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Mitsubishi Electric A173UHCPU, Programming Manual

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7. POSITIONING CONTROL

7

−

3

(b) Long-axis speed designation

The control of each axis is based on the positioning speed (long-axis speed:
V) set for the axis whose positioning address is the greatest distance from
the current position.
The servo system CPU uses the travel value of each of the other axes (D

1

to D

4

) to calculate the positioning speed of each axis (V

1

to V

4

).

Set the long-axis speed and the travel value of each axis in the servo
program.

4-axes linear interpolation control

Axis 1 travel value:

D

1

= 10,000 PLS

Axis 2 travel value:

D

2

= 15,000 PLS

Axis 3 travel value:

D

3

= 5,000 PLS

Axis 4 travel value:

D

4

= 20,000 PLS

Long-axis speed:

V = 7,000 PLS/s

In this example, the reference axis is
Axis 4, which has the greatest travel
value. The positioning speed of Axis 4
is the set long-axis positioning speed.
The servo system CPU calculates the
positioning speed of each of the other
axes using the following calculation
formulas:

[Program Example]

ABS-2
Axis 1, 10000
Axis 2, 15000

Axis   3,                 5000
Axis   4,            20000
Long-axis speed           7000

<K 51>

(PLS)
(PLS)

(PLS)
(PLS)
(PLS/s)

Axis 1 positioning speed: V

1

= D

1

/D

4

×

V

Axis 2 positioning speed: V

2

= D

2

/D

4

×

V

Axis 3 positioning speed: V

3

= D

3

/D

4

×

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 axis 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 is the positioning speed of the
axis with the greatest travel value after conversion.

b) If interpolation control units are inches

•

Travel value

: For axis set to millimeters, the travel value is

converted to inches using the formula: mm set
value

÷

25.4

•

Speed

: Speed control of each axis is based on the long-

axis speed, which is the positioning speed of the
axis with the greatest travel value after conversion.

2) Discrepancy between interpolation control units and control units

•

Travel value

: The electronic gear converts the travel value for the

axis to PULSE.

•

Speed

: Speed control of each axis is based on the long-

axis speed, which is the positioning speed of the
axis with the greatest travel value after conversion.
For axis where interpolation control units and control
units match, the electronic gear converts the
positioning speed to units of PLS/ s and this speed
is used as the long-axis speed.

Example

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152
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Summary of Contents for A173UHCPU

Page 1: ...MOTION CONTROLLER SV13 22 REAL MODE Programming Manual type A173UHCPU A273UHCPU MOTION CONTROLLER SV13 22 REAL MODE Programming Manual type A173UHCP A273UHCPU ...

Page 2: ...l and enclosed documents before starting 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 C...

Page 3: ...damage Never operate the 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 si...

Page 4: ... an external emergency 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 servom...

Page 5: ...troke limit input validity 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 ...

Page 6: ...stall or operate control 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 ...

Page 7: ...t side terminals U V W 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...

Page 8: ... 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 emergency stop signals set externally If an error occurs remove the cause secure the safety and th...

Page 9: ...cement After maintenance 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...

Page 10: ...ion This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2001 Mitsubishi Electric Corporation ...

Page 11: ... Special Register SP D 3 51 4 PARAMETERS FOR POSITIONING CONTROL 4 1 to 4 25 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 Servo parameters of ADU only when A273UHCPU is...

Page 12: ...A instructions 5 5 5 4 Speed Change Instructions CHGV 5 8 5 4 1 CHGV instructions 5 8 5 5 Retracing during Positioning 5 11 5 6 Torque Limit Value Change Request CHGT 5 14 5 6 1 CHGT instructions 5 14 5 7 SFC Programs 5 16 5 7 1 Starting and stopping SFC programs 5 16 5 7 2 Servo program start request 5 17 6 SERVO PROGRAMS FOR POSITIONING CONTROL 6 1 to 6 17 6 1 Servo Program Composition and Area ...

Page 13: ...position switching control 7 75 7 15 Speed Switching Control 7 80 7 15 1 Starting speed switching control speed switching points end designation 7 80 7 15 2 Setting speed switching points using repeat instructions 7 86 7 16 Constant Speed Control 7 91 7 16 1 Setting Pass points using Repeated Instructions 7 95 7 16 2 Speed switching during instruction execution 7 100 7 16 3 1 axis constant speed c...

Page 14: ... 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 17 2 4 Servo Errors APP 21 2 5 PC Link Communication Errors APP 35 2 6 LED Indications when Errors Occur at the PCPU APP 36 APPENDIX3 SPECIAL RELAYS AND SPECIAL REGISTERS APP 38 3 1 Special Relays SP M APP 38 3 2 Special Registers SP D APP 43 APPENDIX4 EXAMPLE PROGRAMS APP 53 4 1 Rea...

Page 15: ...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 board When handling printed circuit boards with bare hands you must ground your body or the work bench Do not touch current carrying or electric parts of the equipment wi...

Page 16: ...2 points 2048 points 8192 points Link relay B 8192 points 1024 points 8192 points Timer T 2048 points 256 points 2048 points Data register D 8192 points 1024 points 8192 points Link register W 8192 points 1024 points 8192 points Annunciator F 2048 points 256 points 2048 points Number of device points Index register V Z 14 points 2 points 14 points Sequence control Number of PLC extension bases 1 b...

Page 17: ...e A68B A65B A62B AC B Power supply module PLC slots Max 16 ADU axes SSCNET1 SSCNET2 SSCNET3 Teaching unit A31TU A30TU SV13 only Windows NT 98 Personal computer IBM PC AT SSCNET4 SSC I F card board A30CD PCF A30BD PCF RS422 CPU base unit A278B A275B Control power supply module CPU module Servo external signal Dynamic brake module Servo power supply module Motion slots AC motor drive modules BRAKE A...

Page 18: ...8B A1S NB For A6 B CPU base unit A178B S3 A178B S2 A178B S1 A17 B GOT Note Note The A173UHCPU may be used with 4 channels of SSCNET When using the SSC I F card board A30CD PCF A30BD PCF connect it to SSCNET4 and connect the servo amplifiers to SSCNET1 to 3 In this case up to 24 axes of servo amplifiers can be connected 3 4 8 1 Note Serial absolute synchronous encoder cable MR HSCBL M Serial absolu...

Page 19: ... 00J on DOS English SW0SRX CAMPE Without restriction Japanese SW3RNC GSV From 00F on From 00F on For automatic machinery SV22 Without Motion SFC IBM PC AT NT 98 English SW3RNC GSVE Without restriction SW2SRX SV22A SW0SRX SV22C 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 sys...

Page 20: ...or interpolation 2 It changes current values or speed by means of the 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 servo programs whose execution is requested by a SVST instruction issued by the sequence ...

Page 21: ...ence program Created and modified using a peripheral device Note 1 SCPU Control Example SVST instruction 1 In the sequence program the servo program number and controlled axis number are set with the SVST instruction 2 When the SVST instruction is executed the PCPU is requested to execute the program with the designated servo program number 1 Servo programs and positioning control parameters are s...

Page 22: ...rol Zeroing data 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 SVST instruction Servo instruction Designation of the positioning control method Positioning data which must be set Axis used positioning address positioning spe...

Page 23: ...pleted flag M3203 Forward JOG exe cution command Reverse JOG execution command for interlock Switchs the forward JOG execution command M3202 ON OFF DMOVP K1000 D640 SET M10 Sequence program Created and modified using a peripheral device Note 1 SCPU Control In the sequence program after setting the JOG speed turn the JOG operation execution flag ON 1 Set the positioning control parameters using a p...

Page 24: ...ed by the specifications 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 1 Any of the followin...

Page 25: ...ontrolling axis 1 with manual pulse generator P1 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 f...

Page 26: ...1 GENERAL DESCRIPTION 1 12 Servo amplifier Servo motor PCPU Manual pulse generator ...

Page 27: ...tc during positioning control 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 s...

Page 28: ...s S1 768k bytes Equivalent to A3AMCA 96 Main sequence program Max 30 k steps Program capacity Sub sequence program Max 30 k steps Number of internal relays M Note 1 8191 points M0 to M999 M2048 to M8191 Number of latch relays L 1048 points M1000 to M2047 Number of step relays S 0 point none at initial status Total 8191 points common to M L S set with parameters Number of link relays B 8192 points ...

Page 29: ...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 Note 4 Year month day hour minute day of the week leap year automatic distinction Program parameter storage in ROM Max 64 kbytes Not possible RUN time start method Initial start Latch power failure compensation range L10...

Page 30: ...her Method Position follow up control high speed oscillation 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 0...

Page 31: ... function M code output function provided Limit switch output function Number of output points 8 point axis Number of ON OFF setting points 10 points axis Number of input points Max 11 points TRA input of A273EX 3 points one motion slot sequencer input module 8 points Max 9 points TRA input of A172SENC 1 points one motion slot sequencer input module 8 points High speed reading of designated data D...

Page 32: ...he upper limit and lower limit of the positioning range Stop signal Stop signal for speed control Proximity dog signal The ON OFF signal from the proximity dog Speed position switching signal Signal that switches control from speed to position control Manual pulse generator input Signal from the manual pulse generator Servo System CPU System SCPU PCPU External interface SP D SP M X Note 1 Y Note 2...

Page 33: ...40 Unusable 160 points M3200 M3839 Axis command signal 20 points 32 axes M3840 M8191 User device 4352 points POINTS Total Number of User Device Points 6352 points 1 Internal relays for positioning control are not latched even inside the latch range In this manual in order to indicate that internal relays for positioning control are not latched the expression used in this text is M2000 to M3839 2 I...

Page 34: ... M2620 to M2639 4 Speed controlling 13 M2640 to M2659 5 Speed position switching latch 14 M2660 to M2679 6 Zero point passage 3 5ms 7 1ms 14 2ms 15 M2680 to M2699 7 Error detection Immediate 16 M2700 to M2719 8 Servo error detection 3 5ms 7 1ms 14 2ms 17 M2720 to M2739 9 Zeroing request 10ms 20ms 18 M2740 to M2759 10 Zeroing completion 3 5ms 7 1ms 14 2ms 19 M2760 to M2779 11 External signal FLS 20...

Page 35: ...o M3419 3 Reverse rotation JOG start 12 M3420 to M3439 4 Completion signal OFF command 10ms 20ms 13 M3440 to M3459 5 Speed position switching enable 14 M3460 to M3479 6 Limit switch output enable 3 5ms 7 1ms 14 2ms 15 M3480 to M3499 7 Error reset 16 M3500 to M3519 8 Servo error reset 10ms 20ms 17 M3520 to M3539 9 Start time external stop input disable At start 18 M3540 to M3559 10 User unusable 19...

Page 36: ...ce flag 10ms SCPU PCPU M2112 M2033 User unusable M2113 M2034 Personal computer link communication errorflag 10ms M2114 M2035 M2115 M2036 M2116 M2037 M2117 M2038 M2118 M2039 User unusable 5 points M2119 M2040 Speed change point designation flag Start SCPU PCPU M2120 M2041 System setting error flag 10ms SCPU PCPU M2121 M2042 All axis servo ON command 3 5ms 7 1ms 14 2ms SCPU PCPU M2122 M2043 M2123 M2...

Page 37: ...72 M2252 Axis13 M2173 M2253 Axis14 M2174 M2254 Axis15 M2175 M2255 Axis16 M2176 M2256 Axis17 M2177 M2257 Axis18 M2178 M2258 Axis19 M2179 M2259 Axis20 M2180 M2260 Axis21 M2181 M2261 Axis22 M2182 M2262 Axis23 M2183 M2263 Axis24 M2184 M2264 Axis25 M2185 M2265 Axis26 M2186 M2266 Axis27 M2187 M2267 Axis28 M2188 M2268 Axis29 M2189 M2269 Axis30 M2190 M2270 Axis31 M2191 M2271 Axis32 Speed change accepting ...

Page 38: ...e t ON OFF ON ON OFF OFF V Start reception flag M2001 n Note 1 SVST instruction Positioning start completed signal M1600 20n End signal OFF command M3204 20n Note 1 Note 1 When positioning is completed Dwell time t ON OFF ON OFF V Note 1 Positioning start completed signal M2400 20n Start reception flag M2001 n SVST instruction Positioning completed Note 1 REMARK Note 1 In the preceding description...

Page 39: ...le to read an M code on completion 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 M3204 20n or when a positioning control start is completed At the leading edge OFF ON of the end signal OFF command M3204 20n Dwell time t ON OFF OFF V Positioning completed signal M2401 20n Start reception flag M2001 n SVST instruct...

Page 40: ...a speed of 0 is executed 4 Command in position signal M2403 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 J...

Page 41: ...tching latch signal M2405 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 ...

Page 42: ...s when minor errors occur see Appendix 2 2 Note 2 For details on the error codes when major errors occur see Appendix 2 3 9 Servo error detection signal M2408 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 i...

Page 43: ...eroing completed signal M2410 20n a The zeroing completed signal comes ON when the execution of a 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 ...

Page 44: ...P 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 signal ON STOP STOP COM STOP signal OFF STOP STOP COM A278LX or A172SENC A278LX or A172SENC 15 DOG signal M2414 20n a The DOG signal is controlled by the ON OFF status of the external proximity dog DOG switch connected to the A278LX or A172SENC b Independently of whether t...

Page 45: ...OINT 1 If the ADU using axis results in a servo error the servo off axis varies with the system settings as indicated below Only when the A273UHCPU is used Processing Setting for ADU Servo Error Servo Off Axis System based servo off All axes in the system including the axis which resulted in a servo error Only own axis servo off Axis which resulted in a servo error 2 When an axis driven by an MR B...

Page 46: ...o OFF at the time of stop command cancel signal skip signal or FIN signal input M code OFF M1 M code output in progress signal M2419 20n ON OFF FIN signal M3219 20n ON M3 M2 POINTS 1 The FIN signal and M code output in progress signal are both for the FIN signal wait function 2 The FIN signal and M code output in progress signal are effective only when FIN acceleration deceleration is designated i...

Page 47: ...Position control Speed control 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 paramet...

Page 48: ...ntrol I II JOG operation 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 blo...

Page 49: ...signal M2401 20n by using the sequence program OFF OFF OFF ON ON ON t End signal OFF command M3204 20n Positioning completed signal M2401 20n Positioning start completed signal M2400 20n Dwell time Dwell time 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 M2400 20n o...

Page 50: ...ode storage area ON 00 Error reset M2407 20n Error detection M2407 20n 8 Servo error reset command M3208 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 M2408 20n ON and reset the servo error detection signal M2408 20n OFF OFF ON ON Error code 00 Servo error code storage area Servo error reset co...

Page 51: ...ue will be cleared or 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 M3212 20n leave M3212 20n ON until p...

Page 52: ...xis 1 400000 Axis 2 400000 CPEND K 0 1 2 3 4 1 2 WAIT Execution point 10 11 M code P S M code output in progress P S FIN signal S P ms 1 Once positioning to point 1 beings M code 10 is output and the M code output in progress signal goes ON 2 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 3 When the PLC s act...

Page 53: ...rol in 1 above will not be 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 am...

Page 54: ...ept flags in the way shown below SVST instruction execution request SVST instruction execution enable disabled specification M2003 M2001 SVST J1J3 K1 Axis 1 start accept flag 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 SVST instruction and goes OFF on completion of positioning ...

Page 55: ...t accept flag to come ON the flag goes OFF when M2000 comes ON OFF OFF ON ON PLC READY M2000 SVST instruction Start accept flag 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 Depending on the type of machine it might ope...

Page 56: ...ant speed control a By turning M2040 ON before the start of constant speed control before the servo program is started using the SVST instruction control can be executed with a speed change at the start of the pass point OFF Speed is changed to a designated speed at a pass point in constant speed control ON Speed has been changed to a designated speed at a pass point in constant speed control V t ...

Page 57: ...be started You must eliminate 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 6 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 oper...

Page 58: ...OG simultaneous start command M2048 Signal sent from SCPU to PCPU a When M2048 is turned ON JOG operation is simultaneously started on the axis for which JOG operation is to be executed as set in the JOG operation simultaneous start axis setting register D710 to D713 b When M2048 is turned OFF motion on the axis currently executing JOG operation decelerates to a stop 9 All axes servo ON accept fla...

Page 59: ...of the A273EX or A172SENC refer to the Motion Controller User s Manual 12 Speed change flags M2061 n Signal from PCPU to SCPU The speed change flags come ON when a speed change is executed in response to a control change CHGV instruction in the sequence program use them for interlocks in speed change programs OFF OFF ON Delay due to sequence program ON 0 to 4ms Speed Speed after speed change t Spe...

Page 60: ...rating flag does not turn ON During deceleration due to JOG signal turned OFF During manual pulse generator operation At midway deceleration due to stop command or stop cause occurrence When travel value is 0 V t ON OFF Automatically decelerating flag The automatically decelerating flag list is given below Axis No Device No Axis No Device No Axis No Device No Axis No Device No 1 M2128 9 M2136 17 M...

Page 61: ...Axis No Device No Axis No Device No Axis No Device No Axis No Device No 1 M2240 9 M2248 17 M2256 25 M2264 2 M2241 10 M2249 18 M2257 26 M2265 3 M2242 11 M2250 19 M2258 27 M2266 4 M2243 12 M2251 20 M2259 28 M2267 5 M2244 13 M2252 21 M2260 29 M2268 6 M2245 14 M2253 22 M2261 30 M2269 7 M2246 15 M2254 23 M2262 31 M2270 8 M2247 16 M2255 24 M2263 32 M2271 REMARK 1 Even during a stop the ON status of the ...

Page 62: ...peed change 0 Speed change V2 V1 V2 b The flag turns OFF if a stop cause occurs after speed change 0 acceptance V t Start acceptance flag ON OFF Speed change 0 accepting flag Speed change 0 Stop cause c The speed change 0 accepting flag does not turn ON if a speed change 0 occurs after an automatic deceleration start V t Start acceptance flag OFF Speed change 0 accepting flag Speed change 0 Automa...

Page 63: ...ic deceleration start to the specified address V t Start acceptance flag ON OFF Speed change 0 accepting flag Speed change 0 Speed change V2 V1 V2 Command address P2 P1 P2 Command address P1 Automatic deceleration start REMARK Under position follow up control the axis will not start if the command address is changed during speed change 0 acceptance ...

Page 64: ...t 10 D180 to D199 11 D200 to D219 2 3 Actual current value Command unit 12 D220 to D239 13 D240 to D259 4 5 Deviation counter value 3 5ms 7 1ms 14 2ms PLS 14 D260 to D279 6 Minor error code 15 D280 to D299 7 Major error code Immediate 16 D300 to D319 8 Servo error code 10ms 20ms 17 D320 to D339 9 Zeroing second travel value 3 5ms 7 1ms 14 2ms PLS 18 D340 to D359 19 D360 to D379 10 11 After DOG CHA...

Page 65: ...51 A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 7 D652 D653 SV22 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32 Unit Signal direction 8 D654 D655 9 D656 D657 0 1 JOG speed setting register At start Command unit SCPU PCPU 10 D658 D659 11 D660 D661 12 D662 D663 13 D664 D665 14 D666 D667 15 D668 D669 16 D670 D671 17 D672 D673 18 D674 D675 19 D676 D677 20 D678 D679 21 D680 ...

Page 66: ...0 D730 Axis 11 D731 Axis 12 D732 Axis 13 D733 Axis 14 D734 Axis 15 D735 Axis 16 D736 Axis 17 D737 Axis 18 D738 Axis 19 D739 Axis 20 D740 Axis 21 D741 Axis 22 D742 Axis 23 D743 Axis 24 D744 Axis 25 D745 Axis 26 D746 Axis 27 D747 Axis 28 D748 Axis 29 D749 Axis 30 D750 Axis 31 D751 Axis 32 Manual pulse generator 1 pulse input magnification setting register D752 Manual pulse generator 1 smoothing magn...

Page 67: ...e update command M3212 20n at start time M3212 20n OFF Resets the feed current value to 0 at start time M3212 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 D2 20n Data from the PCPU to the SCPU a This register stores the current value attained in real trave...

Page 68: ...to the SCPU a When a zeroing operation is performed the travel value from the point where the proximity dog comes ON to the point where the zeroing operation is completed is stored in this register with no sign appended b In speed position switching control the travel value during position control is stored in this register with no sign appended 9 Executed program number register D12 20n Data from...

Page 69: ... OFF Use this pointer in conjunction with the PLC set pointer controlled by the user in the sequence program which indicates the extent to which the positioning data has been updated by the SCPU to confirm which positioning data is to be 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 CPSTART2 Axis 1 Axi...

Page 70: ... A B 7 C D 0 5 6 1 7 8 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 th...

Page 71: ... 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 the point 2 positioning data that is input to the PCPU will not be updated and the second positioning will be executed using the unupdated data In other words the data set po...

Page 72: ...gister D689 D688 D691 D690 D693 D692 D695 D694 D697 D696 D699 D698 D701 D700 D703 D702 POINT Since a current value change speed change is made commandable by the CHGA CHGV instruction there are no current value change registers speed change registers 1 JOG speed setting registers D640 2n Data from SCPU to PCPU a These registers store JOG speed for JOG operation b The JOG speed setting ranges are i...

Page 73: ...details of simultaneous JOG operation start 2 Manual pulse generator controlled axis No setting registers D714 to D719 Data from SCPU to PCPU a These registers store the axis No which will be controlled by manual pulse generators b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b0 b1 D714 D715 P1 D716 D717 P2 D718 D719 P3 Make manual pulse generator controlled axis setting with 1 0 1 Specified axis...

Page 74: ... 1 Pulse Input Magnification Setting Register Corresponding Axis No Setting Range D720 Axis 1 D736 Axis 17 D721 Axis 2 D737 Axis 18 D722 Axis 3 D738 Axis 19 D723 Axis 4 D739 Axis 20 D724 Axis 5 D740 Axis 21 D725 Axis 6 D741 Axis 22 D726 Axis 7 D742 Axis 23 D727 Axis 8 D743 Axis 24 D728 Axis 9 D744 Axis 25 D729 Axis 10 D745 Axis 26 D730 Axis 11 D746 Axis 27 D731 Axis 12 D747 Axis 28 D732 Axis 13 D7...

Page 75: ...g time constant is as indicated by the following expression Smoothing time constant t smoothing magnification 1 56 8 ms c Operation V t t t t V1 OFF ON Manual pulse generator enable flag M2051 Manual pulse generator input Output speed V1 number of input pulses ms manual pulse generator 1 pulse input magnification setting Travel value L travel value per pulse number of input pulses manual pulse gen...

Page 76: ...LY65 LY64 LY63 LY62 LY61 LY60 D766 For axis 12 For axis 11 LY7F LY7E LY7D LY7C LY7B LY7A LY79 LY78 LY77 LY76 LY75 LY74 LY73 LY72 LY71 LY70 D767 For axis 14 For axis 13 LY8F LY8E LY8D LY8C LY8B LY8A LY89 LY88 LY87 LY86 LY85 LY84 LY83 LY82 LY81 LY80 D768 For axis 16 For axis 15 LY9F LY9E LY9D LY9C LY9B LY9A LY99 LY98 LY97 LY96 LY95 LY94 LY93 LY92 LY91 LY90 D769 For axis 18 For axis 17 LYAF LYAE LYAD...

Page 77: ...7B LY7A LY79 LY78 LY77 LY76 LY75 LY74 LY73 LY72 LY71 LY70 D783 LY8F LY8E LY8D LY8C LY8B LY8A LY89 LY88 LY87 LY86 LY85 LY84 LY83 LY82 LY81 LY80 D784 LY9F LY9E LY9D LY9C LY9B LY9A LY99 LY98 LY97 LY96 LY95 LY94 LY93 LY92 LY91 LY90 D785 LYAF LYAE LYAD LYAC LYAB LYAA LYA9 LYA8 LYA7 LYA6 LYA5 LYA4 LYA3 LYA2 LYA1 LYA0 D786 LYBF LYBE LYBD LYBC LYBB LYBA LYB9 LYB8 LYB7 LYB6 LYB5 LYB4 LYB3 LYB2 LYB1 LYB0 D7...

Page 78: ... reset Axis 4 Axis 3 Axis 2 Axis 1 b15 b12 to b11 b8 to b7 b4 to b3 b1 to D792 Axis 8 Axis 7 Axis 6 Axis 5 D793 Axis 12 Axis 11 Axis 10 Axis 9 D794 Axis 16 Axis 15 Axis 14 Axis 13 D795 Axis 20 Axis 19 Axis 18 Axis 17 D796 Axis 24 Axis 23 Axis 22 Axis 21 D797 Axis 28 Axis 27 Axis 26 Axis 25 D798 Axis 32 Axis 31 Axis 30 Axis 29 D799 Servo amplifier type 0 Unused axis 1 ADU CPU base 2 MR B 3 ADU moti...

Page 79: ...s a WDT error it executes 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...

Page 80: ... request 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 d...

Page 81: ...t command M2042 goes OFF When 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 emer...

Page 82: ...rrence D9185 D9186 D9187 Manual pulse generator axis setting error information On leading edge of manual pulse generator enable SCPU PCPU D9188 User usable D9189 Error program No D9190 Error item information At start D9191 At power on and D9192 Servo amplifier loading information 10ms 20ms SCPU PCPU D9193 D9194 D9195 User usable D9196 Personal computer link communication error code 3 5ms 7 1ms 14 ...

Page 83: ...erform reset with the key If the error occurs after reset change the ADU module since it may be faulty 200 to 207 210 to 217 220 to 227 230 to 237 240 to 247 Hardware fault of module loaded on motion CPU base unit or extension base unit 200 Indicates the slot No 0 to 7 where the module with the fault is loaded Indicates the stage No of the base on which the module with the fault is loaded 0 CPU ba...

Page 84: ...xis setting in each digit is other than 0 to 59 Store the axis setting errors of the manual pulse generators connected to P1 to P3 of A273EX 0 Normal 1 Setting error Axis setting in each digit is other than 1 to 32 All turn to 0 Store the 1 pulse input magnification setting errors of the axes 0 Stopping 1 Operating Input magnification of each axis is other than 1 to 100 4 Error program No D9189 Da...

Page 85: ...s installed status The MR B is normal i e communication with the servo amplifier is normal not installed status No servo amplifier is installed The servo amplifier power is OFF Normal communication with the servo amplifier is not possible due for example to a connecting cable fault 2 The system settings and servo amplifier installation statuses are indicated below ADU MR B System Settings Loaded N...

Page 86: ...etting model name and servo amplifier setting model name are made according to the actual system No settings are required when the unit is used as a PLC 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 serv...

Page 87: ...cklash in the machine 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 Note 214748364 8 to 214748364 7 µm 21474 83648 to 21474 83647 inch 0 to 359 99999 degree 2147483648 to 2147483647 PLS 2147483647 PLS Set ...

Page 88: ...lution S is 10 mm and the number of encoder feedback pulses Pf is 8192 PLS rev 1 10 mm 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 value per revolution AL If the unit magnification AM is 1 the travel value per revolution is the value of AL ...

Page 89: ...r Amplifier M Motor The electronic gear is represented by the following relational expression Electronic gear Number of feedback pulses Pf Travel value per revolution S Number of pulses per revolution AP Travel value per motor revolution AL unit magnification AM Example With the example configuration shown above and under the following conditions e Gear ratio Z1 Z2 1 39 Ball screw pitch 25 4 mm 25...

Page 90: ...xecuted Speed control I Speed control II Not executed The current value becomes 0 and motion continues until the external limit signal FLS RLS STOP is received Speed position switching control including restart Executed The check is executed after the switch to position control JOG operation Executed If the current value goes outside the stroke limit range motion stops Travel in the direction that...

Page 91: ...d in position M2403 20n ON OFF Executioon of command in position check Command in position set value Positioning control start V t Command in position set value Switch from speed to position Execution of command in position check Speed position switching controlstart 4 3 Servo Parameters 1 The servo parameters are parameters set for each axis their settings are data fixed by the specifications of ...

Page 92: ...r rpm R 7 Number of feedback pulses N Set automatically in accordance with the system settings 8 Note 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 Not execu...

Page 93: ...ncrease position response for load disturbance 4 3 3 5 Speed control gain 2 Valid range 20 to 8000 rad s Setting range 1 to 9999 rad s 600 rad s Make setting when vibration occurs on machinery having large backlash 4 3 4 6 Speed integral compensation Valid range 2 to 240 rms Setting range 2 to 240 rad s 20 ms Set the time constant of integral compensation 4 3 5 7 Notch filter Cannot be set 8 Feed ...

Page 94: ...pe Note 5 Motor capacity 6 Number of motor revolution R 7 Number of feedback pulses N Set automatically in accordance with the system settings APP 5 8 Rotating direction 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 tu...

Page 95: ...mpensation 4 3 5 7 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 1...

Page 96: ... function 2 selection of no motor operation Note 4 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 Note 4 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 ...

Page 97: ... to 10000 r min 10000 r min Set 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 Zeroing reference encoder Unusable 10 Optional function 5 PI PID control switching 0 Invalid 1 Switching in accordance with droop during position c...

Page 98: ...l compensation can be 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 PLC ready signal M2000 Servo Error Code Error Contents Processing 2613 Initial parameter error position control gain 1 2614 Initial parameter error speed cont...

Page 99: ... control gain 2 is set 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 exc...

Page 100: ...d range 20 to 5000 POINTS 1 When the setting for speed control gain 1 is increased the overshoot becomes greater and vibration abnormal motor noise occurs on stopping 2 The speed control gain 1 setting can be checked from a peripheral device For the method used to execute this check refer to the operating manual for the peripheral device used 4 3 5 Speed integral compensation 1 This parameter is u...

Page 101: ... is used to improve the follow up of the servo system The setting range is as follows When using an MR B 0 to 100 4 3 8 Load inertia ratio 1 This parameter sets the ratio of moment of load inertia for the servomotor The ratio of moment of load inertia is calculated using the equation below Moment of load inertia Ratio of moment of load inertia Motor s moment of inertia 2 If automatic tuning is use...

Page 102: ...on only MR H BN usable Standard mode High frictional load mode 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 more 3 The fi...

Page 103: ... amplifier in real time as analog data This analog output makes it possible to check the operation status Number of monitored item 2 types 4 3 14 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 0 0 ...

Page 104: ...ions Servo OFF Occurrence of an alarm Emergency stop input 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 Micro...

Page 105: ...n deceleration time and 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 17 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...

Page 106: ...n switching to PI PID control 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 22 Torque control compensation factor This parameter is used to expand the torque control range up to the speed control value during torque control applies...

Page 107: ...rol is executed at the 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 cu...

Page 108: ...tion control unit S R Speed limit value 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 zeroing is set when se...

Page 109: ...peed set in the servo program 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 2 Relationships among the Speed Limit Value Acceleration Time Deceleration Time and Rapid S...

Page 110: ...address may not coincide 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 inter...

Page 111: ...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 program for details see Section 3 Table 5 1 Dedicated Devices for the PCPU Device Name Device No Internal relays M2000 to M3839 Data registers D0 to D799 Special relays M9073 to M9079 Special registers D9180 to D9199 Note that internal relays M2000 to M3839...

Page 112: ...9012 M 9010 M 9011 D n 13 Note Note Possible with indirect setting only Setting data Setting range D J No of axis to be started J1 to J32 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 D800 to D8191 W0 to W1FFF R0 to R8191 The following processing is executed at the leading edge OFF ON of...

Page 113: ...d axis 3 J1J2J3 Axis 1 axis 2 axis 3 and axis 4 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 servo program number is set as a value ...

Page 114: ...following cases an operation error occurs and the SVST instruction is not executed When the setting for D is for 5 or more axes When the axis number given in any digit of D is a number other than J1 to J32 When the same axis number is set twice in D When the setting for n is outside the applicable range Program example 0 CIRCUIT END M2000 SVST PLC READY flag turned ON When X0 comes ON the start co...

Page 115: ...2147483647 10 1 µm inch 2147483648 to 2147483647 10 5 inch deg 0 to 35999999 10 5 deg PLS 2147483648 to 2147483647 PLS SEQUENCE PROGRAM CHGA Execution command D n Execution condition n Setting of current value to be changed Indirect designation D800 to D8191 W0 to W1FFF R0 to R8191 1 The following processing is executed at the leading edge OFF ON of the CHGA instruction 1 The start accept flag M20...

Page 116: ...nt value changes direct setting and indirect setting a In direct setting the current value to be changed to is specified directly as a numerical value 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 Device...

Page 117: ...e minor error 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 ax...

Page 118: ... mm 600000000 to 600000000 10 2 mm min inch 600000000 to 600000000 10 3 inch min deg 2147483648 to 2147483647 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 D800 to D8191 W0 to W1FFF R0 to R8191 1 The following processing is executed at the leading edge OFF ON of the CHGV in...

Page 119: ...speed changes direct setting and indirect setting a In direct setting the speed to be changed to is specified directly as a numerical value 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 800 ...

Page 120: ...the current value for axis 2 1 Conditions 1 Speed change command Leading edge OFF ON of X000 2 Program example CIRCUIT END Axis 2 current value change execution request 0 X000 M2022 CHGV 10 K J2 Speed change in progress flag M2420 Positioning start completion signal POINT Points to note when a speed change is performed If a speed change instruction CHGV is executed in the period between execution ...

Page 121: ... A minor error 305 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 301 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 Spee...

Page 122: ...tomatic deceleration starts 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 Start request SVST Start recption M200n Speed change request CHGV Change speed Combined speed Command in position OFF Speed change 0 receive in progress flag 1000 1000 Return op...

Page 123: ... speed control a retracing request made in the FIN wait status stopped status 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 P1 P2 P3 Reverse return request carried out here Starting point Axis 1 Axis 2 ...

Page 124: ...etting data Setting range D J No of torque limit value change axis J1 to J32 Direct designation 1 to 0 SEQUENCE PROGRAM CHGT Execution command D n Execution condition n Change torque limit value Indirect designation 1 word D800 to D8191 W0 to W1FFF 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 i...

Page 125: ... that changed by the CHGT 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 posi...

Page 126: ...1 ON while special relay 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...

Page 127: ...n SV step is created Start command M0 PLS M0 SET M9101 Stop command M1 PLS M1 SET M9101 Initial step Switching condition 1 Step 1 creation of servo program start instruction Switching condition 2 Step 2 End step M9101 ON Main sequence program SFC program Switching conditions and operation output Switching condition 1 M2001M2002 M2003M2004 Tran Interlock Step 1 servo program start request instructi...

Page 128: ...ged 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 3 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 step or set another sequence instruc...

Page 129: ...tion 1 Step 1 creation of servo program start instruction Switching condition 2 Step 2 End step M9101 ON Main sequence program SFC program Switching conditions and operation output Switching condition 1 M2001M2002M2003M2004 Tran Interlock Step 1 servo program start request instruction Switching condition 2 M2001M2002M2003M2004 Tran Interlock SVST 10 J1J2J3J4 K M9101 OFF When a normal step is used ...

Page 130: ... and converted a speed change in progress flag M2061 to M2092 is automatically inserted into the switching conditions before and after the relevant SFC step to act as an interlock 3 Set commands such as speed change commands and stop commands which are executed in an arbitrary timing in the main sequence program 4 For details on how to operate peripheral devices used to edit and monitor SFC progra...

Page 131: ... required to execute 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 axis and positioning address Axis3 2500000 0 Used Axes Positioning Address 1 3000000 0 µm 2 5500000 0 µm 3 2500000 0 µm Combined speed Commanded speed for the 3 axes axis 1 axis 2...

Page 132: ...1 2 Servo program area 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 14334 steps Program No 10 Program No 1 Program No 2 0 14333 Servo programs are stored...

Page 133: ...a that can be set for servo 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 i...

Page 134: ...linear interpolation 3 axes INC 3 Incremental 3 axes linear interpolation 7 to 20 7 4 ABS 4 Absolute 4 axes linear interpolation Linear control 4 axes INC 4 Incremental 4 axes 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...

Page 135: ...10 ABH ABH INH Center point desig nation INH 10 to 27 7 11 Must be set Set if required Helical interpolation control Absolute auxiliary point specified helical interpolation Incremental auxiliary point specified helical interpolation Absolute radius specified helical interpolation less than CW180 Absolute radius specified helical interpolation CW180 or more Absolute radius specified helical interp...

Page 136: ... I Re verse rota tion 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...

Page 137: ...Time Torque Limit Value Deceleration Processing on STOP Input Allowable Error Range for Circular Interpolation S Curve Ratio Repeat Condition Program No Commanded Speed Constant Speed Cancel 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 5 to ABH ABH ABH ABH ABH 8 to 13 ABH ABH 9 to 14 INC 1 2 to 7 INC 2 3 to 8 INC 3 4 to 9...

Page 138: ...nge for Circular Interpolation S Curve Ratio Repeat Condition Program No Commanded Speed Constant Speed Cancel Start Skip FIN Acceleration Number of Steps Section for Detailed Explanation INH 9 to 14 INH INH INH INH INH INH 9 to 14 CPEND 1to 2 Constant speed control end Constant speed passing point incremental designation Constant speed control FOR TIMES Repeti tion of same control FOR ON FOR OFF ...

Page 139: ...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 M2401 20n 0 ms 0 to 5000 ms M code Set the M code For speed switching control and constant speed control differen...

Page 140: ...10 3 degree min 1 to 10000000 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 214748...

Page 141: ...o 1 00000 0 to 100000 Repeat 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 ...

Page 142: ...35 ms 1 14 1 to 65535 ms 1 15 1 to 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 ...

Page 143: ...direct designation using 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 ABS 3 Axis 1 3000000 0 Axis 2 5500000 0 Axis 3 2500000 0 Combined speed 40000 00...

Page 144: ...W 1B0 M code D 600 P B 3 K 11 Positioning data Indirect setting with a word device positioning control is executed on the basis of data of D1 D0 D5 D4 W11 W10 W1B0 and D600 Numerical value setting Axis numbers cannot be set indirectly using word device 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 d...

Page 145: ... are indicated below 1 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 axis designated in the servo program 3 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 issu...

Page 146: ...n request flag 6 is turned ON 6 7 PLS When all axes have stopped after the SVST instruction execution request flag 6 has come ON the execution request for the next SVST instruction is issued The servo program start request is issued in accordance with the SVST instruction RST 6 7 9 SVST 8 On completion of execution of the SVST insutruction the device designated at 6 is reset 2 2 The applications o...

Page 147: ...T insutruction request comes ON the device set at 1 is reset 2 Completion request When the start request comes ON if the designated axis is not in motion a request to execute a SVST instruction is issued The applications of 1 to 4 are indicated below 1 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 ...

Page 148: ...llowing relationship If 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 Spe...

Page 149: ...described below a Resultant 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 interp...

Page 150: ...ositioning speed V3 D3 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 axis 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 ...

Page 151: ...s Axis 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 ABS 2 Axis 1 10000 Axis 2 15000 Axis 3 5000 Axis 4 20000 Long axis speed 7000 K 51 PLS PLS PLS PLS PLS s Combined speed Axis 1 positioning speed Axis 2 positioning speed The combined speed exceeds the speed limit value setting of 55 2 Relationship between speed limit ...

Page 152: ... value D2 15 000 PLS Axis 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 Program Example...

Page 153: ...leration time deceleration time and rapid stop deceleration time The real acceleration time deceleration time and rapid stop deceleration time are determined by the reference axis speed setting Time 1 Rapid stop genetrated Positioning speed reference axis speed Speed 3 5 6 4 2 Speed limit value 1 Real acceleration time 2 Set acceleratioon time 3 Real deceleration time 4 Set deceleration time 5 Rea...

Page 154: ...ted using interpolation 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 axis under interpolation control Control started using the control units with the highest order of priority...

Page 155: ...ormula millimeter 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 PULSE b For axis where the units match the electronic gear converts the positioning speed to units of PLS s Positioning is...

Page 156: ...rea B 0 Area A Clockwise 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 stro...

Page 157: ...on and absolute data method positioning in the shortest distance may not be possible Travel from the current 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 ...

Page 158: ...stop cause which was input 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...

Page 159: ...ocess 2 Process 3 A rapid 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...

Page 160: ...mmand M3200 20n ON Process 1 3 Rapid stop command 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 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 st...

Page 161: ... M2061 n Stop command M3200 20n V t Speed before speed change Speed after restant 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 M3200 20n turning ON 3 Continuing positioning contr...

Page 162: ...rom address 2 Travel from 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 INC 2 Axis 1 D 0 Axis 2 D 2 Combined s...

Page 163: ...ess from the target address 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 val...

Page 164: ... time 2 S curve acceleration 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 Decelerati...

Page 165: ...position Positioning speed 1000 S curve ratio 80 K 10 INC 2 Axis 1 100000 Axis 2 250000 Combiend 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 800 to 8191 W 0 to 1FFF 1 axes linear positioning control Axes used Axis1 Positioningl adress Positioning speed 4000...

Page 166: ... 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 1 Absolute data INC 1 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 designated add...

Page 167: ...ue forward direction increased 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 F...

Page 168: ...MR B MR B 2 Positioning 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 V 10000 Servo program No 0 PLC ready M2000 All axes servo start command M2042 ...

Page 169: ... 5 Sequence program example The sequence program which runs the servo program is shown below 0 CIRCUIT END M2000 SVST Turns ON PLC ready Turns ON servo program No 0 start command flag M1 when X000 turns OFF ON Turns ON all axes servo start command Servo program No 0 execution request Turns OFF M1 on completion of servo program No 0 execution request 2 4 11 13 M9039 M9074 X000 M0 M9074 M9074 M1 M20...

Page 170: ...Curve Ratio Cancel Start Speed Change ABS 2 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 2 axes from the current stop address X1 Y1 to the designated address X2 Y2 using the home position as the reference 2 The travel direction is determined from the stop addresses and designated addresses for t...

Page 171: ...rse direction decreased 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...

Page 172: ... 4 A61P AX41 Positioning start command X000 MR B MR B MR B MR B 2 Positioning details The positioning by the Axis 3 and Axis 4 servo motors 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 Posit...

Page 173: ...r interpolation control 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 0 CIRCUIT END M2000 SVST Turns ON PLC ready Turns ON servo program No 11 start command flag M1 when X000 turns OFF ...

Page 174: ...ontrol Details Control with 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 Reverse direction Forward direction Reverse direction 0 Zero point Presitioning speed...

Page 175: ...rward direction Forward 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 ...

Page 176: ...ning by the Axis 1 Axis 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 posi...

Page 177: ...and X000 SVST insutruction Axis 1 start accept flag M2001 Axis 2 start accept flag M2002 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 ...

Page 178: ...N PLC ready Turns ON all servo start command 2 4 11 13 M9039 M9074 X000 M21 M9074 M9074 M23 M2049 M9076 M2001 M2042 PLS SET RST M21 M23 M23 21 K M2002 M2003 J1J2J3 Servo program No 21 execution request Turns OFF M23 on completion of sarvo program No 21 execution request Turns ON servo program No 21 start command flag M23 when X000 turns OFF ON ...

Page 179: ...l 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 Interpolation S Curve Ratio Cancel Start Speed Change ABS 4 Absolute data INC 4 Incremental 4 OK Must be set Set if required Control Details Po...

Page 180: ... linear interpolation control of Axis 1 Axis 2 Axis 3 and Axis 4 M M M M A61P A273UH CPU A278 LX Axis 1 Axis 2 Axis 3 Axis 4 A61P AX41 Positioning start command X000 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 1 Axis 2 Axis 4 Axis 3 Fig 7 7 Axis Configuration ...

Page 181: ...ontrol 3 Positioning conditions 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 axes linear interpolation control is shown below V Servo program No 22 PLC ready M2000 All axes servo start command M2042 All axes servo start ...

Page 182: ...speed 10000 Axis 1 3000 Axis 2 4000 Axis 3 4000 Axis 4 4000 6 Sequence program The sequence program which runs the servo program is shown below 0 CIRCUIT END M2000 SVST 2 4 11 13 M9039 M9074 X000 M21 M9074 M9074 M23 M2049 M9076 M2001 M2042 PLS SET RST M21 M23 M23 22 K M2002 M2003 J1J2J3J4 M2004 Turns ON PLC ready Turns ON servo program No 22 start command flag M23 when X000 turns OFF ON turns ON a...

Page 183: ...ocessing on Stop Input Allowable Error Range for Circular Interpolation S Curve Ratio Cancel Start Speed Change ABS Absolute data INC Incremental 2 OK 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 p...

Page 184: ...d the auxiliary point address to the end point address Forward direction End point indicates set data Travel value to auxiliary point X2 X1 Travel value to end point Y2 Y1 Start point Home position Auxliiary point Positioning speed Forward direction Reverse direction Travel value to end point Center of arc Travel value to auxiliary point Fig 7 11 Circular Interpolation Control by Incremental Metho...

Page 185: ...MR B MR B 2 Positioning 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 ...

Page 186: ...l using auxiliary point 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 0 CIRCUIT END M2000 SVST 2 4 11 13 M9039 M907...

Page 187: ... Parameter 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 fo...

Page 188: ...Positioning Path ABS INC 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 θ 360 Start point 180 ABS INC Counterclockwise 180 θ 360 End point Center point Positioning path Radius R 180 θ 360 Start point ...

Page 189: ... and the perpendicular 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 fo...

Page 190: ...or 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 15 Circular Interpolation Control by Incremental Method 3 The setting range for the end point address is 2 31...

Page 191: ...ng details The positioning 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 condition...

Page 192: ... Circular interpolation 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 0 CIRCUIT END M2000 SVST 2 4 11 13 M9039 M9074 X000 M41 M9074 M9074 M43 M2049 M9076 M2001 M204...

Page 193: ...orque Limit Value Auxiliary 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 OK Must be set Set if required Control Details Details of c...

Page 194: ... speed Center of arc Radius R Reverse direction Forward direction 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 in...

Page 195: ...C 2 To conduct positioning 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 valu...

Page 196: ...R B MR B MR B 2 Positioning 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 positi...

Page 197: ...trol using center point 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 0 CIRCUIT END M2000 SVST 2 4 11 13 M9039 M9074 X000 M5...

Page 198: ...ror Range for Circular Interpolation 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 reve...

Page 199: ...ons are shown below Item 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 V t 1second 1second 10000 Servo program No 300 PLC ready...

Page 200: ...equence program The sequence program which runs the servo program is shown below 0 CIRCUIT END M2000 SVST 2 4 11 13 M9039 M9074 X000 M300 M9074 M9074 M301 M2049 M9076 M2004 M2042 PLS SET RST M300 M301 M301 300 K J4 23 X001 Turns ON PLC ready Turns ON servo program No 300 start command flag M301 when X000 turns OFF ON Turns ON all axes servo start command Servo program No 300 execution request Turn...

Page 201: ...e Deceleration Processing on Stop Input Allowable Error Range for Circular Interpolation S Curve 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 design...

Page 202: ...ue Program Example This 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 M M M M A61P A273UH CPU A278 LX Axis 1 Axis 2 Axis 3 Axis 4 A61P AX41 Start command X000 MR B MR B MR B MR B 2 Positioning conditions The fixed pitch feed control conditi...

Page 203: ...ow Fixed pitch feed control 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 0 CIRCUIT END M2000 SVST 2 4 11 13 M9039 M9074 X000 M320 M9074 M9074 M321 M2049 M9076 M2001 M2042 PLS SET RST M3...

Page 204: ...rocessing on Stop Input Allowable Error Range for Circular Interpolation S Curve 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...

Page 205: ...el value Program Example 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 M M M M A61P A273UH CPU A278 LX Axis 1 Axis 2 Axis 3 Axis 4 A61P AX41 Start command X000 MR B MR B MR B MR B 2 System configuration a The positioning conditi...

Page 206: ...d control 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 0 CIRCUIT END M2000 SVST 2 4 11 13 M9039 M9074 X000 M320 M9074 M9074 M321 M2049 M9076 M2001 M20...

Page 207: ...que 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 Interpolation S Curve 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...

Page 208: ...leration stop according 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 1 The rapid stop command and emergency stop from a peripheral device are valid duri...

Page 209: ... Setting Servo 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 V 3000 Stop command received t Speed control by servo program No 91 PLC ready M2000 All axes servo s...

Page 210: ...4 M9074 M93 M2049 M9076 M2042 PLS SET RST M91 M93 M93 91 K J1 PLF M94 M2001 27 M94 SET M3200 29 M2001 RST M3200 M3200 Turns ON PLC ready Turns ON all axes servo start command Servo program No 91 execution request Turns OFF M93 on completion of sarvo program No 91 execution request Detects leading edge of X000 OFF ON Detects leading edge of X000 ON OFF Turns ON servo program No 91 start command fla...

Page 211: ... Torque Limit Value Deceleration Processing on Stop Input Allowable Error Range for Circular Interpolation S Curve 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 cu...

Page 212: ...Item Setting Servo program 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 V 4000 t Stop command received Speed control by servo program No 55 PLC ready M2000 All axes ...

Page 213: ...4 M9074 M57 M2049 M9076 M2042 PLS SET RST M55 M57 M57 55 K J3 PLF M58 M2003 27 M58 SET M3240 29 M2003 RST M3240 M3240 Turns ON PLC ready Turns ON all axes servo start command Servo program No 55 execution request Turns OFF M57 on completion of sarvo program No 55 execution request Detects leading edge of X000 OFF ON Detects leading edge of X000 ON OFF Turns ON servo program No 55 start command fla...

Page 214: ...ocessing on Stop Input Allowable Error Range for Circular Interpolation S Curve 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...

Page 215: ...rrent value is updated 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 M3212 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 ...

Page 216: ...the 2 word data registers shown in the table below Data Registers to Change Travel Value Axis No Data Register Number for Indirect Designation Most Significant Data Least Significant Data 1 D16 D17 D16 2 D36 D37 D36 3 D56 D57 D56 4 D76 D77 D76 5 D96 D97 D96 6 D116 D117 D116 7 D136 D137 D136 8 D156 D157 D156 9 D176 D177 D176 10 D196 D197 D196 11 D216 D217 D216 12 D236 D237 D236 13 D256 D257 D256 14...

Page 217: ...e forward direction at speed 50000 under speed control and after the external CHANGE signal turns ON it executes position control for the travel value designated in registers D76 and D77 VPF Axis 4 D 76 Speed 50000 K 11 Indicates indirect designation of travel value Example ...

Page 218: ...ction 3 2 1 when the proximity 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 M3205 20n is ON 2 ...

Page 219: ...ition switching input CHANGE ON OFF Error detection M2407 20n OFF Positioning completed signal M2401 20n travel value under position control Overrun V 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...

Page 220: ...tching control is shown below Servo program No 101 V All axes servo start command M2042 All axes servo start accept flag M2049 Start command X000 SVST instruction Axis 4 start accept flag M2004 PLC ready M2000 Speed position switching enable flag M3265 t 1 sec 1 sec Speed control Position control CHANGE external input Speed position switching latch M2465 4 Servo program The servo program No 101 fo...

Page 221: ...2465 PLS M103 29 M103 RST M3265 Turns ON PLC ready Turns ON speed position switching enable flag M3265 Turns ON all axes servo start command Servo program No 101 executionrequest Turns OFF M102 on completion of sarvo program No 101 execution request Detects leading edge of X000 OFF ON Turns OFF speed position switching enable flag M3265 on speed position switching signal CHANGE input Turns ON serv...

Page 222: ...olation S Curve Ratio 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 ...

Page 223: ...d CHANGE signal ON Restart Stop Stop command received Speed control Position control Position control 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 t V Set speed Speed change Stop command...

Page 224: ...estart X001 stop command X002 MR B MR B MR B MR B CHNGE 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 enabl...

Page 225: ...nd X000 SVST instruction Speed position switching enable flag M3265 CHANGE external input Stop command X002 M3260 Reset command X001 Speed position switching lunch M2465 SVST instruction Axis 4 start accept flag M2004 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...

Page 226: ...rvo program No 101 execution request Turns OFF M102 on completion of sarvo program No 101 execution request Detects leading edge of X000 OFF ON Turns ON servo program No 101 start command flag M102 at X000 leading edge Stop 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 M3265 Turns ...

Page 227: ... Common Arc Parameter 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 Err...

Page 228: ... are described in Section 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 ...

Page 229: ... 20000 P2 Speed 7000 VABS Axis 4 60000 P3 Speed 6000 VABS 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 ...

Page 230: ...4 A maximum of 768 steps 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 st...

Page 231: ...shown below Item Setting 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 40000 50000 70000 100000 V t 2000 5000 8000 Axis 2 positioning direction Axis 3...

Page 232: ...000 Speed 5000 VEND Axis 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 0 CIRCUIT END M2000 SVST 2 4 11 13 M9039 M9074 X000 M500 M9074 M9074 M501 M2049 M9076 M2002 M2042 PLS SET RST M500 M501 M501 500 K J2J3 M2003 Turns ON PLC ready Tur...

Page 233: ...MES 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 designated repeated range is executed the set number of times b The setting range is 1 to 32767 An out of range setting between 32768 and 0 is controlled as a setting of 1...

Page 234: ...shown below Servo 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 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 ...

Page 235: ...the conditions below 1 System configuration Speed switching control of Axis 2 and Axis 3 Axis 2 A61P A273UH CPU A278 LX M Axis 1 M M M A61P AX41 Start command X000 Repeated instruction execution command X001 MR B MR B MR B MR B Axis 3 Axis 4 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 a...

Page 236: ...speed switching points 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 axes servo start accept flag M2049 Start command X000 SVST instruction Axis 2 start accept flag M2002 PLC ready M2000 Axis 3 start accept flag M2003 100000 ...

Page 237: ...VINC Axis 2 40000 Speed 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 com...

Page 238: ... code and torque limit value can be changed at each pass point 6 From 1 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 axes constant speed control Start Designated constant speed controlled axis and speed Designate all pass points All pass points designated End constant...

Page 239: ... control is shown below 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 ...

Page 240: ...rmally if the speed is changed when a discrepancy 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 cente...

Page 241: ...overrun occurs 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 tra...

Page 242: ...ange FOR TIMES 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 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 con...

Page 243: ... OFF is shown below Servo 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...

Page 244: ...of Axis 2 and Axis 3 Axis 2 A61P A273UH CPU A278 LX M Axis 1 M M M A61P AX41 Start command X000 MR B MR B MR B MR B 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 ...

Page 245: ...tart accept flag M2002 Axis 3 start accept flag M2003 V All axes servo start command M2042 All axes servo start accept flag M2049 Start command X000 SVST instruction PLC ready M2000 t Axis 2 positioning direction Axis 3 positioning direction 50000 100000 150000 200000 20000 40000 60000 80000 100000 10000 Radius 20000 ...

Page 246: ...0 Radius 20000 NEXT CPEND 30000 20000 0 20000 Positioning Method 2 axes linear interpolation Circular interpolation control using radius designation Travel value Axis 2 Axis 3 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 ...

Page 247: ...ed switching point designation flag M2040 see Section 3 1 3 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 M2040 is OFF The speed change starts at the designated speed switching point V t Speed chan...

Page 248: ...mmand X000 MR B MR B MR B MR B Axis 3 Axis 4 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 2...

Page 249: ...V t Axis 1 positioning 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 axes servo start accept flag M2049 Start command X000 SVST instruction PLC ready M2000 Speed switching designation flag M2040 P1 P2 P3 P4 Center point ...

Page 250: ...PEND 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 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 X000 M2000 J1J2 310 K ...

Page 251: ...peed Cancel Start Skip 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 one 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 co...

Page 252: ...000 MR B MR B MR B MR B Axis 3 Axis 4 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...

Page 253: ...art constant speed control Axis used Axis 4 Positioning speed 10000 1 axis linear positioning control Axis used Axis 4 Positioning address 1000 Set 100 repeats 1 axis linear positioning control Axis used Axis 4 Positioning address 2000 1 axis linear positioning control Axis used Axis 4 Positioning address 2000 End repeated region 1 axis linear positioning control Axis used Axis 4 Positioning addre...

Page 254: ...command CIRCUIT END Turns 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 M2049 M9076 M561 M2004 M2000 M2042 PLS SET J4 RST M560 M561 500 K M561 SVST 0 2 4 11 13 ...

Page 255: ... 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 Interpolation S Curve Ratio Commanded Speed constant speed Cancel Start Skip FIN acceleration Speed Change CPSTART2 2 CPSTART3 3 Start CPSTART4 4 End CPEND ...

Page 256: ...ing the following instructions 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 de...

Page 257: ...1 Start command X000 MR B MR B MR B MR B Axis 3 Axis 4 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 axes linear interpolation Axis 2 30000 50000 90000 Pass point Axis 3 30000 50000 100000 2 Constant speed ...

Page 258: ...00 Axis 3 30000 ABS Axis 2 50000 Axis 3 50000 Radius 20000 ABS 2 Axis 2 90000 Axis 3 100000 CPEND Axis 2 30000 Axis 3 30000 Axis 2 50000 Axis 3 50000 Axis 2 90000 Axis 3 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 s...

Page 259: ...xis 2 Axis 3 and Axis 4 Axis 2 A61P A273UH CPU A278 LX M Axis 1 M M M A61P AX41 Start command X000 MR B MR B MR B MR B Axis 3 Axis 4 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 2 Axis 3 Axis 4 Fig 7 30 Axis Configuration ...

Page 260: ...tion 10000 Fig 7 31 Positioning 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 ...

Page 261: ...5000 Axis 2 3500 Axis 3 4000 Axis 4 6000 INC 4 Axis 1 5000 Axis 2 3500 Axis 3 3000 Axis 4 6000 CPEND Axis 1 3000 Axis 2 4000 Axis 3 4000 Axis 4 4000 Axis 1 5000 Axis 2 3500 Axis 3 4000 Axis 4 6000 Axis 1 5000 Axis 2 3500 Axis 3 3000 Axis 4 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 Se...

Page 262: ...1 If absolute circular 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...

Page 263: ...when skip is not executed Motion when skip is executed when the skip occurs at 100 degree Program 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 ...

Page 264: ... for all 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...

Page 265: ...eleration method is used 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 Axi...

Page 266: ...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 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...

Page 267: ...ontrol does not start 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 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...

Page 268: ...y M2000 Positioning address D50 PCPU ready M9074 Start accept flag M2001 n Positioning start completed M2400 20n Positioning completed M2401 20n Stop command M3200 20n Complete signal OFF command M3204 20n M code Torque limit value Command in position M2403 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 Positio...

Page 269: ...ervo start command CIRCUIT 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 M2441 M2440 M2000 M2042 0 2 4 12 27 M2003 PLS M3240 J3 100 K SVST 100 D50 P K DMOV ...

Page 270: ...ed except the simultaneous start START instruction servo program 3 Up to 3 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 prog...

Page 271: ...ers of 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 12...

Page 272: ...IT END Turns ON PLC ready 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 X000 M9074 M121 M9074 M2049 M9076 M122 M2001 M2000 M2042 PLS SET J1J3J4 RST M121 M122 121 K M122 SVST 0 2 4 11 13 M2002 M2003 M2004 ...

Page 273: ...00 inch min 0 001 to 2147483 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 more 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 ...

Page 274: ...ue stored in the JOG operation speed setting register while the JOG operation signal remains ON and a deceleration stop occurs when the JOG operation signal turns OFF Control of acceleration and deceleration is based on the JOG operation data settings t V ON OFF JOG operation speed Acceleration based on JOG operation data Deceleration stop based on JOG operation data JOG operation signals M3202 20...

Page 275: ...2 M3483 D669 D668 16 M3502 M3503 D671 D670 17 M3522 M3523 D673 D672 18 M3542 M3543 D675 D674 19 M3562 M3563 D677 D676 20 M3582 M3583 D679 D678 21 M3602 M3603 D681 D680 22 M3622 M3623 D683 D682 23 M3642 M3643 D685 D684 24 M3662 M3663 D687 D686 25 M3682 M3683 D689 D688 26 M3702 M3703 D691 D690 27 M3722 M3723 D693 D692 28 M3742 M3743 D695 D694 29 M3762 M3763 D697 D696 30 M3782 M3783 D699 D698 31 M380...

Page 276: ...signal 2 If the JOG operation 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 M32...

Page 277: ...tion speed 1000 c JOG operation 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 D646 D647 when X000 or X001 is ON Turns OFF M140 when X000 and X001 turn OFF M9039 M9074 X000 M9074 M2049 M2000 M2042 1000 RST D646 K M140 DMOV 0 2 4 18 22 M9076 M140 M140 ...

Page 278: ... b5 b4 b3 b2 b1 b0 Make JOG operation simultaneous start axis setting with 1 0 1 Simultaneous start executed 2 Simultaneous start not executed Reverse rotation JOG Forward rotation JOG Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 A...

Page 279: ...9 M3362 M3363 D657 D656 10 M3382 M3383 D659 D658 11 M3402 M3403 D661 D660 12 M3422 M3423 D663 D662 13 M3442 M3443 D665 D664 14 M3462 M3463 D667 D666 15 M3482 M3483 D669 D668 16 M3502 M3503 D671 D670 17 M3522 M3523 D673 D672 18 M3542 M3543 D675 D674 19 M3562 M3563 D677 D676 20 M3582 M3583 D679 D678 21 M3602 M3603 D681 D680 22 M3622 M3623 D683 D682 23 M3642 M3643 D685 D684 24 M3662 M3663 D687 D686 2...

Page 280: ...G operation direction 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 D710 to D713 JOG operation axes while X000 is ON Turns ON M141 when setting is complete for simultaneous start axes and JO...

Page 281: ...unted from slot 0 of the CPU base The manual pulse generator is valid for the first module only When the A173UHCPU is used one A172SENC is required per manual pulse generator Connect a manual pulse generator to each of the first to third A172SENC Control Details 1 Positioning of the axis set in the manual pulse generator axis setting register according to the PULSE input from the manual pulse gene...

Page 282: ...fication AM Travel value per pulse Number of PULSE per rotation AP The travel value per PULSE during manual PULSE generator operation is shown in the following table Units Travel Value mm 0 1 µm inch 0 00001 inch degree 0 00001 degree PULSE 1 PULSE For units of millimeters the commanded travel value for input of one pulse is 0 1 µm 1 PULSE manual pulse generator input magnification set ting b Outp...

Page 283: ... 16 Axis 17 Axis 18 Axis 19 Axis 20 Axis 21 Axis 22 Axis 23 Axis 24 Axis 25 Axis 27 Axis 28 Axis 29 Axis 30 Axis 26 Axis 31 Axis 32 4 Manual pulse generator 1 pulse input magnification setting a Make magnification setting for 1 pulse input from the manual pulse genera tor axis by axis 1 PULSE Input Magnifi cation Setting Register Correspond ing Axis No Setting Range D720 Axis 1 D721 Axis 2 D722 Ax...

Page 284: ...g edge and trailing edge of manual pulse generator operation Manual Pulse Generator Smoothing Magnification Setting Register Setting Range Manual Puls Generator P1 D752 Manual Puls Generator P2 D753 Manual Puls Generator P3 D754 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 genera...

Page 285: ...generator enable flag 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 o...

Page 286: ...rator operation is shown below Set manual pulse generator 1 PULSE input magnification Set manual pulse generator operation axis 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 ...

Page 287: ... 100 magnification c Manual 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 X0...

Page 288: ...od or count method is recom mended for a servo 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 r...

Page 289: ...ctual deceleration time 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 10 103 2000 300 10 103 200 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 ty...

Page 290: ...he zero point is determined from the servo data The travel value in this range is stored in the monitoring register Zeroing second travel value Fig 7 31 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...

Page 291: ...e proximity dog turns OFF is very close to a zero point the creep speed and deceleration settings may result in a home position discrepancyequivalent to one revolution ON OFF Zero point Proximity dog of the motor 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 wil...

Page 292: ... Positioning is carried 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 return second travel value Fig 7 32 Operation of Zeroing by the Count Method 3 Runni...

Page 293: ...zeroing To execute zeroing 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 servo motor at least one revolution using JOG operation before running ...

Page 294: ...nge ZERO 1 Must be set Set if required 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...

Page 295: ...am No 0 for zeroing is shown below Zeroing Axis used Axis 4 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 executio...

Page 296: ...ion S Curve Ratio Cancel 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 angl...

Page 297: ...n does not start 3 If the 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 s...

Page 298: ...Section 8 1 2 M code output 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...

Page 299: ...mit switch function outputs 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...

Page 300: ...r the appropriate axis 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 D760 and D775 Point Outputs corresponding to enable bits set to 0 output an ON OFF pattern based on the set ON OFF pattern While M3206 20n is ON REMARK The data in Tabl...

Page 301: ...ion control the M code is stored for all axes under interpolation control b To read an M code on positioning start completion use the positioning start completion signal M2400 20n as the read command c To read an M code on positioning completion use the positioning completion signal M2400 20n as the read command Position control or speed control Dwell time ON V t ON ON ON OFF OFF OFF OFF Set M cod...

Page 302: ...l 4 Program example a 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 t...

Page 303: ...ompensation Amount 1 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 do...

Page 304: ...t on first JOG operation 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 back...

Page 305: ...ow to set the torque limit 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...

Page 306: ...e Up Page Down End SET Esc STOP 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 ST...

Page 307: ...olution 10 mm mm 1 Electronic 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 Po...

Page 308: ...c gear setting 1 commanded 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 param...

Page 309: ...ne 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 device End Adjust the Machine Position Make any required adj...

Page 310: ...triction or MR J2 B version BCD B20W200 A1 or later 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 co...

Page 311: ...en performing an infinite feed operation solve this problem by setting the units to degrees 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 312: ...ing End Positioning does not start if the STOP signal stop command M3200 20n or rapid stop command M3201 20n is ON Turn M3209 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 M...

Page 313: ... motion slot of the motion base as the trigger It can be set in the system setting of a peripheral device software package 1 Positioning data that can be set Set Data Number of Words Unit Remarks Position command feed current value 2 10 1 µm 10 5 inch 10 5 degree PLS Real current value 2 10 1 µm 10 5 inch 10 5 degree PLS Position droop deviation counter value 2 PLS M codes 1 Torque limit value 1 M...

Page 314: ...gram is started Data setting 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 zeroing instruction ZERO or simultaneous start instruction START For details on whether other instructions ca...

Page 315: ...8 AUXILIARY AND APPLIED FUNCTIONS 8 18 Program example A program example is shown bellow Cancel signal X0000 Start K2 K 0 ABS 1 Axis 1 30000 Speed 5000 Cancel X0000 Start K 2 ...

Page 316: ...hecked at servo amplifier power on sequence An error is indicated when the encoder data has exceeded the setting range 2 Restrictions on the combinations of positioning operating systems and positioning software packages There are the following restrictions depending on whether the permissible travel value during power off has been set or not Positioning Software Package Ver Positioning OS Ver PC ...

Page 317: ...r PC AT compatible Restrictions R or later There are no restrictions MR H BN BCD B13W000 B2 or later MR J2 B BCD B20W200 A1 or later MR J2S B All models Q or earlier Only a of the enhanced function items applies R or later Only c of the enhanced function items applies However b is applicable to monitoring of other than the encoder current value MR H BN BCD B13W000 B1 or earlier MR J2 B BCD B20W200...

Page 318: ...resetting On switching from STOP PAUSE to RUN STEP 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 Wh...

Page 319: ...sert one 3 Check 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...

Page 320: ...one Contact your system service 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 fau...

Page 321: ... stations is 0 1 Write the parameters again and check 2 If the error is displayed again there is a hardware fault Contact your nearest Mitsubishi service center 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 bee...

Page 322: ...the error code and eliminate the error cause in the external input signal status or sequence program 3 Servo error These are errors detected by the servo amplifier they are assigned error codes 2000 to 2999 When a servo error occurs check the error code and eliminate the error cause at the servo side b When an error occurs the error detection signal for the relevant axis comes ON and the error cod...

Page 323: ...ed up with the GSV13PE GSV22PE software d Error detection flags and error codes are latched until the error code reset signal M3207 20n or servo error reset signal M3208 20n comes ON POINTS 1 When some servo errors occur the same error code will be stored again even if the servo error reset signal M3208 20n ON is issued 2 When a servo error occurs reset the servo error after first eliminating the ...

Page 324: ...e set commanded speed exceeds the speed limit value control is executed at the speed limit value 1 Set the commanded speed in the range from 1 to the speed limit value 5 Dwell time setting error The dwell time is set outside the range 0 to 5000 Control is executed using the default value of 0 Set the dwell time in the range from 0 to 5000 6 M code setting error The M code is set outside the range ...

Page 325: ...epeat count in the range 1 to 32767 1 The servo program designated by the START instruction does not exist 1 Create a servo program designated by the START instruction 2 There is a START instruction in the designated servo program 2 Delete the servo program containing the START instruction 19 START instruction setting error 3 More than one axis has been designated for the started servo program Pos...

Page 326: ...t error A virtual mode program was started in the real mode Positioning control does not start Check the mode allocation for the program 904 Start error A real mode program was started in the virtual mode Positioning control does not start Check the mode allocation for the program 905 Start error An instruction that cannot be used in the virtual mode VPF VPR VPSTART ZERO VVF VVR OSC was issued Pos...

Page 327: ...mity dog type zeroing 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 ON231 1 unit Set the travel value after the proximity dog to within the permissible range with a peripheral de...

Page 328: ...t range Move back 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 i...

Page 329: ...ddress 118 An address that causes positioning in the reverse direction is set Positioning control 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 M2406 20n is OFF Zeroing is not completed correctly Carry out the zeroing after the home position ...

Page 330: ...test mode at a peripheral 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 ...

Page 331: ...rm the manual pulse generator operation after the axis has stopped The speed switching point address is more 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 ...

Page 332: ...terpolation The 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 s...

Page 333: ...on 900 When the servo 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 J2S B 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 se...

Page 334: ...rnal FLS upper limit 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 zer...

Page 335: ...FF Move the axis in the forward 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...

Page 336: ... normally Zeroing request ON Check the battery of the CPU module and execute a zeroing 1202 When the servo amplifier power is turned ON a communication error in communication between the servo amplifier and encoder occurs Zeroing request ON servo error 2016 set Check the motor and encoder cables and perform zeroing again 1203 During operation the amount of change in the encoder current value compl...

Page 337: ...Action 1300 The actual ADU loading status differs from the system settings ADU fault Reconsider the parameters Change the ADU 1310 Initial communication with the servo system CPU is not completed normally Servo system CPU fault or ADU fault Change the servo system CPU or ADU 1500 Servo power A230P is not switched on or the all axes servo ON command M2042 ON was given in a failure status After swit...

Page 338: ...e servo amplifier and are assigned error codes 2000 to 2799 In the following tables the types of servo amplifier are indicated for ADU and for MR B For the servo amplifier types the ADU is abbreviated to A and the MR B as M The servo error detection signal M2408 20n comes ON when a servo error occurs Eliminate the cause of the error reset the error by turning ON the servo error reset signal M3208 ...

Page 339: ... At servo error reset Reset and recheck the servo system CPU Change the ADU 2015 M Memory error 2 Servo amplifier EEPROM fault 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 A At initialization communication with encoder is not normal The encoder ...

Page 340: ...reset When the power to the servo system CPU is turned ON Replace the servo amplifier battery 2026 A Module mismatch The servo parameter system settings does not match the real servo amplifier At power on of servo amplifier At servo error reset Reconsider the system settings The frequency of ON OFF switching of the power transistor for regeneration is too high Caution is required since the regener...

Page 341: ...lace the servomotor Encoder cable failure Replace the encoder cable A servomotor that does not match the setting has been connected Check the connected motor set in the system settings The servomotor oscillated Check and adjust the gain value set in the servo parameters 2032 M Overcurrent Noise entered the overcurrent detection circuit Check if any relays or valves are operating in the vicinity Th...

Page 342: ... Encoder signal fault Replace the servomotor The ADU fan is at a stop Change the ADU fan The continuous output current of the ADU is exceeded Reduce the load A Amplifier fin overheat ADU s thermal sensor fault Change the ADU 2045 M Fin overheating The heat sink in the servo amplifier is overheated Amplifier error rated output exceeded Power repeatedly switched ON OFF during overload Cooling fault ...

Page 343: ...in in the servo parameters Check the connection of U V W of the servo amplifier and servomotor Check for disconnection of the encoder cable Replace the servomotor 2051 M Overload 2 The servo amplifier and servomotor were overloaded at a torque close to the maximum torque 95 or more of the current control value At any time during operation Immediate stop Check if there has been a collision at the m...

Page 344: ... absolute position sensor has become low Replace the battery Check the encoder cable for wire breakage Replace the servomotor Replace the servo amplifier 2140 M 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...

Page 345: ...egral compensation 2209 Forward rotation torque limit value 2210 Reverse rotation torque limit value 2211 Emergency stop time delay 2212 Position control gain 1 model position gain 2213 Speed control gain 1 model speed gain 2214 Load inertia ratio 2215 Error excessive alarm level 2216 Special compensation processing 2217 Special servo processing 2218 Td dead zone compensation 2219 Feed forward gai...

Page 346: ...ntrol 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 1 of...

Page 347: ...mit value 2311 Emergency stop time delay 2312 Position control gain 1 model position gain 2313 Speed control gain 1 model speed gain 2314 Load inertia ratio 2315 Error excessive alarm level 2316 Special compensation processing 2317 Special servo processing 2318 Td dead zone compensation 2319 Feed forward gain 2320 Unbalance torque compensation 2321 Dither command 2322 Gain operation time 2323 Serv...

Page 348: ...ward rotation torque limit value 2510 Reverse rotation torque limit value 2511 Emergency stop time delay 2512 Position control gain 1 model position gain 2513 Speed control gain 1 model speed gain 2514 Load inertia ratio 2515 Error excessive alarm level 2516 Special compensation processing 2517 Special servo processing 2518 Td dead zone compensation 2519 Feed forward gain 2520 Unbalance torque com...

Page 349: ...ter 2619 Feed forward 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 3632 Optional function 5 363...

Page 350: ... value 2611 Emergency stop time delay 2612 Position control gain 1 model position gain 2613 Speed control gain 1 model speed gain 2614 Load inertia ratio 2615 Error excessive alarm level 2616 Special compensation processing 2617 Special servo processing 2618 Td dead zone compensation 2619 Feed forward gain 2620 Unbalance torque compensation 2621 Dither command 2622 Gain operation time 2623 Servo r...

Page 351: ...le fell below 170VAC Instantaneous power failure occurred Reconsider the power supply equipment 2810 Undervoltage Load is too large Reconsider the power supply capacity High duty operation or continuous regenerative operation caused the max load capacity of the regenerative brake resistor to be exceeded Reconsider the operation pattern e g decrease the acceleration deceleration frequencies or redu...

Page 352: ...D PCF has been mounted 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 o...

Page 353: ...han the number of control axis I O O I T O V E R S P N The total I O points of the PLC I O modules set to the motion slots in system settings are more than 256 points At power on At reset with reset key Start is disabled A M P T Y P E E R R O R Axis No 01 to 32 The amplifier type MR H BN MR J2 B MR J2S B set in system settings differs from the actual amplifier type MR H BN MR J2 B MR J2S B At powe...

Page 354: ... the error cause and give all axis servo ON command If all axes are put in servo ON status properly the LED goes off U N I T S L E R R O R Note Base No slot No Motion slot module fault detection During operation the module has come off or is coming off Motion slot module fault detection flag M2047 ON Switch power off and load the module properly P C P U WD T E R R PCPU WDT error code PCPU WDT erro...

Page 355: ... the battery voltage falls below the stipulated value remains ON even after normal battery voltage is re established M9008 Note 1 Self diagnostic error OFF No error ON Error Comes ON when 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 M9011...

Page 356: ...ation instruction M9036 and M9037 retain their ON or OFF status regardless of the settings of the key switch on the front of the CPU but M9038 and M9039 change in accordance with the key switch status They go OFF when the key switch is set to the STOP 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 enab...

Page 357: ...when there are no free registration areas among the 32 areas used for registering the standby instructions FROM TO to be given to the MNET MINI S3 M9084 Note 2 Error check OFF Error check executed ON No error check Set whether or not the error check shown below is executed on END instruction processing Used to shorten END instruction processing time 1 Blown fuse check 2 I O module verification che...

Page 358: ...nable OFF Trace disable stop ON Trace enable Select whether to enable or disable sampling trace execution ON Sampling trace execution is enabled OFF Sampling trace execution is disabled Turn it OFF during sampling trace execution to stop trace M9196 Note 2 Operation output at block stop OFF Coil output OFF ON Coil output ON Select the operation output at a block stop ON The ON OFF status of the co...

Page 359: ...by using one of the following methods a Method using the user program Insert the ladder block at right into the program and turn the reset execution command contact ON to clear the special relay b Method using a peripheral device Perform a forced reset using the test function of the peripheral device For details on this operation refer to the manual for the peripheral device c Turn the special rel...

Page 360: ... signals of the master module turns ON Hardware fault X0 X20 MINI S3 link error detection X6 X26 MINI S3 link communication error X7 X27 D9005 Note 4 AC DOWN counter AC DOWN occurrence count 1 is added to the stored value each time 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 4 Self diagnostic erro...

Page 361: ... 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 each END instruction if the scan time is longer than t...

Page 362: ...n below B15 B12B11 B8 B7 B4 B3 B0 Example Friday H0005 0 must be set here 0 1 2 3 4 5 6 Day of week Sunday Monday Tuesday Wednesday Thursday Friday Saturday D9035 Extended file register Used block No The block No of the extended file registers in current use is stored in BIN D9036 D9037 For specifying extended file register device number Device number for direct access to any device of extended fi...

Page 363: ... step Step number where error occurred Stores in BIN the step number where error 83 occurred in the SFC program When error 80 or 81 occurred 0 is stored When error 82 occurred the block starting step number is stored D9053 Error transition Transition condition number where error occurred Stores in BIN the transition condition number where error 83 occurred in the SFC program When error 80 81 or 82...

Page 364: ...point increments when the I O modules whose I O module information is different from the registered information are detected at power on When parameter setting was made the preset I O module numbers are used The I O module information of remote stations is also detected D9116 D9117 0 11 10 9 6 5 4 3 0 1 2 8 7 D9123 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 12 13...

Page 365: ...ts of D9125 to D9132 are shifted upward by one This may also be done with the INDICATOR RESET switch on the front of the CPU module When there are 8 annunciator detections a 9th one is not stored in D9125 to D9132 even if detected D9009 D9124 0 1 50 2 50 3 2 50 50 3 50 5 6 50 7 50 8 50 8 50 8 99 SET F50 50 50 0 4 SET F25 SET F99 RST F25 SET F15 SET F70 SET F65 SET F38 SET F110 SET F151 SET F210 LE...

Page 366: ...ntents of the register b Using a peripheral device Using the test function of a peripheral device set the register to 0 by using current 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 the front of the CPU to the RESET position Clear execution command RST M90...

Page 367: ...b5 b4 b3 b2 b1 b0 LYEF LYEE LYED LYEC LYEB LYEA LYE9 LYE8 LYE7 LYE6 LYE5 LYE4 LYE3 LYE2 LYE1 LYE0 D790 LYFF LYFE LYFD LYFC LYFB LYFA LYF9 LYF8 LYF7 LYF6 LYF5 LYF4 LYF3 LYF2 LYF1 LYF0 D791 For axis 2 For axis 4 For axis 1 For axis 3 For axis 30 For axis 32 For axis 29 For axis 31 Each bit of D776 to D791 stores 1 0 1 1 ON 2 0 OFF D792 to D799 Servo amplifier type Servo amplifier type Stores the ser...

Page 368: ...xtension base 3rd stage 4 Extension base 4th stage 200 to 207 210 to 217 220 to 227 230 to 237 240 to 247 Motion CPU base extension base loaded module hardware fault 200 Indicates the slot No 0 to 7 where the module with the fault is loaded Indicates the stage No of the base on which the module with the fault is loaded 0 CPU base 1 Extension base 1st stage 2 Extension base 2nd stage 3 Extension ba...

Page 369: ...once an error program number has been stored an error occurs in another servo program the program number of the program with the new error is stored Stores the error code corresponding to the setting item in error when the servo program setting error flag M9079 turns ON Error Code Error Definition 900 The servo program set in the SVST instruction does not exist 901 The axis No set in the SVST inst...

Page 370: ...t and after conversion to BCD code is shown here System configuration Sequence program A273UH CPU A278 LX AY40 Y000 to Y00F M2400 BCD P D13 Y0000 CIRCUIT END 0 K4 Axis 1 positioning start completed signal Y000 to Y00F designation M code storage area for axis 1 Refer to Section 3 2 1 BCD conversion instruction Power supply module A61P 2 A program that outputs the M code for axis 1 from Y000 to Y00F...

Page 371: ...hat error code reading is executed after sufficient time has elapsed for error codes to be written in the various error code storage areas after M2407 20n M2408 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 System configuration Sequence program M2407 BCD P D6 Y0000 CIRCUI...

Page 372: ...y times to perform comparison 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 ano...

Page 373: ...ns example To divide the 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 ...

Page 374: ...ed 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 0000 to 1FFF Y 0000 to 1FFF M...

Page 375: ...to note Start method Setting method Notes Start by SVST instruction Designate data in devices Start by SVST 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 da...

Page 376: ...2 13 to 24 25 to 32 Number of set axis SV13 1 to 12 13 to 24 25 to 32 1 to 20 21 to 32 Servo program start processing time Note 1 4 to 11 10 to 18 14 to 21 4 to 11 10 to 18 14 to 21 Speed change response 0 to 4 0 to 8 0 to 14 0 to 4 0 to 8 0 to 14 Torque limit value change response 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 Simultaneous start processing time Note 2 7 to 17 10 to 24 14 to 28 7 to 17...

Page 377: ...620 to M2639 4 Speed controlling 13 M2640 to M2659 5 Speed position switching latch 14 M2660 to M2679 6 Zero point passage 3 5ms 7 1ms 14 2ms 15 M2680 to M2699 7 Error detection Immediate 16 M2700 to M2719 8 Servo error detection 3 5ms 7 1ms 14 2ms 17 M2720 to M2739 9 Zeroing request 10ms 20ms 18 M2740 to M2759 10 Zeroing completion 3 5ms 7 1ms 14 2ms 19 M2760 to M2779 11 External signal FLS 20 M2...

Page 378: ...419 3 Reverse rotation JOG start 12 M3420 to M3439 4 Completion signal OFF command 10ms 20ms 13 M3440 to M3459 5 Speed position switching enable 14 M3460 to M3479 6 Limit switch output enable 3 5ms 7 1ms 14 2ms 15 M3480 to M3499 7 Error reset 16 M3500 to M3519 8 Servo error reset 10ms 20ms 17 M3520 to M3539 9 Start time external stop input disable At start 18 M3540 to M3559 10 User unusable 19 M35...

Page 379: ... 5ms 7 1ms 14 2ms PLS 14 D260 to D279 6 Minor error code 15 D280 to D299 7 Major error code Immediate 16 D300 to D319 8 Servo error code 10ms 20ms 17 D320 to D339 9 Zeroing second travel value 3 5ms 7 1ms 14 2ms PLS 18 D340 to D359 19 D360 to D379 10 11 After DOG CHANGE ON travel value END Command unit 20 D380 to D399 12 Execution program No At start 21 D400 to D419 13 M code 22 D420 to D439 14 To...

Page 380: ...51 A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 7 D652 D653 SV22 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32 Unit Signal direction 8 D654 D655 9 D656 D657 0 1 Feed current value At start Command unit SCPU PCPU 10 D658 D659 11 D660 D661 12 D662 D663 13 D664 D665 14 D666 D667 15 D668 D669 16 D670 D671 17 D672 D673 18 D674 D675 19 D676 D677 20 D678 D679 21 D680 D681 22 ...

Page 381: ... flag 10ms SCPU PCPU M2112 M2033 User unusable M2113 M2034 Personalcomputerlink communication errorflag 10ms M2114 M2035 M2115 M2036 M2116 M2037 M2117 M2038 M2118 M2039 User unusable 5 points M2119 M2040 Speed change point designation flag Start SCPU PCPU M2120 M2041 System setting error flag 10ms SCPU PCPU M2121 M2042 All axes servo ON command 3 5ms 7 1ms 14 2ms SCPU PCPU M2122 M2043 M2123 M2044 ...

Page 382: ...2252 Axis13 M2173 M2253 Axis14 M2174 M2254 Axis15 M2175 M2255 Axis16 M2176 M2256 Axis17 M2177 M2257 Axis18 M2178 M2258 Axis19 M2179 M2259 Axis20 M2180 M2260 Axis21 M2181 M2261 Axis22 M2182 M2262 Axis23 M2183 M2263 Axis24 M2184 M2264 Axis25 M2185 M2265 Axis26 M2186 M2266 Axis27 M2187 M2267 Axis28 M2188 M2268 Axis29 M2189 M2269 Axis30 M2190 M2270 Axis31 M2191 M2271 Axis32 Speed change accepting flag...

Page 383: ...0 Axis 11 D731 Axis 12 D732 Axis 13 D733 Axis 14 D734 Axis 15 D735 Axis 16 D736 Axis 17 D737 Axis 18 D738 Axis 19 D739 Axis 20 D740 Axis 21 D741 Axis 22 D742 Axis 23 D743 Axis 24 D744 Axis 25 D745 Axis 26 D746 Axis 27 D747 Axis 28 D748 Axis 29 D749 Axis 30 D750 Axis 31 D751 Axis 32 Manual pulse generator 1 pulse input magnification setting register D752 Manual pulse generator 1 smoothing magnifica...

Page 384: ...3UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 Device Number SV22 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32 Signal Direction D9180 D9181 User usable D9182 D9183 Test mode request error information At test mode request D9184 PCPU WDT error cause At PCPU WDT error oc currence D9185 D9186 D9187 Manual pulse gene...

Page 385: ... AP AL and AM values with which the above relational expression will hold However since the values that may be set as AP AL and AM have their permissible ranges the values calculated from the above relational expression must be brought within the AP AL and AM setting ranges 1 For ball screw reduction gear When the ball screw pitch is 10mm the motor is the HC MF 8192PLS rev and the reduction ratio ...

Page 386: ...er motor revolution AL number of pulses per motor revolution AM 1 For example when the motor is the HC MF 8192PLS rev AP 8192 AL 8192 AM 1 3 When degree is set as the control unit for a rotary axis When the rotary axis is used the motor is HC SF 16384PLS rev and the reduction ratio of the reduction gear is 3 11 Motor Reduction gear 3 11 First find how many degrees the load machine will travel S wh...

Page 387: ... the motor is HC SF 16384PLS rev and the reduction ratio of the reduction gear is 7 53 Motor Reduction gear 7 53 Pulley ratio 1 3 135mm Belt conveyor As the travel value of the conveyor is used to exercise control set mm as the control unit First find how many millimeters the load machine will travel S when the motor turns one revolution AP AP number of pulses per motor revolution 16384 PLS S mach...

Page 388: ...ot more than 6553 5 ignore the least significant digits of both the denominator and numerator as 0 Then AP 1302500 1484400 0 AL AM Further reduce the fraction AP 2605 2968 8 AL AM Thus AP AL and AM to be set are as follows AP 2605 AL 2968 8 AM 1 This setting will produce an error for the true machine value but it cannot be helped This error is as follows 29688 2605 29688026 2605056 1 100 0 002 It ...

Page 389: ...SUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 TELEX J24532 CABLE MELCO TOKYO NAGOYA WORKS 1 14 YADA MINAMI 5 HIGASHI KU NAGOYA JAPAN IB NA 0300028 A 0101 MEE Printed in Japan Specifications subject to change without notice ...

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