Reverse direction Reverse direction 1st circular interpolation control 1st end address 2nd start address 2nd circular interpolation control 1st...

Page 200: ...ng control of a full circle divide the circular interpolation control into two operations Forward direction Reverse direction Reverse direction 1st circular interpolation control 2nd circular interpolation control Center of circle Forward direction Radius Home position 0 0 Fig 7 21 Positioning Control of a Full Circle 3 The setting range for the center point and travel value to the end point is 0 ...

Page 201: ...oning details The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram below 0 Axis 2 positioning direction Forward direction Axis 1 positioning direction Forward direction Positioning by No 51 servo program Start address 11459 30000 78541 30000 45000 20000 11459 45000 78541 30000 20000 Center point address End address 3 Positioning conditions a The positioning conditions are s...

Page 202: ... designation Axis used Axis 1 Axis 2 End point address Positioning speed 1000 Center point address K 51 ABS Axis 1 78541 Axis 2 30000 Speed 1000 Center point 1 45000 Center point 2 20000 Axis 1 78541 Axis 2 30000 Axis 1 45000 Axis 2 20000 6 Sequence program The sequence program which runs the servo program is shown below Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready Servo pr...

Page 203: ...nterpolation S Curve Ratio Cancel Start Speed Change FEED 1 Incremental 1 OK Must be set Set if required Control Details 1 Positioning control through the designated travel value from the current stop position 0 2 The travel direction is designated by the sign of the travel value as follows Positive travel value forward direction increased address Negative travel value reverse direction decreased ...

Page 204: ...m Setting Servo program number No 300 Controlled axis Axis 4 Control speed 10000 Travel value 100000 b Fixed pitch feed control start command leading edge of X000 OFF ON c Fixed pitch feed control end command leading edge of X001 OFF ON 3 Operation timing The operation timing for fixed pitch feed control is shown below Servo program No 300 V All axes servo start command M2042 All axis servo start ...

Page 205: ...e sequence program which runs the servo program is shown below Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready Servo program No 300 execution request Turns ON servo program No 300 start command flag M301 when X000 turns OFF ON Turns OFF M301 on completion of servo program No 300 execution request M9039 M9074 X000 M9074 M300 M9074 M2009 M9076 M301 M2004 M2000 M2042 PLS SET J4 R...

Page 206: ...ng on Stop Input Allowable Error Range for Circular Interpolation SCurve Ratio Cancel Start Speed Change FEED 2 Incremental 2 OK Must be set Set if required Control Details 1 Positioning control from the current stop position 0 to the position which is the resultant of the designated travel directions and travel values of the respective axes 2 The travel direction is designated by the sign of the ...

Page 207: ...program conducts fixed pitch feed control using 2 axes linear interpolation under the conditions below 1 System configuration Fixed pitch feed control using 2 axes linear interpolation of Axis 2 and Axis 3 A172SHCPUN Axis 1 Start command X000 A172B M M M M A171S ENC A1S X10 Axis 2 Axis 3 Axis 4 MR B MR B MR B MR B 2 Positioning conditions The fixed pitch feed control conditions are shown below Ite...

Page 208: ...ontrol using 2 axes linear Interpolation Axis used Axis 2 Axis 3 Travel value Positioning speed 10000 K 310 FEED 2 Axis 2 500000 Axis 3 300000 Speed 10000 Axis 2 500000 Axis 3 300000 5 Sequence program The sequence program which runs the servo program is shown below Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready Servo program No 310 execution request request Turns ON servo pr...

Page 209: ... Allowable Error Range for Circular Interpolation SCurve Ratio Cancel Start Speed Change FEED 3 Incremental 3 OK Must be set Set if required Control Details 1 Positioning control from the current stop position 0 to the position which is the resultant of the designated travel directions and travel values of the respective axes 2 The travel direction is designated by the sign of the travel value as ...

Page 210: ...This program conducts fixed pitch feed control using 3 axes linear interpolation under the conditions below 1 System configuration Fixed pitch feed control using 3 axes linear interpolation of Axis 1 Axis 2 and Axis 3 A172SHCPUN Axis 1 Start command X000 A172B M M M M A172S ENC A1S X10 Axis 2 Axis 3 Axis 4 MR B MR B MR B MR B 2 System configuration a The positioning conditions are shown below Item...

Page 211: ...ol using 3 axes linear interpolation Axis used Axis 1 Axis 2 Axis 3 Positioning address Positioning speed 10000 K 320 FEED 3 Axis 1 50000 Axis 2 40000 Axis 3 30000 Speed 1000 Axis 1 50000 Axis 2 40000 Axis 3 30000 5 Sequence program The sequence program which runs the servo program is shown below Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready Servo program No 320 execution re...

Page 212: ...ary Point Radius Center Point Control Unit Speed Limit Value Acceleration Time Deceleration Time Rapid Stop Deceleration Time Torque Limit Value Deceleration Processing on Stop Input Allowable Error Range for Circular Interpolation SCurve Ratio Cancel Start Speed Change VF VR 1 OK Must be set Set if required Control Details 1 Controls the axis at the designated speed between the start of servomoto...

Page 213: ... to the rapid stop deceleration time designated in the parameter block or by a servo instruction Speed changed to 0 Value stored in speed change register Designated axis Deceleration stop according to the deceleration time designated in the parameter block or by a servo instruction POINT Note The rapid stop command and emergency stop from a peripheral device are valid during deceleration due to in...

Page 214: ...program number No 91 Controlled axis Axis 1 Control speed 3000 Rotation direction Forward b Speed control I start command leading edge of X000 OFF ON c Speed control I stop command trailing edge of X000 ON OFF 3 Operation timing The operation timing for speed control I is shown below Speed control by servo program No 91 V All axes servo start command M2042 All axis servo start accept flag M2009 St...

Page 215: ...00 OFF ON Servo program No 91 execution request Turns OFF M93 on completion of servo program No 91 execution request Detects trailing edge of X000 ON OFF Turns ON stop command flag M1800 at trailing edge of X000 Turns OFF stop command flag M1800 when Axis 1 stops Turns ON servo program No 91 start command flag M93 when X000 turns OFF ON M9039 M9074 X000 M9074 M2009 M9076 M91 M9074 M93 M2001 M94 M2...

Page 216: ...celeration Processing on Stop Input Allowable Error Range for Circular Interpolation SCurve Ratio Cancel Start Speed Change VVF VVR 1 OK Must be set Set if required Control Details 1 Controls the axis at the designated speed between the start of servomotor operation and the input of the stop command VVF movement in forward direction VVR movement in reverse direction 2 The current value or deviatio...

Page 217: ...rogram number No 55 Controlled axis Axis 3 Control speed 4000 Rotation direction Forward b Speed control II start command leading edge of X000 OFF ON c Speed control II stop command trailing edge of X000 ON OFF 3 Operation timing The operation timing for speed control II is shown below Speed control by servo program No 55 V All axes servo start command M2042 All axis servo start accept flag M2009 ...

Page 218: ...of X000 OFF ON Servo program No 55 execution request Turns OFF M57 on completion of servo program No 55 execution request Detects trailing edge of X000 ON OFF Turns ON stop command flag M1840 at trailing edge of X000 Turns OFF stop command flag M1840 when Axis 3 stops Turns ON servo program No 55 start Command flag M57 when X000 turns OFF ON M9039 M9074 X000 M9074 M2009 M9076 M55 M9074 M57 M2003 M...

Page 219: ...t Allowable Error Range for Circular Interpolation SCurve Ratio Cancel Start Speed Change VPF VPR Incremental 1 OK Must be set Set if required Control Details 1 The servomotor starts under speed control but on input of the external CHANGE signal the control changes from speed control to position control and the axis is positioned by the designated travel value VPF movement in forward direction dir...

Page 220: ...pdated from the start of control speed control The feed current value after control is stopped is as follows Feed current value after stopping Travel value under speed control Travel value under position control b M1812 20n ON The feed current value is not cleared at start of speed position switching control The feed current value is updated from the start of control speed control The axis makes a...

Page 221: ...vel Value Axis No Data Register Number for Indirect Designation Most Significant Data Least Significant Data 1 D815 D816 D815 2 D835 D836 D835 3 D855 D856 D855 4 D875 D876 D875 5 D895 D896 D895 6 D915 D916 D915 7 D935 D936 D935 8 D955 D956 D955 A171SHCPUN Data Registers to Change Travel Value Axis No Data Register Number for Indirect Designation Most Significant Data Least Significant Data 1 D815 ...

Page 222: ...ximity dog turns ON Cautions 1 Items checked when the external CHANGE signal turns ON Speed control switches to position control when the external CHANGE signal turns ON if the following conditions are met The start accept flag M2001 n is ON Speed control is in progress after start of speed position switching control Speed position switching enable signal M1805 20n is ON 2 To omit speed control Po...

Page 223: ... enable signal M1805 20n Speed position switching input CHANGE Error detection M1607 20n Positioning completed signal M1601 20n 4 Stroke limit check No stroke limit range check is made during the speed mode If the travel value exceeds the stroke limit range a minor error error code 210 occurs when position mode is selected and a deceleration stop occurs 5 Switching time from speed control to posit...

Page 224: ...own below Servo program No 101 V All axes servo start command M2042 All axis servo start accept flag M2009 Start command X000 SVST instruction Axis 4 start accept flag M2004 PLC ready M2000 Speed position switching enable flag M1865 t 1 s 1 s Speed control Position control CHANGE external input Speed position switching latch M1665 4 Servo program The servo program No 101 for speed position switchi...

Page 225: ...2004 M1665 M103 CIRCUIT END Turns ON all axes servo start command Detects leading edge of X000 OFF ON Turns ON speed position switching enable flag M1865 Turns ON servo program No 101 start command flag M102 at X000 leading edge Servo program No 101 execution request Turns OFF M102 on completion of servo program No 101 execution request Turns OFF speed position switching enable flag M1865 on speed...

Page 226: ... Cancel Start Speed Change VPSTART Must be set Set if required Control Details 1 Speed position switching control is continued after it was stopped due to a stop command 2 Restarting using VPSTART is valid whether the stop occurred during speed control or position control a If the stop occurred during speed control then speed control continues and switches to position control when the CHANGE signa...

Page 227: ...tion control P1 P2 P1 Travel value before stop P2 Travel value after restart V Fig 7 28 Restarting During Speed Control 3 The speed at restart is the speed stored when the VPF VPR instruction occurred Therefore even if a speed change occurred before the stop control restarts at the speed set at the time of VPF VPR instruction execution Operation speed Stop command t Position control Restart CHANGE...

Page 228: ...1 Axis 2 Axis 3 Axis 4 M CHANGE signal 2 Positioning conditions a The positioning conditions are shown below Setting Item Speed Position Switching Control Restart Servo program number No 101 No 102 Controlled axis Axis 4 Axis 4 Positioning control travel value 40000 Commanded speed 1000 b Positioning start command leading edge of X000 OFF ON c Speed position switching enable flag M1865 d Restart c...

Page 229: ...tion switching enable flag M1865 t CHANGE external input Speed position switching latch M1665 Restart command X001 Stop command X002C M1860 Position control Speed control CHANGE signal accept 1000 4 Servo program The servo program No 101 for speed position switching control and No 102 for restarting are shown below Speed position switching control Axis used Axis 4 Travel value 40000 Speed 1000 Res...

Page 230: ...ing signal CHANGE input Detects leading edge of X001 OFF ON Servo program No 102 execution request Turns ON servo program No 102 start command flag M105 at X001 leading edge Stops Axis 4 when the external stop command is input Turns OFF M105 on completion of servo program No 102 execution request Turns ON speed position switching enable flag M1865 M9039 M2000 PLS M101 K SVST J4 101 0 12 M9074 X000...

Page 231: ...Block Others Servo Instruction Positioning Method Number of Controllable Axes Parameter Block No Axis Address Travel Value Commanded Speed Dwell Time M Code Torque Limit Value Auxiliary Point Radius Center Point Control Unit Speed Limit Value Acceleration Time Deceleration Time Rapid Stop Deceleration Time Torque Limit Value Deceleration Processing on Stop Input Allowable Error Range for Circular ...

Page 232: ...ion 7 3 2 axes Linear Interpolation Control 3 ABS 3 INC 3 Designate 3 axes linear interpolation control The control details are described in Section 7 4 3 axes Linear Interpolation Control Speed switching point setting The address travel value to the speed switching point and the positioning speed are set using the following instructions 1 VABS Designates the speed switching point using the absolu...

Page 233: ...Axis 4 70000 P4 Speed 4000 VEND Start Start speed switching control Designate end address Designate speed switching points All speed switching points designated End speed switching control End YES NO Axis 4 positioning direction 0 Axis 3 positioning direction 60000 80000 60000 20000 70000 t 0 V 5000 Speed switching point P2 Speed switching point Stop P1 P2 P3 P4 P1 Servo program Operation timing F...

Page 234: ...teps approximately 100 points can be designated in a speed switching control program 5 When control is started a check is made to ensure that the end address lies in the stroke range If the check determines that positioning would result in an axis moving out of the stroke limit range the error code 106 is stored in the minor error register for the axis and operation does not start 6 Speed switchin...

Page 235: ...ng Servo program number No 500 Controlled axis Axis 2 Axis 3 End address 100000 50000 b Speed switching control start command leading edge of X000 OFF ON 3 Operation timing and speed switching positions The operation timing for speed switching control and the speed switching points are shown below Axis 2 positioning direction Axis 3 positioning direction 50000 100000 70000 40000 t V 5000 Start com...

Page 236: ...s 2 100000 Axis 3 50000 Indicated axis number Axis 2 Speed switching points 40000 70000 Speed to speed switching point 8000 5000 5 Sequence program The sequence program which runs the servo program is shown below Turns ON PLC ready Turns ON all axes servo start command Turns ON servo program No 500 start command flag M501 when X000 turns OFF ON Servo program No 500 execution request Turns OFF M501...

Page 237: ... e a d y M 2 0 0 0 A x i s 3 s t a r t a c c e p t f l a g M 2 0 0 3 2 0 0 0 8 0 0 0 O N O F F O N O F F O F F O N O F F O N A x i s 2 s t a r t a c c e p t f l a g M 2 0 0 2 FOR ON FOR OFF NEXT Must be set Set if required Control Details Setting the Start of the Repeated Range The start of the repeated range is designated using the following instructions 1 FOR TIMES number of loops setting a The ...

Page 238: ...am 2 1 Condition 1 Condition 2 Condition 3 FOR TIMES K1 K2 K3 FOR ON X010 ON from start X010 ON during first execution of 3 X010 ON during third execution of 3 FOR OFF X010 OFF from start X011 OFF during first execution of 3 X011 OFF during third execution of 3 K 701 VSTART INC 2 Axis 1 230000 Axis 2 100000 Speed 2000 VINC Axis 1 40000 Speed 2000 1 2 VINC Axis 1 30000 Speed 500 VINC Axis 1 20000 S...

Page 239: ...System configuration Speed switching control of Axis 2 and Axis 3 Start command X000 M A172B A172SHCPUN A172S ENC A1S X10 MR B MR B MR B MR B M M M Axis 1 Axis 2 Axis 3 Axis 4 Repeated instruction execution command X001 2 Positioning conditions a The speed switching control conditions are shown below Item Setting Servo program number No 501 Controlled axes Axis 2 Axis 3 End address 230000 100000 b...

Page 240: ... are shown below Axis 2 positioning direction Axis 3 positioning direction 50000 100000 50000 t V 50000 200000 150000 All axes servo start command M2042 All axis servo start accept flag M2009 Start command X000 SVST instruction Axis 2 start accept flag M2002 PLC ready M2000 Axis 3 start accept flag M2003 100000 Downloaded from ManualsNet com search engine ...

Page 241: ... 40000 FOR TIMES K 2 VINC Axis 2 30000 Speed 20000 VINC Axis 2 50000 Speed 40000 NEXT VEND Axis 2 230000 Axis 3 100000 Indicated axis number Axis 2 Travel value to speed switching point 30000 50000 Speed to speed switching point 20000 40000 5 Sequence program The sequence program which runs the servo program is shown below Turns ON PLC ready Turns ON all axes servo start command Turns ON servo pro...

Page 242: ...value can be changed at each pass point 6 From one to 4 axes can be controlled Procedure to Write Servo Programs The method to write servo programs for constant speed control is shown below Procedure Example Servo program for 2 axis constant speed control Start Designated constant speed controlled axes and speed Designate all pass points All pass points designated End constant speed control End K ...

Page 243: ...w Example Operation timing for 2 axes constant speed control 40000 60000 100000 P3 P2 P1 60000 80000 V 15000 10000 t Set speed Speed after speed switching Axis 2 positioning direction Axis 3 positioning direction Positioning speed for 2 axes linear interpolation Downloaded from ManualsNet com search engine ...

Page 244: ...screpancy within the allowable error range for circular interpolation exists between the designated end point address and the arc path calculated from the start address and center point address Therefore if the circular interpolation using center point designation positioning method is used under constant speed control ensure that the set start address center point address and end address lie corr...

Page 245: ...rs the error code 211 overrun error is stored in the minor error register for the axis 6 A maximum of 768 steps approximately 100 points can be designated in a constant speed control program 7 If positioning moves outside the stroke limit range after control is started the error code 106 is stored in the minor error register for the axis and a deceleration stop occurs 8 The minimum travel value be...

Page 246: ...OR OFF NEXT Must be set Set if required Control Details Setting the start of the repeated range The start of the repeated range is designated using the following instructions 1 FOR TIMES number of loops setting a The designated repeated range is executed the set number of times b The setting range is 1 to 32767 If an out of range setting between 32768 and 0 is designated control is executed with a...

Page 247: ...vo Program 2 1 Condition 1 Condition 2 Condition 3 FOR TIMES K1 K2 K3 FOR ON X010 ON from start X010 ON during first execution of 3 X010 ON during third execution of 3 FOR OFF X010 OFF from start X011 OFF during first execution of 3 X011 OFF during third execution of 3 CPSTART2 Axis 1 Axis 2 Resultant speed 1000 ABS 2 Axis 1 40000 Axis 2 20000 1 2 INC 2 Axis 1 30000 Axis 2 0 INC 2 Axis 1 20000 Axi...

Page 248: ...art command X000 M A172B A172SHCPUN A172S ENC A1S X10 MR B MR B MR B MR B M M M Axis 1 Axis 2 Axis 3 Axis 4 2 Positioning conditions a The constant speed control conditions are shown below Item Setting Servo program number No 510 Controlled axes Axis 2 Axis 3 Positioning speed 10000 b Constant speed control start command leading edge of X000 OFF ON Downloaded from ManualsNet com search engine ...

Page 249: ... Axis 3 start accept flag M2003 V All axes servo start command M2042 All axis servo start accept flag M2009 Start command X000 SVST instruction PLC ready M2000 t Axis 2 positioning direction Axis 3 positioning direction 50000 150000 200000 20000 40000 60000 80000 100000 10000 Radius 20000 100000 Downloaded from ManualsNet com search engine ...

Page 250: ...ND Axis 2 30000 20000 Axis 3 0 20000 Positioning Method 2 axes linear interpolation Circular interpolation Control Using Radius Designation Travel value 5 Sequence program The sequence program which runs the servo program is shown below Turns ON PLC ready Turns ON all axes servo start command Turns ON servo program No 510 start command flag M561 when X000 turns OFF ON Servo program No 510 executio...

Page 251: ...gnation flag M2016 see Section 3 2 6 can be turned ON before control is started to set the designated speed switching point as the end point for the speed change The speed change timing is shown below for the cases where the speed switching point designation flag M2016 is ON and OFF a M2016 is OFF The speed change starts at the designated speed switching point V t Speed change end point Speed chan...

Page 252: ... MR B MR B MR B MR B 2 Positioning conditions a The speed switching conditions are shown below Item Setting Servo program number 310 Positioning speed 10000 Positioning method 2 axes linear interpolation Circular interpolation using center point designation 2 axes linear interpolation 2 axes linear interpolation Axis 1 20000 30000 40000 50000 Pass point Axis 2 10000 20000 25000 40000 b Constant sp...

Page 253: ... direction Axis 2 positioning direction 20000 40000 20000 40000 10000 15000 Axis 1 start accept flag M2001 Axis 2 start accept flag M2002 All axes servo start command M2042 All axis servo start accept flag M2009 Start command X000 SVST instruction PLC ready M2000 Speed switching designation flag M2016 P1 P2 P3 P4 Center point Downloaded from ManualsNet com search engine ...

Page 254: ... The sequence program which runs the servo program is shown below Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready Servo program No 310 execution request Turns ON servo program No 310 start command flag M551 when X000 turns OFF ON Turns OFF M551 and M2016 on completion of servo program No 310 execution request X0010 M9039 M9074 M550 X0000 M2000 J1J2 310 K SVST 0 2 4 8 13 M9074 ...

Page 255: ...FIN acceleration Speed Change Start CPSTART1 1 End CPEND ABS 1 Absolute data 1 Pass point INC 1 Incremental 1 OK Must be set Set if required Control Details Starting and ending 1 axis constant speed control 1 axis constant speed control is started and ended using the following instructions 1 CPSTART1 Starts 1 axis constant speed control Sets the axis number used and the com manded speed 2 CPEND En...

Page 256: ... B MR B MR B 2 Positioning conditions a The constant speed control conditions are shown below Item Setting Servo program number 500 Controlled axis Axis 4 Positioning speed 10000 Number of repetitions 100 P1 1000 P2 2000 P3 2000 Pass point travel value P4 1000 b Constant speed control start command leading edge of X000 OFF ON 3 Details of positioning operation 1000 0 1 2 3 100 Address No of repeat...

Page 257: ...peed control Axis used Axis4 Positioning speed 10000 1 axis linear positioning control Axis used Axis4 Positioning address 1000 Set 100 repeats 1 axis linear positioning control Axis used Axis4 Positioning address 2000 1 axis linear positioning control Axis used Axis4 Positioning address 2000 End repeated region 1 axis linear positioning control Axis used Axis4 Positioning address 1000 End constan...

Page 258: ...s ON PLC ready Servo program No 500 execution request Turns ON servo program No 500 start command flag M561 when X000 turns OFF ON Turns OFF M561 on completion of servo program No 500 execution request M9039 M9074 X000 M9074 M560 M9074 M2009 M9076 M561 M2004 M2000 M2042 PLS SET J4 RST M560 M561 500 K M561 SVST 0 2 4 11 13 Downloaded from ManualsNet com search engine ...

Page 259: ...uxiliary Point Radius Center Point Control Unit Speed Limit Value Acceleration Time Deceleration Time Rapid Stop Deceleration Time Torque Limit Value Deceleration Processing on Stop Input Allowable Error Range for Circular Interpolation SCurve Ratio Commanded Speed constant speed Cancel Start Skip FIN acceleration Speed Change CPSTART2 2 CPSTART3 3 Start CPSTART4 4 End CPEND ABS 2 2 ABS 3 3 ABS 4 ...

Page 260: ...ructions 1 ABS 2 INC 2 Designates 2 axes linear interpolation control See Section 7 3 2 axes Linear Interpolation Control for details 2 ABS 3 INC 3 Designates 3 axes linear interpolation control See Section 7 4 3 axes Linear Interpolation Control for details 3 ABS 4 INC 4 Designates 4 axes linear interpolation control See Section 7 5 4 axes Linear Interpolation Control for details 4 ABS INC Design...

Page 261: ...xis 3 Axis 4 MR B MR B MR B MR B b Positioning conditions 1 The constant speed control conditions are shown below Item Setting Servo program number 505 Positioning speed 10000 Positioning method 2 axes linear interpolation Circular Interpolation Using Radius Designation 2 axis linear interpolation Axis 2 30000 50000 90000 Pass point Axis 3 30000 50000 100000 2 Constant speed control start command ...

Page 262: ...is 2 50000 Axis 3 50000 Radius 20000 ABS 2 Axis 2 90000 Axis 3 100000 CPEND Axis2 30000 Axis3 30000 Axis2 50000 Axis3 50000 Axis2 90000 Axis3 100000 d Sequence program The sequence program which runs the servo program is shown below Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready Servo program No 505 execution request Turns ON servo program No 505 start command flag M551 when ...

Page 263: ... A172SHCPUN Axis 1 Start command X000 A172B M M M M A172S ENC A1S X10 Axis 2 Axis 3 Axis 4 MR B MR B MR B MR B b Positioning details Positioning is performed by the Axis 1 Axis 2 Axis 3 and Axis 4 servomo tors The positioning by the Axis 1 Axis 2 Axis 3 and Axis 4 servomotors is shown in the diagram below Axis 1 Axis 4 Axis 2 Axis 3 Fig 7 30 Axis Configuration Downloaded from ManualsNet com search...

Page 264: ...itioning by 4 Axes Constant Speed Control c Positioning conditions 1 The constant speed control conditions are shown below Item Setting Servo program number 506 Positioning speed 10000 Positioning method 4 axes linear interpolation 4 axes linear interpolation 4 axes linear interpolation Axis 1 3000 5000 5000 Axis 2 4000 3500 3500 Axis 3 4000 4000 3000 Pass point Axis 4 4000 6000 6000 2 Constant sp...

Page 265: ...Axis 3 4000 Axis 4 6000 INC 4 Axis 1 5000 Axis 2 3500 Axis 3 3000 Axis 4 6000 CPEND Axis1 3000 Axis2 4000 Axis3 4000 Axis4 4000 Axis1 5000 Axis2 3500 Axis3 4000 Axis4 6000 Axis1 5000 Axis2 3500 Axis3 3000 Axis4 6000 e Sequence program The sequence program which runs the servo program is shown below Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready Servo program No 506 execution ...

Page 266: ...interpolation is designated at or beyond the point where the skip signal was designated set absolute linear interpolation up to that point Otherwise an error occurs and operation stops 2 When a skip signal is input at the final point deceleration to a stop occurs at that point and the program is ended Program example K 0 CPSTART2 Axis 1 Axis 2 Speed 10000 ABS 2 Axis 1 100000 Axis 2 200000 Speed 10...

Page 267: ...example 2 When the instruction immediately following the skip is an ABS instruction CPSTART1 Axis 1 Speed 10 000 INC 1 Axis 1 180 00000 Skip X100 ABS 1 Axis 1 350 00000 INC 1 Axis 1 270 00000 CPEND 0 180 350 260 degree 0 100 350 260 degree Motion when skip is not executed Motion when skip is executed when the skip occurs at 100 degree Program example Whether or not the skip occurs the final positi...

Page 268: ...l interpolation axes In this case turn ON the signal for one of the inter polating axes 3 When an M code is set at the final point positioning is completed after the FIN signal has gone from OFF to ON to OFF Program example K 0 CPSTART2 Axis 1 Axis 2 Speed 10000 FIN acceleration 100 ms deceleration ABS 2 Axis 1 200000 Axis 2 200000 M code 10 ABS 2 Axis 1 300000 Axis 2 250000 M code 11 ABS 2 Axis 1...

Page 269: ...ed the following processing and parameters are invalidated Rapid stop deceleration time in parameter block Completion point designation method for speed change point S curve acceleration deceleration 2 When the type of positioning operation shown below constant speed control is performed the speed processing for each axis is as shown below Positioning operation X Y Axis 1 Axis 2 Ay Ax Constant spe...

Page 270: ...on Time Deceleration Time Rapid Stop Deceleration Time Torque Limit Value Deceleration Processing on Stop Input Allowable Error Range for Circular Interpolation SCurve Ratio Cancel Start Speed Change PFSTART Absolute 1 OK Must be set Set if required Control Details Control Using PFSTART Instruction 1 Positioning to the address set with the word device of the servo system CPU designated in the serv...

Page 271: ...t 6 Positioning speeds can be set in the servo program using indirect designation with the word devices D and W However this set speed is valid only at the start of position follow up control on execution of SVST DSFRP instructions and the speed does not change if the indirect designations are changed while control is in progress Program Example 1 System configuration Position follow up control of...

Page 272: ...dress D50 PCPU ready M9074 Start accept flag M2001 n Positioning start completed M1600 20n Positioning completed M1601 20n Stop command M1800 20n Complete signal OFF command M1804 20n M code Torque limit value Command in position M1603 20n 4 Servo program The servo program No 100 for position follow up control is shown below Position follow up control Axis used Axis 3 Positioning address D50 Speed...

Page 273: ...CUIT END Turns ON PLC ready Servo program No 100 execution request Transfers No 100 servo program to D50 when X000 turns OFF ON Turns ON the stop command on completion of servo program No 100 execution request M9039 M9074 X0000 M1641 M1640 M2000 M2042 0 2 4 12 27 M2003 PLS M1840 J3 100 K SVST 100 D50 P K DMOV Downloaded from ManualsNet com search engine ...

Page 274: ...on servo program 3 Up to three servo programs can be designated 4 After the simultaneous start each axis is controlled by the designated servo program Cautions 1 A check is made at the simultaneous start An error occurs and operation does not start in the cases shown in the table below Stored Codes Error Error Processing D9189 D9190 Designated servo program does not exist START instruction designa...

Page 275: ...f servo programs designated a Designated servo programs 3 b Designated servo program numbers Servo Program No Axis Control Details 1 1 2 Circular interpolation control 14 3 Speed control 45 4 Zeroing control 3 Start conditions a Simultaneous start servo program number No 121 b Simultaneous start run command leading edge of X100 OFF ON 4 Servo program The simultaneous start servo program No 121 is ...

Page 276: ...dy Servo program No 121 execution request Turns ON servo program No 121 start command flag M122 when X000 turns OFF ON Turns OFF M122 on completion of servo program No 121 execution request M9039 M9074 X0000 M9074 M121 M9074 M2009 M9076 M122 M2001 M2000 M2042 PLS SET J1J3J4 RST M121 M122 121 K M122 SVST 0 2 4 11 13 M2002 M2003 M2004 Downloaded from ManualsNet com search engine ...

Page 277: ...7483 647 degree min 1 to 10000000 PLS s 20000 PLS s Sets the max speed during JOG operation The JOG speed limit value becomes the JOG operation speed if the JOG operation speed is set greater than JOG speed limit value 2 Parameter block setting 1 to 16 1 Sets the parameter block number used for JOG operation 4 4 1 JOG operation data check A relative check of the JOG operation data is executed at t...

Page 278: ...ge JOG Operation JOG Operation Setting Register JOG Operation JOG Operation Setting Register mm inch degree PULSE No Forward JOG Reverse JOG Most Significant Least Significant Forward JOG Reverse JOG Most Significant Least Significant Setting Range Units Setting Range Units Setting Range Units Setting Range Units 1 M1802 M1803 D965 D964 M1802 M1803 D965 D964 2 M1822 M1823 D971 D970 M1822 M1823 D97...

Page 279: ...eration signal turns ON during deceleration which was started when the JOG operation signal turned OFF JOG operation is not performed after the axis has decelerated to a stop JOG operation is started when the JOG operation signal is turned from OFF to ON after that t V OFF JOG operation JOG operation signal ON 3 JOG operation cannot be started by the JOG operation signals M1802 20n M1803 20n in a ...

Page 280: ...eration commands 1 Forward JOG operation X000 ON 2 Reverse JOG operation X001 ON 3 Sequence program Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready Stores JOG operation speed 1000 in D982 D983 when X000 or X001 is ON Turns OFF M140 when X000 and X001 turn OFF M9039 M9074 X0000 M9074 M2009 M2000 M2042 1000 RST D982 K M140 DMOV 0 2 4 18 22 M9076 M140 M140 M1862 M1863 X0000 X0001...

Page 281: ...un JOG operation Setting Axis 1 and Axis 2 to forward JOG operation and Axis 4 to re verse JOG operation using the MOV instruction 1 set as a hexadecimal value H 2 set as a decimal value K MOV H0803 D1015 MOV K2051 D1015 3 The JOG operation speed setting registers are described below A172SHCPUN A171SHCPUN Setting Range JOG Operation JOG Operation Setting Register JOG Operation JOG Operation Settin...

Page 282: ...ection Forward Forward Reverse b JOG operation command X000 ON 3 Sequence program CIRCUIT END Turns ON all axes servo start command Turns ON PLC ready Stores the JOG operation speed for each axis in the appropriate JOG operation speed setting registers Stores in D1015 JOG operation axes while X000 is ON Turns ON M141 when setting is complete for simultaneous start axes and JOG operation speeds M90...

Page 283: ...speed are shown below for positioning control due to manual pulse generator output a Travel value The travel value due to the input of pulses from a manual pulse generator is calculated using the following formula travel value travel value per pulse number of input pulses manual pulse generator input multiplication factor setting The travel value per pulse during manual pulse generator operation i...

Page 284: ...and Axis 4 with the manual pulse generator MOVP K34 D1012 Axis 3 and Axis 4 designated 4 Manual pulse generator 1 pulse input magnification a The magnification for setting for a 1 pulse input from the manual pulse gen erator is set for each axis A172SHCPUN 1 Pulse Input Mag nification Setting Register Corresponding Axis No Setting Range D1016 Axis 1 D1017 Axis 2 D1018 Axis 3 D1019 Axis 4 D1020 Axi...

Page 285: ...mooth the leading edge and trailing edge of manual pulse generator operation Manual Pulse Generator Smoothing Magnification Setting Register Setting Range D9192 0 to 59 a Operation t V t t t ON OFF V1 Manual pulse generator input Manual pulse generator enable flag M2012 Output speed V1 number of input pulses ms manual pulse generator 1 pulse input magnification setting Travel value L travel value ...

Page 286: ...lag is validated the manual pulse generator input enabled status is established the start accept flag comes ON and input from the manual pulse generator is ac cepted 4 If the manual pulse generator enable flag for another manual pulse generator No is turned ON for an axis currently performing manual pulse generator op eration error 214 is set for the relevant axis and the input of that manual puls...

Page 287: ...n below Set manual pulse generator 1 pulse input magnification Set manual pulse generator operation axes Turn ON manual pulse generator enable flag End Positioning by manual pulse generator Turn OFF manual pulse generator enable flag using a sequence program using a sequence program Start Downloaded from ManualsNet com search engine ...

Page 288: ...ual pulse generator operation enable leading edge of X000 OFF ON d Manual pulse generator operation complete leading edge of X001 OFF ON 3 Sequence program A sequence program for manual pulse generator operation is shown below Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready Sets axis Axis 1 for manual pulse generator operation Detects leading edge of X000 OFF ON Axis 1 manual ...

Page 289: ... amplifier which does not support ab solute data and the data set method is recommended for a servo amplifier which sup ports absolute data 3 Home position address 2147483648 to 2147483647 10 1 µm 2147483648 to 2147483647 10 5 inch 0 to 35999999 10 5 degree 2147483648 to 2147483647 PLS 0 Sets the current value of the home position after zeroing It is recommended that the home position address is s...

Page 290: ...e Zeroing operation Deceleration distance shaded area under graph Change in speed per millisecond t 75 Set greater than 75 1 2 VZ VP t TB VZ 1000 VZ 2000 TB VZ VP 10 10 3 2000 300 10 10 3 200 10 POINT A zeroing must be made after the servo motor has been rotated more than one revolution to pass the axis through the Z phase motor reference posi tion signal For a proximity dog type or count type zer...

Page 291: ...rom the servo data The travel value in this range is stored in the monitoring register Home position return second travel value Fig 7 33 Operation of Zeroing by the Proximity Dog Method 3 Running zeroing To run zeroing use the servo program described in Section 7 21 5 4 Cautions Take note of the following points during zeroing by the proximity dog method a Keep the proximity dog ON during decelera...

Page 292: ...FF is very close to a zero point the creep speed and deceleration settings may result in a home position discrepancy equivalent to one revolution of the motor ON OFF Zero point Proximity dog IMPORTANT 1 In the following cases before starting the zeroing use JOG operation or some other method to return the axis to a position before where the proximity dog turned ON Zeroing will not start unless the...

Page 293: ...rried out from this position to the zero point The distance to the zero point is determined from the servo data The travel value in this range is stored in the monitoring register Travel value after proximity dog turns ON The travel value in this range is stored in the monitoring register Zeroing second travel value Fig 7 34 Operation of Zeroing by the Count Method 3 Running zeroing To run zeroing...

Page 294: ...roing use the servo program described in Section 7 21 5 4 Cautions a A zero point must be passed between turning on the power and executing zeroing A no zero point passed error occurs if zeroing is executed before a zero point is passed After a no zero point passed error occurs reset the error and turn the servomotor at least one revolution using JOG operation before running the zeroing operation ...

Page 295: ... be set Control Details 1 Zeroing is carried out using the method designated in the zeroing data see Section 7 21 1 Refer to the following sections for details about the zeroing methods Proximity dog method Section 7 21 2 Count method Section 7 21 3 Data set method Section 7 21 4 Caution 1 If the following circuit conducts zeroing using the proximity dog method after the PLC ready flag M2000 turns...

Page 296: ...wn below Zeroing Axis used Axis4 K 0 ZERO Axis 4 3 Sequence program example The sequence program which runs the servo program is shown below Turns ON all axes servo start command CIRCUIT END Turns ON PLC ready Servo program No 0 execution request Turns ON servo program No 0 start command flag M1 when X000 turns ON Turns OFF M1 on completion of servo program No 0 execution request M9039 M9074 X0000...

Page 297: ...l Start Speed Change OSC 1 NG Must be set Set if required Control details The designated axis caused to oscillate on a designated sine wave Acceleration deceleration processing is not performed Amplitude 0 Starting angle 360 degree 1 Amplitude Designate the amplitude of the oscillation in the setting units The amplitude can be set in the range 1 to 2147483647 2 Starting angle Set the angle on the ...

Page 298: ...he frequency setting is outside the permissible range the servo program setting error 27 occurs and operation does not start 4 After starting operation is continually repeated until a stop signal is input 5 Speed changes during operation are not possible Attempted speed changes will cause minor error 310 Example program An example of a program for high speed oscillation is shown below K 5 OSC Axis...

Page 299: ...utput function Section 8 2 3 Backlash compensation function Section 8 3 4 Torque limit function Section 8 4 5 Electronic gear function Section 8 5 6 Absolute positioning system Section 8 6 7 Skip function Section 8 7 8 Teaching function Section 8 8 9 High speed reading of designated data Section 8 9 10 Servo program cancel start function Section 8 10 11 Enhanced Current Value Control Section 8 11 ...

Page 300: ...puts the ON OFF pattern from the A1SY42 AY42 at the set addresses Before running the limit switch output function the ON OFF point addresses and the ON OFF pattern must be set from a peripheral device Settings cannot be made by the sequence program The number of limit switch outputs per axis and the ON OFF points are as follows a Number of limit switch output points 8 points axis total 64 points b...

Page 301: ...Limit switch output used not used setting in the fixed parameters is set to used Disable bit 1 Outputs corresponding to disable bits set to 1 are OFF Enable bit 0 Limit switch output disable setting registers D1008 and D1009 Point Outputs corresponding to enable bits set to 0 output an ON OFF pattern based on the set ON OFF pattern While M1806 20n is ON REMARK The data in Table 8 1 is also valid d...

Page 302: ...es under interpolation control b To read an M code on positioning start completion use the positioning start completion signal M1600 20n as the read command c To read an M code on positioning completion use the positioning completion signal M1601 20n as the read command Position control or speed control Dwell time ON V t ON ON ON OFF OFF OFF OFF Set M code number is stored PLC ready flag M2000 DSF...

Page 303: ...A sequence program to read M codes is shown below using the following conditions 1 Axis used Axis 3 2 Processing on positioning start due to M code M code number output as BCD code from Y110 to Y118 3 Processing on positioning completion due to M code a if M code 3 turn ON Y120 b if M code 5 turn ON Y121 c if M code is not 3 or 5 turn ON Y122 b The sequence program based on the above conditions is...

Page 304: ...Setting the backlash compensation amount The backlash compensation amount is one of the fixed parameters and is set for each axis using a peripheral device The setting range differs according to whether mm inch degree or pulse units are used as shown below a Millimeter units 0 to 6553 5 Backlash compensation amount 0 Travel value per pulse 65535 PLS Decimal fraction rounded down b Inch or Degree U...

Page 305: ...on after travel direction change Positioning start Backlash compensation if travel direction changed Manual pulse generator operation If travel direction changed Zeroing start Backlash compensation amount is valid after zeroing is started Absolute position system Status stored at power off and applied to absolute position system POINTS 1 The feed pulses equivalent to the backlash compensation amou...

Page 306: ...mit value Set the torque limit value using a peripheral device as described below a Setting in the Parameter Block See Section 4 4 Set the Torque limit value parameter in the parameter block Using the servo program to designate which parameter block number is used allows the servomotor torque to be controlled to a torque limit value for any positioning control b Setting with a Servo Program Design...

Page 307: ... Torque limit value setting BLOCK 3 PULSE SET DATA SETTING RANGE A CONTROL UNIT B SPEED RESTRICTION C ACCELERATION TIME D DECELERATION TIME E SHORT STOP TIME F S RATIO G TORQUE LIMIT H STOP METHOD I CIRCULAR ERROR RANGE 3 200000 1000 1000 1000 0 100 0 100 0 mm 1 inch 2 degree 3 PULSE 1 1000000 PLS s 1 65535 ms 1 65535 ms 1 65535 ms 0 100 1 500 0 DECEL STOP 1 SHORT STOP 0 100000 PLS 2 3 4 5 6 7 8 9...

Page 308: ...tronic gear 1 1 electronic gear setting 1 Travel value per motor revolution 10 mm Travel value per pulse Pulses per motor revolution 10000 PLS 0 001 mm PLS Positioning control is executed at the commanded speed 2 Electronic gear 2 1 electronic gear setting 0 5 Travel value per motor revolution 5 mm Travel value per pulse Pulses per motor revolution 10000 PLS 0 0005 mm PLS Positioning control is ex...

Page 309: ...ed speed actual speed if electronic gear setting 1 commanded speed actual speed 1 electronic gear setting 1 2 electronic gear setting 1 3 electronic gear setting 1 V t Actual acceleration time Actual deceleration time Set acceleration time Commanded speed Speed limit value 1 2 3 The speed limit value acceleration time and deceleration time are data from the designated parameter block Set decelerat...

Page 310: ...position system startup Adjust Machine Position Adjust machine to home position Turn On Power Turn on the servo amplifier and servo system CPU power Set Positioning Parameters Set the following positioning parameters System setting Fixed parameters Servo parameters Zeroing data Parameter block Sense Absolute Position Make a sense absolute position request from the sequence program or a peripheral ...

Page 311: ...without restriction the multiple revolution data and within one revolution data read from the encoder is displayed Note For the encoder current value in the home position data area the encoder current value when the motor is within the in position range after completion of a zeroing is displayed not the encoder value at the home position 3 Servo command value The command value issued to the servo ...

Page 312: ...e this problem by setting the units to degrees or by setting a rotary table when using SV22 2 Even when the current value address is changed by a current value change instruction the restored data for the current value after a power interruption is the value based on the status prior to execution of the current value change instruction 3 When zeroing has not been completed restoration of the curre...

Page 313: ...es not start if the STOP signal stop command M1800 20n or rapid stop command M1801 20n is ON Turn M1809 20n ON to use the skip function The external STOP signal becomes invalid when the next positioning starts Operation stop confirmed when start accept flag M2001 n turns OFF 2 Operation timing The operation timing of the skip function is shown in the diagram below PLC ready M2000 OFF OFF OFF OFF O...

Page 314: ...ng methods are available address teaching and program teaching a Address teaching Writes the current value to the designated program address The program must be created before the address teaching method can be used b Program teaching Writes the current value to addresses while the program is being created 2 For details about teaching see the A30TU Teaching Unit Operating Manual IB 67277 Downloade...

Page 315: ...ree PLS Position droop deviation counter value 2 PLS M codes 1 Torque limit value 1 Motor current 1 Motor rpm 2 r min Servo command value 2 PLS Virtual servo motor feed current value 2 PLS Synchronous encoder current value 2 PLS Virtual servo M code 1 Current value after main shaft differential gear 2 PLS Current value within one revolution of cam axis 2 PLS Executed cam No 1 Executed stroke amoun...

Page 316: ...1 Cancel signal device The devices that can be used as cancel signal devices are indicated below X Y M TC TT CC CT B F 2 Start selectable item setting method Set by indirect designation 1 word by using a constant K or D W devices Notes 1 Cannot be used with the home position return instruction ZERO or simultaneous start instruction START For details on whether other instructions can be used or not...

Page 317: ...IARY AND APPLIED FUNCTIONS 8 19 Program example A program example is shown bellow Cancel signal X0 Start K2 K 0 ABS 1 Axis 1 30000 Speed 5000 Cancel X0000 Start K 2 Downloaded from ManualsNet com search engine ...

Page 318: ...value and monitor current value at power on sequence Encoder current value servo commanded value and monitor current value at power off sequence Encoder current value servo commanded value and monitor current value at home position return c If an allowable travel value is set at power off sequence whether encoder data has changed exceeding the setting range at power off sequence can be checked at ...

Page 319: ...TEP RUN 11 Stopped The parameter data in the CPU s memory has been changed due to noise or incorrect installation of the memory 1 Check the installation of the memory and install it correctly 2 Read the parameter data of the CPU memory at a peripheral device check the data correct it and write the corrected data back into the memory MISSING END INS When M9056 or M9057 is ON On switching from STOP ...

Page 320: ...heck if there is an IRET instruction other than in the interrupt program if there is delete it CASSETTE ERROR On switching on the power or resetting 16 Stopped No memory cassette is installed Install a memory cassette and reset RAM ERROR On switching on the power or resetting When M9084 is turned ON in the STOP status 20 Stopped 1 On checking if data can be read from and written to the CPU data me...

Page 321: ...agent or office and explain the problem with the defective module unit SP UNIT DOWN When FROM TO instruction are executed On switching on the power or resetting On switching from STOP PAUSE to RUN STEP RUN 41 Stopped On execution of a FROM TO instruction a special function module was accessed but no response was received 1 The accessed special function module is faulty There is a hardware fault in...

Page 322: ... the parameters again and check 2 If the error is displayed again there is a hardware fault Contact your nearest Mitsubishi system service agent or office and explain the problem OPERATION ERROR When a command is executed 50 RUN Stopped 1 The result of BCD conversion is outside the stipulated range max 9999 or 99999999 2 A setting exceeding the stipulated device range has been made and operation i...

Page 323: ...rvo programs they are assigned error codes 1 to 999 The cause of minor errors can be eliminated by checking the error code and correcting the sequence program or servo program 2 Major error These are errors generated by external input signals or control commands from the SCPU they are assigned error codes 1000 to 1999 When a major error occurs check the error code and eliminate the error cause in ...

Page 324: ...ed the existing error code is overwritten deleting it However it is possible to check the history of error occurrence by using a peripheral device started up with the GSV13PE GSV22PE software d Error detection flags and error codes are latched until the error code reset signal M1807 20n or servo error reset signal M1808 20n comes ON POINTS 1 When some servo errors occur the same error code will be...

Page 325: ...t value set in the designated parameter block Set the torque limit value in the range from 1 to 500 1 An address outside the designated range is set when executing absolute positioning control Unite Address Setting Range degree 1 to 35999999 10 5 degree 1 If the control unit is degrees set the address in the range 0 to 35999999 n08 Auxiliary point setting error when executing circular interpolatio...

Page 326: ...start program No within the range 0 to 4095 and then start 25 High Speed oscillation command amplitude error Operation cannot be started because the amplitude commanded for the high speed oscillation function is outside the range 1 to 2147483647 Positioning control does not start Set the commanded amplitude within the range 1 to 214783647 and then start 26 High Speed oscillation command starting a...

Page 327: ...g is started The creep speed is set outside the range of 1 to the zeroing speed Set the creep speed at or below the zeroing speed by using a peripheral device 24 When a count type zeroing is started The travel value after the proximity dog comes ON is outside the range ON2 31 1 unit Set the travel value after the proximity dog to within the permissible range with a peripheral device 25 Zeroing dat...

Page 328: ...inside the stroke range using JOG operation Enter inside the stroke range by executing a zeroing or current value change 106 Positioning outside the stroke limit has been designated Positioning end point must be within the specified stroke limit 107 An address that does not generate an arc was designated in circular interpolation for which an auxiliary point is designated Error in relationship bet...

Page 329: ...trol does not start Set an address for positioning in the forward direction 120 ZCT not set During second travel in dog type or count type zeroing or when data set type zeroing is started the zero pass signal M1606 20n is OFF Zeroing is not completed correctly Carry out the zeroing after the home position has been passed 136 A VVF VVR instruction has been used for an MR B axis MR B axes cannot be ...

Page 330: ... device by pressing the Back Space key Axis motion stops immediately In the case of a proximity dog type zeroing use JOG operation or positioning operation to return the axis to the point before the proximity dog signal was output and re attempt zeroing If the proximity dog signal is turned OFF when executing a count type zeroing use JOG operation or positioning operation to return the axis to the...

Page 331: ...rator operation after the axis has stopped The speed switching point address is greater than the end point address An address to control positioning in the opposite direction was set during speed switching control Set the speed switching point within the range from the previous speed switching point address to the end point address 215 The same servo program was been executed a second time A rapid...

Page 332: ...speed of an axis executing circular interpolation cannot be changed 303 An attempt was made to change the speed of an axis after automatic deceleration had started in positioning The speed of an axis cannot be changed after automatic deceleration has started 304 An attempt was made to change the speed of an axis during deceleration initiated by turning OFF the JOG operation start signal M1802 20n ...

Page 333: ...rvo amplifier power is switched ON the motor type set in the system settings differs from the motor type actually installed Checked only when using MR J2 B Correct the motor type setting in the system settings 901 When the servo amplifier power is switched ON the motor travel value while the power was OFF is found to have exceeded the Power of Allowed Traveling Points setting made in the system se...

Page 334: ... LS signal was turned OFF Move the axis in the reverse direction in the JOG mode until it enters the external limit range 1002 When positioning was started in the reverse direction addresses decreasing the external RLS lower limit LS signal was turned OFF Move the axis in the forward direction in the JOG mode until it enters the external limit range 1003 When proximity type zeroing was started the...

Page 335: ...ward direction in the JOG mode until it enters the external limit range 1103 The external STOP signal stop signal was turned ON while the axis was moving Axis motion decelerates to a stop in accordance with the deceleration processing on STOP input setting in the parameter block When executing a proximity dog type zeroing move the axis to a point before the proximity dog in the JOG mode and then e...

Page 336: ...gain 1203 During operation the amount of change in the encoder current value complies with the following expression Amount of change in encoder current value 3 5 ms 180 of motor revolution After the servo amplifier power has been turned ON a continual check is performed in both servo ON and OFF states 1204 During operation the following expression holds Encoder current value PLS feedback current v...

Page 337: ...r warnings Note 1 When an excessive regeneration error code 2030 or overload 1 or 2 error codes 2050 2051 occurs the state that applied when the error occurred is stored in the servo amplifier even after the protection circuit has operated The memory contents are cleared if the external power supply is turned OFF but are not cleared by the reset signal 2 Repeated resetting by turning OFF the exter...

Page 338: ...ncoder cable is loose Replace the servomotor Replace the encoder cable 2017 PCB error Faulty device in the servo amplifier PCB When the servo amplifier power is turned ON At the leading edge of the PLC READY flag M2000 When a servo error is reset When the power to the servo system CPU is turned ON Replace the servo amplifier 2019 Memory error 3 Servo amplifier flash ROM check sum error When the se...

Page 339: ...ircuited with each other Check if there is a short circuit between U V W of the servo amplifier outputs U V W in the servo amplifier outputs have shorted to ground Check if U V W of the servo amplifier outputs have been grounded to the ground terminal Check if U V W of the servomotor are grounded to the core If grounding is found replace the servo amplifier and or motor Incorrect wiring of U V W p...

Page 340: ...is obstructed Check if the temperature inside the panel is too high range 0 to 55 C Check if the electromagnetic brake was actuated from an external device during operation Replace the servo amplifier The servomotor is overloaded If the effective torque of the servomotor is high reduce the load The servomotor and regenerative option are overheated Check the ambient temperature of the servomotor ra...

Page 341: ... of the encoder cable Replace the servomotor Replace the servo amplifier 2140 Excessive regeneration warning An excessive regeneration error 2030 is likely to occur regeneration of 85 of the maximum load capacity for the regenerative resistor has been detected Refer to the details on the excessive regeneration error 2030 2141 Overload warning An overload error 2050 2051 is likely to occur 85 of ov...

Page 342: ...n control gain 1 2314 Speed control gain 1 2315 Position control gain 2 2316 Speed control gain 2 2317 Speed integral compensation 2318 Notch filter 2319 Feed forward coefficient 2320 In position range 2321 Electromagnetic brake sequence output 2322 Monitor output mode selection 2323 Optional function 1 2324 Optional function 2 2325 Optional function 3 2326 Optional function 4 2327 Monitor output ...

Page 343: ...d coefficient 2620 In position range 2621 Electromagnetic brake sequence output 2622 Monitor output mode selection 2623 Optional function 1 2624 Optional function 2 2625 Optional function 3 2626 Optional function 4 2627 Monitor output 1 offset 2628 Monitor output 2 offset 2629 Pre alarm data selection 2630 Zero speed 2631 Excessive error alarm level 2632 Optional function 5 2633 Optional function ...

Page 344: ...normally 02 A receiving packet CRC code is invalid Check whether there is a noise source near the PC Check whether the communication cable has been connected firmly Check whether the communication cable has been broken 03 A receiving packet data ID is invalid Check whether the A30BD PCF or A30CD PCF has been mounted normally Replace the A30BD PCF or A30CD PCF 04 The number of received frames is in...

Page 345: ...he RESET key switch Start is disabled The amplifier type set in the system settings MR H BN MR J2S B MR J2 B disagrees with the amplifier type actually installed When the servo amplifier power is turned ON Servo operation does not start for the relevant axis only Starting of this axis is disabled System setting error flag M2041 ON Set the system settings correctly in accordance with the modules ac...

Page 346: ... an error occurs as a result of self diagnosis M9009 Annunciator detection OFF No F number detected ON F number detected Comes ON when OUT F SET F instructions are executed Goes OFF when 0 is stored in D9124 M9010 Operation error flag OFF No error ON Error Comes on when an operation error occurs during execution of an application instruction goes OFF when the error is cleared M9011 Note 1 Operatio...

Page 347: ... position When the key switch is at a position other than STOP M9038 comes ON for one scan only and M9039 goes OFF for one scan only M9040 PAUSE enable coil OFF PAUSE disable ON PAUSE enabled M9041 PAUSE status contact OFF PAUSE not in effect ON PAUSE in effect When the RUN STOP key switch is set to PAUSE or the remote PAUSE contact is turned on provided M9040 is ON the PAUSE status is established...

Page 348: ...st error flag M9079 Servo program setting error flag PCPU SCPU END POINTS 1 All special relays M are turned OFF by turning the power OFF performing latch clear or resetting with the RESET key switch When the RUN key switch is set to STOP the special relay settings are retained 2 The special relays Note 1 in the table above remain ON even after a return to normal They must therefore be turned OFF b...

Page 349: ...ime the input voltage becomes 80 or less of the rating while the CPU module is performing an operation and the value is stored in BIN code D9008 Note 1 Self diagnostic error Self diagnostic error number 1 is added to the stored value when an error is found as a result of self diagnosis the error number and the value is stored in BIN code D9009 Annunciator detection F number at which external failu...

Page 350: ...e Minimum scan time 10 ms units At each END instruction if the scan time is shorter than the contents of D9017 the new value is stored in this register In other words the minimum value for scan time is stored in D9017 in BIN code D9018 Scan time Scan time 10 ms units The scan time is stored in BIN code at each END instruction and is always rewritten D9019 Scan time Maximum scan time 10 ms units At...

Page 351: ...e in D9028 as shown below B11 B8 B15 B12 B7 B4 B3 B0 0 must be set here Example Friday H 0005 Day of week 0 Sunday 1 Monday 2 Tuesday 3 Wednesday 4 Thursday 5 Friday 6 Saturday The element numbers for priorities 1 to 4 D9038 and 5 to 7 D9039 for the lighting or flashing of the ERROR LED when an error occurs are set and changed B15 B12B11 B8 B7 B4 B3 B0 5 B15 B12B11 B8 B7 B4 B3 B0 4 3 2 1 position ...

Page 352: ...n after returning to normal it must be cleared with a program D9124 Annunciator detection quantity Number of detected annunciators When one of F0 to 255 is turned on by an OUT F or SET F 1 is added to the contents of D9124 When the RST F or LED R instruction is executed 1 is subtracted from the contents of D9124 The number of annunciators that has been turned on by OUT F or SET F is stored in D912...

Page 353: ...he program and turn on the clear execution command contact to clear the contents of the register b Using a peripheral device Using the test function of a peripheral device set the register to 0 by using present value change or forced reset For details on the operation involved refer to the manual for the relevant peripheral device c Set the special register to 0 by setting the RESET key switch on ...

Page 354: ...or each of the bits in D9180 through D9183 1 1 ON 2 0 OFF 2 A171SHCPUN b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 D9180 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00 For axis 2 For axis 1 D9181 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10 For axis 4 For axis 3 1 or 0 is stored for each of the bits in D9180 through D918...

Page 355: ...2SHCPUN is used b15 b8 b3 b0 D9187 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 0 p1 0 p1 1 pulse input magnification setting error 0 Normal 1 Setting error When the input magnification setting is outside the range 1 to 100 Manual pulse generator smoothing magnification setting error 0 Normal 1 Setting error When the magnification setting is outside the range 0 to 59 Manual pulse genera...

Page 356: ...o the relevant setting item is stored in this device See Appendix 2 1 D9191 Servo amplifier installation information Servo amplifier installation information When the power is turned ON or on resetting the servo amplifier and option slot installation statuses are checked and the results stored in this device 1 When an A172SHCPUN is used 0 Axis5 Axis6 Axis7 Axis8 Axis1 Axis2 Axis3 Axis4 b15 b8 b7 b...

Page 357: ... instruction and RST instruction The format for a program for shifting data one word to the left by using the BMOV P instruction and RST instruction is shown in Figure 4 1 BMOV P S D1 n RST D2 Execution command Note 1 S D1 D2 and n are explained below S D2 Head number of the devices to be shifted to the left D1 Number of word device designated by S 1 device n Number of shifted devices 2 Note BMOV ...

Page 358: ... 600 336 3802 32765 5003 0 0 Before execution After execution Program Example K CIRCUIT END 0 X000B P BMOV D683 D684 6 D683 RST 3 Execution condition The execution condition when the BMOV instruction and BMOVP instruction are used is as follows OFF ON executed each scan Executed once only Execution command BMOV instruction BMOVP instruction Executed once only executed each scan Example Downloaded ...

Page 359: ...program for shifting data one word to the right by using the BMOV P instruction and RST instruction is shown in Figure 4 2 BMOV P S D1 n RST D2 Execution command Note 1 S D1 D2 and n are explained below S Head number of the devices to be shifted to the right D1 Number of word device designated by S 1 device D2 Final device number of word devices to be shifted to be shifted to right n Number of shi...

Page 360: ...Before execution 0 100 503 600 336 3802 32765 After execution Program Example K 6 CIRCUIT END 0 X000B P BMOV D684 D683 D689 RST 3 Execution condition The execution condition when the BMOV instruction and BMOVP instruction are used is as follows OFF ON executed each scan Executed once only Execution command BMOV instruction BMOVP instruction Executed once only executed each scan Example Downloaded ...

Page 361: ...de is shown here Y0000 BCD Axis 1 positioning start completed signal M1600 CIRCUIT END 0 K4 D813 P A172SHCPUN A172B A 172S ENC A1S X10 A1S Y40 Y000 to Y00F Power supply module Y000 to Y00F designation M code storage area for axis 1 BCD conversion instruction System configuration Sequence program 2 A program that outputs the M code for axis 1 from Y000 to Y00F to an external destination on completi...

Page 362: ...fter sufficient time has elapsed for error codes to be written in the various error code storage areas after M1607 20n M1608 20n comes ON Program Example 1 A program that converts the error code to BCD and outputs it to Y000 to Y00F when an axis 1 error occurs minor error major error is shown here A172SHCPUN A172B A 172S ENC A1S X10 A1S Y40 Y000 to Y00F Power supply module Y000 to Y00F designation...

Page 363: ...parison processing intended operation may not be performed if the monitor data is transferred every processing as shown in program example 1 In program example 1 neither Y1 nor Y2 may turn ON This also applies to the case of 16 bit monitor data This is because the S value varies asynchronously with the sequencer scan To perform such processing transfer the monitor data to another device memory onc...

Page 364: ...e real current value by the set value Execution command DMOVP S D1 D2 D3 D D1 1 S D1 D2 and D3 indicate the following S Real current value D1 Device memory for temporary storage D2 Division D3 Operation result storage device Downloaded from ManualsNet com search engine ...

Page 365: ...ter 2 Control unit 1 Speed limit value 2 Acceleration time 1 Deceleration time 1 Rapid stop deceleration time 1 Torque limit value 1 STOP input deceleration 1 Circular interpolation error allowance range 2 Parameter block S curve comparison 1 Program number 1 Simultaneous start FIN acceleration time 1 Start program number 1 Cancel start Repeat condition number of repetitions 1 Device Range X 000 t...

Page 366: ...d Notes Start by SVST instruction Designate data in devices Set the cancel command device to ON Automatic start by cancel start Set data in the indirectly designated device chosen by the start program Turns the cancel command device ON Don t change the indirectly designated device until the positioning start completion signal of the start axis goes ON Designating loop FOR NEXT point data in the CP...

Page 367: ...r 50 CHGT 24 END 1400 3 CPU processing time ms CPU A172SH A171SH Number of set axes 1 to 8 1 to 4 Servo program start processing time Note 1 4 to 11 4 to 11 Speed change response 0 to 4 0 to 4 Torque limit value change response 0 to 4 0 to 4 Simultaneous start processing time Note 2 7 to 17 7 to 17 Time from PLC ready flag M2000 ON to PCPU ready flag M9074 ON 50 to 600 50 to 350 Note 1 The FEED in...

Page 368: ...20 to M1739 17 Unusable 18 Unusable 19 M code output in progress PCPU SCPU 3 5ms 8 M1740 to M1759 5 Axis command signals Axis No SV13D Device Number SV13G Device Number Signal Name 1 M1800 to M1819 M1800 to M1819 Signal Name Signal Direction Refresh Cycle Fetch Cycle 0 Stop command 1 Rapid stop command 3 5ms 2 M1820 to M1839 M1820 to M1839 2 Forward JOG start 3 Reverse JOG start 4 End signal OFF c...

Page 369: ...gister Comman d unit SCPU PCPU 3 5ms 7 D920 to D939 17 18 Real current value when STOP is input Comman d unit END 19 Data set pointer for constant speed control PCPU SCPU At driving or during driving 8 D940 to D959 7 Control change registers Axis No SV13D Device Number SV13G Device Number Signal Name 1 D960 to D965 D960 to D965 Signal Name Unit Signal Direction Refresh Cycle Fetch Cycle 0 1 Curren...

Page 370: ...e flag SCPU PCPU 10ms M2013 M2013 M2014 Unusable 2 points M2014 Unusable 2 points M2015 JOG simultaneous start command 10ms M2015 JOG simultaneous start command 10ms M2016 CPU completion point setting SCPU PCPU Start timing M2016 CPU completion point setting SCPU PCPU Start timing M2017 M2017 M2018 M2018 M2019 Unusable 3 points M2019 Unusable 3 points M2020 Start buffer full M2020 Start buffer ful...

Page 371: ...anual pulse generators 8 points SCPU PCPU Manual pulse generator operation enabled D1023 Unusable 4 points 9 Special relays Device number Signal name Signal direction Refresh cycle Fetch cycle M9073 PCPU WDT error flag M9074 PCPU ready completion flag M9075 Test mode flag M9076 External rapid stop input flag M9077 Manual pulse generator axis setting error flag M9078 Test mode request error flag M9...

Page 372: ...HI DENKI BLDG MARUNOUCHI TOKYO 100 TELEX J24532 CABLE MELCO TOKYO NAGOYA WORKS 1 14 YADA MINAMI 5 HIGASHI KU NAGOYA JAPAN IB NA 67396 C 0107 MEE Printed in Japan Specifications subject to change without notice Downloaded from ManualsNet com search engine ...

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Mitsubishi Electric A171SHCPUN, Programming Manual

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