Mitsubishi Electric MELSEC iQ-R RD75P4 User Manual Download Page 68 | Manualshive

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3 MAJOR POSITIONING CONTROL
3.1 Overview of the Major Positioning Controls

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Conditions of deceleration stop during the continuous path control

The deceleration stop is not performed in the continuous path control. However, in the following three cases, the deceleration
stop is performed and the speed becomes 0 once.
• When the operation pattern of the positioning data currently being executed is Continuous path control: 11 and the

movement direction of the positioning data currently being executed differs from that of the next positioning data. (Only for
the positioning control of one axis. (Refer to Point.))

• During the operation with the step operation (

Page 273 Step function)

• When an error exists in the next positioning data, the positioning may stop immediately depending on an error. (

• In the positioning data of the continuous path control, the command speed becomes 0 for about 0.88ms

when [Da.6] Positioning address/movement amount is set to 0. If [Da.6] Positioning address/movement
amount is set to 0 to increase the number of speed change points in the future, change the setting of [Da.2]
Control method to NOP instruction not to execute the positioning data No. (

Page 149 NOP instruction)

• In the positioning data of the continuous path control, ensure the movement amount so that the execution

time of the data becomes 100ms or longer, or reduce the command speed.

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Operation for sudden direction reversal

• The movement direction is not checked during the interpolation control. Thus, the deceleration stop is not performed even if

the movement direction is changed. Therefore, the interpolation axis may suddenly reverse its direction. To avoid the
sudden direction reversal, set Continuous positioning control: 01 for the positioning data at the passing point instead of
Continuous path control: 11.

V

Positioning data No.1

Operation pattern: 11

Positioning data No.2

Operation pattern: 00

The speed becomes 0.

V

t

V

t

Positioning by interpolation

Reference axis operation

Partner axis

Positioning
data No.1

Reference axis

Positioning
data No.2

Positioning data No.1

⋅ ⋅ ⋅

Continuous path control

Positioning
data No.1

Positioning
data No.2

Positioning
data No.1

Positioning
data No.2

Partner axis operation

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Summary of Contents for MELSEC iQ-R RD75P4

Page 1: ...MELSEC iQ R Positioning Module User s Manual Application RD75P2 RD75P4 RD75D2 RD75D4 ...

Page 2: ......

Page 3: ... overvoltage protection of the power supply module is activated Held or turned off according to the parameter setting if the self diagnostic function of the CPU module detects an error such as a watchdog timer error 3 All outputs may be turned on if an error occurs in a part such as an I O control part where the CPU module cannot detect any error To ensure safety operation in such a case provide a...

Page 4: ... malfunction To maintain the safety of the programmable controller system against unauthorized access from external devices via the network take appropriate measures To maintain the safety against unauthorized access via the Internet take measures such as installing a firewall Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even wh...

Page 5: ...afely regardless of the time Do not power off the programmable controller or reset the CPU module while the settings are being written Doing so will make the data in the flash ROM undefined The values need to be set in the buffer memory and written to the flash ROM again Doing so also may cause malfunction or failure of the module When changing the operating status of the CPU module from external ...

Page 6: ...unction When using an extension cable connect it to the extension cable connector of the base unit securely Check the connection for looseness Poor contact may cause malfunction When using an SD memory card fully insert it into the SD memory card slot Check that it is inserted completely Poor contact may cause malfunction Securely insert an extended SRAM cassette into the cassette connector of the...

Page 7: ... correctly connect the cable Incorrect wiring connecting the cable to an incorrect interface may cause failure of the module and external device Tighten the terminal screws or connector screws within the specified torque range Undertightening can cause drop of the screw short circuit fire or malfunction Overtightening can damage the screw and or module resulting in drop short circuit fire or malfu...

Page 8: ...rt circuit solder or throw the battery into the fire Also do not expose it to liquid or strong shock Doing so will cause the battery to produce heat explode ignite or leak resulting in injury and fire Shut off the external power supply all phases used in the system before cleaning the module or retightening the terminal screws connector screws or module fixing screws Failure to do so may result in...

Page 9: ... Overtightening can damage the screw and or module resulting in drop short circuit or malfunction After the first use of the product do not mount remove the module to from the base unit and the terminal block to from the module and do not insert remove the extended SRAM cassette to from the CPU module more than 50 times IEC 61131 2 compliant respectively Exceeding the limit may cause malfunction A...

Page 10: ...erpolation operation the speed of the partner axis 2nd 3rd or 4th axis may exceed the speed limit value Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries CAUTION When disposing of this product treat it as industrial waste When disposing of batteries separate them from other wastes according to the local regulations For details on ...

Page 11: ...RTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS PRECAUTIONS OR WARNING CONTAINED IN MITSUBISHI S USER INSTRUCTION AND OR SAFETY MANUALS TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT Prohibited Application Prohibited Applications include but not limited to the use of the PRODUCT in Nuclear Power Plants and any other power plants opera...

Page 12: ... parameter Da Positioning data and block start data Md Monitor data Cd Control data Unless otherwise specified this manual describes dedicated instructions using G P instructions When using Z P instructions regard G P as Z P Applicable devices differ between G P instructions and Z P instructions Check the devices in the following manual MELSEC iQ R Programming Manual Instructions Standard Function...

Page 13: ...11 MEMO ...

Page 14: ...tion overview of the fast OPR 57 CHAPTER 3 MAJOR POSITIONING CONTROL 59 3 1 Overview of the Major Positioning Controls 59 Data required for major positioning control 61 Operation pattern of major positioning control 62 Specifying the positioning address 71 Checking the current value 72 Handling degree control unit 74 Interpolation control 77 3 2 Positioning Data Setting 82 Relation between each co...

Page 15: ...he Condition Data 167 Relation between various controls and condition data 167 Setting examples of the condition data 169 4 5 Start Program for the Advanced Positioning Control 170 Starting the advanced positioning control 170 Start program example for the advanced positioning control 171 CHAPTER 5 MANUAL CONTROL 174 5 1 Overview of the Manual Control 174 Three manual control methods 174 5 2 JOG O...

Page 16: ... Hardware stroke limit function 241 7 5 Functions that Change Control Details 243 Speed change function 243 Override function 248 Acceleration deceleration time change function 251 Torque change function 254 Target position change function 256 7 6 Function Related to Start 259 Pre reading start function 259 Start time adjustment function 262 7 7 Absolute Position Restoration Function 264 Configura...

Page 17: ... start data 328 CHAPTER 10 MONITORING TEST 330 10 1 Positioning Monitor 330 10 2 Positioning Test 332 CHAPTER 11 SPECIFICATIONS OF I O SIGNALS WITH CPU MODULE 342 11 1 List of I O Signals with CPU Module 342 11 2 Details of Input Signals 344 11 3 Details of Output Signals 345 CHAPTER 12 DATA USED FOR POSITIONING CONTROL 346 12 1 Types of Data 346 Parameters and data required for the control 346 Se...

Page 18: ...e status 516 14 2 Troubleshooting by Symptom 517 14 3 Error and Warning Details 519 Error type 519 Error code classification 520 Error storage 520 Warning type 521 Warning classification 521 Warning storage 521 Clearing errors or warnings 522 14 4 List of Warning Codes 523 14 5 List of Error Codes 527 APPENDICES 548 Appendix 1 Module Label 548 Appendix 2 Dedicated Instruction 550 Appendix 3 How to...

Page 19: ...17 CONTENTS INDEX 588 REVISIONS 592 WARRANTY 593 TRADEMARKS 594 ...

Page 20: ...nual PDF Term Description GX Works3 The product name of the software package for the MELSEC programmable controllers Q series compatible mode A mode where the module operates with the start time of 1 5ms The mode is to match the start time to the QD75N or LD75 RD75 The abbreviation for the MELSEC iQ R series positioning module RD75P A generic term for the positioning module RD75P2 and RD75P4 RD75D...

Page 21: ...ssed while the module parameter and module extension parameter that are sent from the CPU module are updated If the buffer memory is accessed during the update an unexpected value may be read or written Control details Start trigger Major positioning control Turn on Positioning start signal Y10 Y11 Y12 Y13 Execute the GP PSTRT instruction Turn on an external command signal CHG Advanced positioning...

Page 22: ...ever since the ON time of the signal is short the ON state of the signal may not be detected in the program The on state of Start complete signal X10 X11 X12 X13 Positioning complete signal X14 X15 X16 X17 and M code ON signal X4 X5 X6 X7 can be detected in the program Presence or absence of the next positioning control Processing When the next positioning control is performed If Da 9 Dwell time i...

Page 23: ...After setting those two areas turn on an external command signal CHG Restrictions When starting by inputting an external command signal CHG Start complete signal X10 X11 X12 X13 does not turn on Time chart for starting Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Pr 42 External command function selection 0 Set 0 Start with external command 62 212 362 ...

Page 24: ...tioning data input a start trigger to start the specified positioning data The following table lists the start triggers used in this mode Start trigger name Starting method Start trigger Positioning data to be started Positioning start signal Turning off and on Positioning start signal Y10 Y11 Y12 Y13 Starts the positioning data specified in Cd 3 Positioning start No External command signal Turnin...

Page 25: ...r executing the following program Page 503 External command function valid setting program Classification Label Name Description Module label RD75_1 bnErrorDetection_Axis 0 Axis 1 Error detection signal X8 RD75_1 bnBusy_Axis 0 Axis 1 BUSY signal XC RD75_1 bnStartComplete_Axis 0 Axis 1 Start complete signal X10 RD75_1 bnPositioningStart_Axis 0 Axis 1 Positioning start signal Y10 RD75_1 stnAxisContr...

Page 26: ...the start triggers used in this mode Depending on the start timing of the positioning data analysis a start trigger used is determined Even if the settings are changed after the start of the positioning data analysis the changed settings are not valid Therefore when the following settings are configured an external command signal CHG is used as a start trigger Pr 42 External command function selec...

Page 27: ...art is executed Md 61 Analysis complete flag turns to 0 Analysis not completed The pre analysis mode is changed to the normal analysis mode not only by setting Cd 43 Analysis mode setting to 0 Normal analysis mode but also by the following factors When the setting of Cd 43 Analysis mode setting is changed to 0 Normal analysis mode the positioning data which has already been analyzed is cleared In ...

Page 28: ...lete flag turns to 0 Analysis not completed and the positioning data will be reanalyzed When the reanalysis is completed Md 61 Analysis complete flag turns again to 1 Analysis completed t t2 t1 v Cd 3 Md 26 Cd 43 Md 61 1 Pre analysis mode 0 Analysis not completed 1 Analysis completed Waiting for a start trigger Positioning data No used for positioning control 2 0 Analysis not completed Start trigg...

Page 29: ...itioning will be started after the analysis of the positioning data is completed When Md 61 Analysis complete flag is set to 1 Analysis completed errors are detected at intervals of 0 88ms Thus if a start trigger is input within 0 88ms after the occurrence of an error the operation may be started In this case the error is detected immediately after the start and the operation stops The data reflec...

Page 30: ...itializing the axis monitor data Turning off Positioning complete signal X14 X15 X16 X17 2 axis linear interpolation control 3 axis linear interpolation control 4 axis linear interpolation control 1 axis fixed feed control Clearing the axis control data Initializing the axis monitor data Turning off Positioning complete signal X14 X15 X16 X17 Clearing the current feed value to 0 Clearing the value...

Page 31: ...setting range Error before simultaneous start Error code 1991H occurs and all the simultaneous starting axes will not start If any of the simultaneous starting axes is in the axis BUSY state Error before simultaneous start Error code 1990H occurs and all the simultaneous starting axes will not start If an error occurs during the analysis of the positioning data on the simultaneous starting axes Si...

Page 32: ...ing axis start data No axis 4 start data No Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 3 Positioning start No 9004 Set 9004 the start No for the multiple axes simultaneous start control 1500 1600 1700 1800 Cd 30 Simultaneous starting axis start data No axis 1 start data No Set the simultaneous starting axis start data No Set 0 for the axis other ...

Page 33: ...ing positioning data and axis control data The execution time of the positioning depends on the settings of each axis Thus the positioning of each axis is not completed simultaneously Setting item Setting value Setting detail Buffer memory address Axis 1 Cd 3 Positioning start No 9004 Set 9004 the start No for the multiple axes simultaneous start control 1500 Cd 30 Simultaneous starting axis start...

Page 34: ...R control Fast OPR control Inching operation JOG operation Manual pulse generator operation Forced stop Drive unit READY signal READY is off Each axis Not changed Error Immediate stop Deceleration stop Fatal stop Stop group 1 Hardware stroke limit upper lower limit error occurred Each axis Not changed Error Deceleration stop or sudden stop Select with Pr 37 Stop group 1 sudden stop selection Decel...

Page 35: ...H and Error at switching from amplifier less operation mode to normal operation mode Error code 18B1H Classification of the stop processing types The stop processing during the operation is classified into three types deceleration stop sudden stop and immediate stop Deceleration stop This processing is performed using Pr 10 Deceleration time 0 and Pr 28 Deceleration time 1 to Pr 30 Deceleration ti...

Page 36: ...p command processing for deceleration stop selection a deceleration curve is re processed from the speed at the occurrence of a stop cause OPR control positioning control 0 Deceleration curve re processing A deceleration curve is re processed from the speed at the occurrence of a stop cause Page 269 Deceleration curve re processing 1 Deceleration curve continuation The current deceleration curve i...

Page 37: ... input during deceleration in the OPR control the positioning will stop with the current deceleration speed kept until it completely stops If the positioning operates at a creep speed the positioning will immediately stop If the stop cause specified for a sudden stop occurs during deceleration the sudden stop processing will start at that point The sudden stop processing during deceleration is per...

Page 38: ...us is Stopped the normal positioning using the positioning data set in Cd 3 Positioning start No is started If PLC READY signal is turned off and on while Md 26 Axis operation status is Stopped the positioning control cannot be restarted If a restart request is issued Restart not possible Warning code 0902H occurs Do not execute restarting while the stop command is on If restarting is attempted wh...

Page 39: ...refer to the following Page 512 Restart program Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 6 Restart command 1 Set 1 Restart 1503 1603 1703 1803 Md 26 Cd 6 0 V t 1 8 1 8 0 0 0 Axis operation status Restart command Y10 Y4 Y0 X0 X10 XC X14 X8 Positioning start signal Axis stop signal PLC READY signal RD75 READY signal Start complete signal BUSY sig...

Page 40: ...Md 30 External I O signal b2 turns off When PLC READY signal Y0 is turned off and on While OPR request flag is on the address information stored in the RD75 is not guaranteed When the execution of the machine OPR is normally completed OPR request flag turns off and OPR complete flag Md 31 Status b4 turns on Sub functions specific to OPR For details on Sub functions that can be combined with the OP...

Page 41: ...be ignored to perform the positioning In this case set all the OPR parameter areas Pr 43 to Pr 57 to their initial values or values that do not cause errors OPR using an engineering tool Machine OPR and Fast OPR can be executed using the positioning test of the engineering tool For details on the positioning test refer to the following Page 332 Positioning Test ...

Page 42: ... as the OP the start point for the positioning control The method for establishing an OP by the machine OPR depends on the setting of Pr 43 OPR method The following shows the operation after the machine OPR is started 1 The machine OPR is started 2 The operation starts according to the speed and direction set in the OPR parameters Pr 43 to Pr 57 3 The OP is established using the method set in Pr 4...

Page 43: ...P The machine starts at the speed set in Pr 47 Creep speed from the beginning presses the workpiece against the stopper and stops After the stop and Zero signal 1 is detected the machine OPR is completed when the deviation counter clear output is completed Count method 1 After moving the distance set in Pr 50 Setting for the movement amount after near point dog ON from the point where the near poi...

Page 44: ...ng pulses and produces Deviation counter clear output to the drive unit Deviation counter clear signal output time is set in Pr 55 5 After Deviation counter clear output is completed OPR complete flag Md 31 Status b4 turns on and OPR request flag Md 31 Status b3 turns off t ON OFF OFF ON OFF OFF ON 0 V ON Md 34 Pr 46 Pr 47 Md 34 Md 20 Md 21 Md 26 Md 31 Md 31 Pr 55 1 2 3 4 5 OPR speed Deceleration ...

Page 45: ...ion is performed in the situation above the machine moves until it reaches a limit switch and Hardware stroke limit Hardware stroke limit Error code 1905H 1907H will occur In this case perform the manual control to move the workpiece to a position closer to the start position than the near point dog and perform the OPR operation again When the machine OPR has been stopped by a stop signal perform ...

Page 46: ...d stops 5 When the time set in Pr 49 OPR dwell time has elapsed after the near point dog was turned on the RD75 stops outputting pulses and produces Deviation counter clear output to the drive unit Deviation counter clear signal output time is set in Pr 55 6 After Deviation counter clear output is completed OPR complete flag Md 31 Status b4 turns on and OPR request flag Md 31 Status b3 turns off 0...

Page 47: ...the deceleration from the speed set in Pr 46 OPR speed and Dwell time fault Error code 1943H occurs t V ON OFF ON OFF OFF 0 Pr 46 Pr 47 Md 34 Md 20 Md 21 Md 31 Md 31 Md 26 Pr 49 OPR speed Creep speed OPR request flag OPR complete flag Standby OPR Inconsistent Movement amount after near point dog ON Inconsistent A value of the movement amount is stored Current feed value Error Address at stop Statu...

Page 48: ...s been stopped by a stop signal perform the machine OPR again If Restart command is turned on after the stop by a stop signal OPR restart not possible Error code 1946H occurs ON OFF ON OFF OFF ON 0 V ON OFF t Md 31 Md 31 Pr 47 Md 34 Md 35 Md 20 Md 21 Pr 46 Md 26 Pr 55 OPR speed Torque limit valid range Torque limit OPR request flag OPR complete flag Standby OPR Standby Inconsistent Movement amount...

Page 49: ... a zero signal is input the RD75 stops outputting pulses and produces Deviation counter clear output to the drive unit Deviation counter clear signal output time is set in Pr 55 6 After Deviation counter clear output is completed OPR complete flag Md 31 Status b4 turns on and OPR request flag Md 31 Status b3 turns off t ON OFF ON OFF OFF ON 0 V OFF Md 31 Md 31 Md 26 Md 34 Md 35 Md 20 Md 21 Pr 46 P...

Page 50: ...before the deceleration to the speed set in Pr 47 Creep speed is completed the machine will continue decelerating and stop and Zero signal detection timing fault Error code 1942H will occur t V ON OFF ON OFF OFF 0 ON OFF Md 34 Md 20 Md 21 Pr 46 Pr 47 Md 31 Md 31 Md 26 OPR speed Creep speed Zero signal OPR request flag OPR complete flag Standby OPR Inconsistent Movement amount after near point dog ...

Page 51: ...e OPR has been stopped by a stop signal perform the machine OPR again If Restart command is turned on after the stop by a stop signal OPR restart not possible Error code 1946H occurs t ON OFF ON OFF OFF ON V OFF 0 Md 31 Md 31 Md 26 Pr 55 Md 34 Md 20 Md 21 Pr 46 Pr 47 Md 35 ON OPR speed Creep speed Torque limit valid range Torque limit Near point dog Zero signal Deviation counter clear output Stand...

Page 52: ... and a zero signal is input the RD75 stops outputting pulses and produces Deviation counter clear output to the drive unit Deviation counter clear signal output time is set in Pr 55 4 After Deviation counter clear output is completed OPR complete flag Md 31 Status b4 turns on and OPR request flag Md 31 Status b3 turns off t ON OFF ON OFF OFF ON V 0 Pr 47 Pr 55 Md 34 Md 35 Md 20 Md 21 Md 31 Md 31 M...

Page 53: ...OPR has been stopped by a stop signal perform the machine OPR again If Restart command is turned on after the stop by a stop signal OPR restart not possible Error code 1946H occurs t ON OFF ON OFF OFF ON V 0 Md 34 Md 35 Md 20 Md 21 Pr 47 Md 31 Md 31 Md 26 Pr 55 Creep speed OPR request flag OPR complete flag Torque limit valid range Torque limit Zero signal Deviation counter clear output Standby OP...

Page 54: ...ting pulses and produces Deviation counter clear output to the drive unit Deviation counter clear signal output time is set in Pr 55 5 After Deviation counter clear output is completed OPR complete flag Md 31 Status b4 turns on and OPR request flag Md 31 Status b3 turns off t ON OFF OFF OFF ON 0 V ON OFF Md 31 Md 31 Md 34 Md 20 Md 21 Pr 46 Pr 47 Md 34 Pr 50 Pr 55 ON Md 26 1 2 3 4 5 OPR speed Stand...

Page 55: ...ter the stop by a stop signal OPR restart not possible Error code 1946H occurs Operation when the machine OPR is started from a point where the near point dog is on 1 A machine OPR is started 2 The machine moves at the OPR speed in the direction reverse to the specified OPR direction 3 The deceleration processing is performed according to the setting of Pr 39 Stop group 3 sudden stop selection whe...

Page 56: ...ting of Pr 51 OPR acceleration time selection in the direction specified in Pr 44 OPR direction and moves at the speed set in Pr 46 OPR speed when the acceleration is completed 2 When the on state of the near point dog is detected the machine starts decelerating 3 The machine decelerates to the speed set in Pr 47 Creep speed and moves at the creep speed after that 4 When the machine moves for the ...

Page 57: ...nal OPR restart not possible Error code 1946H occurs Operation when the machine OPR is started from a point where the near point dog is on 1 A machine OPR is started 2 The machine moves at the OPR speed in the direction reverse to the specified OPR direction 3 The deceleration processing is performed according to the setting of Pr 39 Stop group 3 sudden stop selection when the off state of the nea...

Page 58: ...n an error occurs and RD75 READY signal X0 does not turn on To avoid the occurrence of an error when PLC READY signal Y0 is turned on Set values within the setting range or initial values for the unused OPR parameter areas When performing an OPR operation using Data setting method for a device for which the backlash compensation function is used perform the manual control beforehand Otherwise the ...

Page 59: ...gnal The following shows the operation after the fast OPR is started 1 The fast OPR is started 2 The positioning control to the OP position established by a machine OPR operation is performed at the speed set in the OPR parameter areas Pr 43 to Pr 57 3 The fast OPR is completed Pr 46 M Md 26 OPR speed Machine OP OP position Axis operation status Standby Standby Position control OP Positioning to t...

Page 60: ...the current value change or fixed feed control executing the fast OPR causes an error equivalent to the cleared pulse When a limitless feed operation is executed by the speed control and the machine feed value overflows or underflows once the fast OPR cannot be executed normally OPR complete flag Md 31 Status b4 does not turn on The axis operation status during the fast OPR is Position control t1 ...

Page 61: ...3 Performs the linear interpolation control from the start point address current stop position to the specified position using the specified three axes 4 axis linear interpolation control 1 ABS linear 4 INC linear 4 Performs the linear interpolation control from the start point address current stop position to the specified position using four axes Fixed feed control 1 axis fixed feed control Fixe...

Page 62: ...forms the speed control and position control Positioning with the specified address or movement amount immediately after that by turning on Speed position switching signal Position speed switching control Forward run position speed Reverse run position speed Performs the position control and speed control immediately after that by turning on Position speed switching signal Other controls NOP instr...

Page 63: ... an acceleration time at the start of the control Select one from four values set in Pr 9 Pr 25 Pr 26 and Pr 27 as the acceleration time Da 4 Deceleration time No Select and set a deceleration time at the stop of the control Select one from four values set in Pr 10 Pr 28 Pr 29 and Pr 30 as the deceleration time Da 5 Axis to be interpolated Set a target axis partner axis for the 2 axis interpolatio...

Page 64: ...n can be set to specify whether to continue executing positioning data after the started positioning data Operation pattern can be classified into the following three patterns Positioning control Operation pattern Positioning complete Independent positioning control operation pattern 00 Positioning continue Continuous positioning control operation pattern 01 Continuous path control operation patte...

Page 65: ...xt positioning No is automatically executed Always set Operation pattern 00 to the last positioning data to complete the positioning If the operation pattern is Positioning continue 01 or 11 the operation continues until Operation pattern 00 is found Therefore if Positioning complete operation pattern 00 is not set the operation continues until the positioning data No 600 If the operation pattern ...

Page 66: ...ioning continue 01 or 11 the operation continues until Operation pattern 00 is found Therefore if Positioning complete operation pattern 00 is not set the operation continues until the positioning data No 600 If the operation pattern of the positioning data No 600 is not set to Positioning complete the operation will be started again from the positioning data No 1 The speed switching is classified...

Page 67: ... completed may be different from the set value However the address will be the specified one at the completion of the automatic deceleration by Continuous path control 01 or Positioning complete 00 In the continuous path control the speed is not changed when the positioning data No is switched by the near pass function Page 226 Near pass function 0 d Moving distance in 0 88ms at the command speed ...

Page 68: ...unt is set to 0 to increase the number of speed change points in the future change the setting of Da 2 Control method to NOP instruction not to execute the positioning data No Page 149 NOP instruction In the positioning data of the continuous path control ensure the movement amount so that the execution time of the data becomes 100ms or longer or reduce the command speed Operation for sudden direc...

Page 69: ... data No When the positioning data is set using an engineering tool Current speed is displayed in the command speed of the engineering tool Current speed is the speed of the positioning control currently being executed If the command speed has been set to 1 before the uniform speed control is executed the speed does not need to be set in each positioning data If the speed is changed or the overrid...

Page 70: ... the speed change request as Md 27 Current speed to control with the current speed when 1 is set for the command speed Depending on the relation between the movement amount and the speed the feedrate may not reach the command speed However even in that case the current speed will be updated When the address for the speed change is identified beforehand create and execute the positioning data for t...

Page 71: ...oning data to be executed If the command speeds are the same the speed changed will not be performed 3 Speed switching condition If the movement amount is small to the target speed and may not reach the target speed even if the acceleration deceleration is performed the machine is accelerated or decelerated to get close to the target speed If the movement amount will be exceeded when the automatic...

Page 72: ...tion If the movement amount is small to the target speed and may not reach the target speed even if the acceleration deceleration is performed the machine is accelerated or decelerated to get close to the target speed If the movement amount will be exceeded when the automatic deceleration needs to be performed such as when the operation pattern is 00 or 01 the machine will immediately stop at the ...

Page 73: ...Incremental system The position where the machine is currently stopped is regarded as the start point and the positioning is performed for a specified movement amount in a specified movement direction 100 150 300 Address 100 Address 150 Address 300 Address 100 Address 150 Start point End point Address 100 A point OP reference point B point C point Within the stroke limit range Address 150 300 150 ...

Page 74: ...l an error of 0 88ms will occur in the update timing of the current value Item Description Current feed value The value stored in Md 20 Current feed value This value has an address established with Machine OPR as a reference However the address can be changed by changing the current value This value is updated every 0 88ms Machine feed value The value stored in Md 21 Machine feed value This value ...

Page 75: ...he axis 1 in the specified device Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Md 20 Current feed value 800 801 900 901 1000 1001 1100 1101 Md 21 Machine feed value 802 803 902 903 1002 1003 1102 1103 Classification Label Name Description Module label RD75_1 stnAxisMonitorData_Axis_D 0 dCurrentFeedValue_D Md 20 Current feed value of the axis 1 Global label local label Define the global label ...

Page 76: ...stroke limit To validate the software stroke limit set the lower limit value and upper limit value of the software stroke limit in a clockwise rotation Setting to invalidate the software stroke limit To invalidate the software stroke limit set the software stroke limit lower limit value equal to the software stroke limit upper limit value The control can be performed regardless of the setting of t...

Page 77: ...gal setting of ABS direction in unit of degree Error code 19A5H occurs and the positioning is not started With Cd 40 ABS direction in degrees or Da 28 ABS direction in degrees the setting value of the reference axis is applied to the reference axis and interpolation axis Even if a unit other than degree is set for the reference axis the setting of the reference axis is applied to the interpolation...

Page 78: ... case invalidate the software stroke limit by setting values as follows Set a value within the setting range of 0 to 359 99999 Software stroke limit upper limit value Software stroke limit lower limit value When Cd 40 ABS direction in degrees is used set 0 in Da 28 ABS direction in degrees When a value other than 0 is set Da 28 ABS direction in degrees is enabled The setting value in Cd 40 ABS dir...

Page 79: ...3 axis fixed feed control and 3 axis speed control However the circular interpolation axis can be specified in Da 5 Axis to be interpolated of the reference axis The following table shows the combinations of the reference axis circular interpolation axis and linear interpolation axis for the 3 axis helical interpolation control 1 Specified in Da 5 Axis to be interpolated of the reference axis 2 An...

Page 80: ...occurs For details on the settings refer to the following Page 420 Positioning Data Setting item Setting item of reference axis Setting item of interpolation axis Same positioning data No Da 1 Operation pattern Da 2 Control method Line 2 3 4 Fixed feed 2 3 4 Circular sub circular right circular left Helical sub helical right helical left Forward run speed 2 3 4 Reverse run speed 2 3 4 Da 3 Acceler...

Page 81: ...lue in Pr 8 Speed limit value during either of the 2 axis speed control 3 axis speed control and 4 axis speed control the axis exceeding the speed limit value is controlled with the speed limit value The speeds of the other axes being interpolated are suppressed by the command speed ratio If any axis exceeds the value in Pr 8 Speed limit value during any of the 2 axis linear interpolation control ...

Page 82: ...When Pr 20 Interpolation speed specification method is used set 0 in Da 29 Interpolation speed specification method When a value other than 0 is set Da 29 Interpolation speed specification method is enabled 1 N indicates the offset address of each positioning data N Positioning data No 1 10 When the composite speed is specified When the speed for the reference axis is specified Name Function Buffe...

Page 83: ...trol is set when the unit is degree Circular interpolation Error code 199FH occurs and the positioning will not start During the positioning control the operation decelerates to stop at the detection of the error 6 Only linear interpolation axis can use a unit different from that of the reference axis Axis operation status during the interpolation control During the interpolation control Interpola...

Page 84: ... control 1 axis fixed feed control 2 axis fixed feed control 3 axis fixed feed control 4 axis fixed feed control 2 axis circular interpolation control 3 axis helical interpolation control 1 axis speed control 2 axis speed control 3 axis speed control 4 axis speed control Da 1 Operation pattern Independent positioning control positioning complete Continuous positioning control Continuous path contr...

Page 85: ...n speed switching control Other controls NOP instruction Current value change JUMP instruction LOOP instruction LEND instruction Da 1 Operation pattern Independent positioning control Positioning complete Continuous positioning control Continuous path control Da 2 Control method Forward run position speed Reverse run position speed NOP instruction Current value change JUMP instruction LOOP instruc...

Page 86: ...tting not required For details on the settings refer to the following Page 420 Positioning Data Setting item Setting requirement Da 1 Operation pattern Da 2 Control method Set ABS linear 1 Da 3 Acceleration time No Da 4 Deceleration time No Da 5 Axis to be interpolated Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time Da 10 M code Da 27 M code ON signal o...

Page 87: ...t Da 1 Operation pattern Da 2 Control method Set INC linear 1 Da 3 Acceleration time No Da 4 Deceleration time No Da 5 Axis to be interpolated Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time Da 10 M code Da 27 M code ON signal output timing Da 28 ABS direction in degrees Da 29 Interpolation speed specification method Reverse direction Forward direction ...

Page 88: ...ng control the operation stops immediately at the detection of the error If the movement amount of each axis exceeds 1073741824 230 when 0 Composite speed is set in Pr 20 Interpolation speed specification method Outside linear movement amount range Error code 1A15H occurs at the start of the positioning The maximum movement amount that can be set in Da 6 Positioning address movement amount is 1073...

Page 89: ...is as the reference axis If the minor axis is set as the reference axis the speed of the major axis cannot be suppressed with Pr 8 Speed limit value Setting item Setting requirement of reference axis Setting requirement of interpolation axis Da 1 Operation pattern Da 2 Control method Set ABS linear 2 Da 3 Acceleration time No Da 4 Deceleration time No Da 5 Axis to be interpolated Da 6 Positioning ...

Page 90: ... each axis exceeds 1073741824 230 when 0 Composite speed is set in Pr 20 Interpolation speed specification method Outside linear movement amount range Error code 1A15H occurs at the start of the positioning The maximum movement amount that can be set in Da 6 Positioning address movement amount is 1073741824 230 Y2 X1 X2 Y1 Forward direction Y axis Start point address X1 Y1 current stop position Mo...

Page 91: ...is as the reference axis If the minor axis is set as the reference axis the speed of the major axis cannot be suppressed with Pr 8 Speed limit value Setting item Setting requirement of reference axis Setting requirement of interpolation axis Da 1 Operation pattern Da 2 Control method Set INC linear 2 Da 3 Acceleration time No Da 4 Deceleration time No Da 5 Axis to be interpolated Da 6 Positioning ...

Page 92: ...dress to the address set in Da 6 Positioning address movement amount end point address positioning address Y axis movement amount current stop position Forward direction X axis Forward direction Z axis Reverse direction X axis movement amount Z axis movement amount Reverse direction Reverse direction Forward direction Y axis End point address X2 Y2 Z2 Movement by linear interpolation of the X axis...

Page 93: ...required Setting not required For details on the settings refer to the following Page 420 Positioning Data If Reference axis speed is used for the 3 axis linear interpolation control set the major axis as the reference axis If the minor axis is set as the reference axis the speed of the major axis cannot be suppressed with Pr 8 Speed limit value For the combinations of the reference axis and inter...

Page 94: ... Z axis movement amount X axis movement amount Y axis movement amount Start point address X1 Y1 Z1 current stop position Forward direction Forward direction Forward direction Movement by linear interpolation of the X axis Y axis and Z axis Reverse direction Reverse direction Reverse direction 6000 5000 5000 10000 When the axis 1 movement amount is 10000 the axis 2 movement amount is 5000 and the a...

Page 95: ...required Setting not required For details on the settings refer to the following Page 420 Positioning Data If Reference axis speed is used for the 3 axis linear interpolation control set the major axis as the reference axis If the minor axis is set as the reference axis the speed of the major axis cannot be suppressed with Pr 8 Speed limit value For the combinations of the reference axis and inter...

Page 96: ...olation control ABS linear 4 set the following positioning data Always set Set as required Setting not required For details on the settings refer to the following Page 420 Positioning Data For the 4 axis linear interpolation control set Reference axis speed and set the major axis as the reference axis If the minor axis is set as the reference axis the speed of the major axis cannot be suppressed w...

Page 97: ...he following Page 420 Positioning Data For the 4 axis linear interpolation control set Reference axis speed and set the major axis as the reference axis If the minor axis is set as the reference axis the speed of the major axis cannot be suppressed with Pr 8 Speed limit value For the combinations of the reference axis and interpolation axes refer to the following Page 77 Interpolation control Sett...

Page 98: ...f the current stop position start point address is set to 0 and the positioning for the movement amount set in Da 6 Positioning address movement amount is performed The movement direction is determined by the sign of the movement amount Example of the 1 axis fixed feed control Example of the 2 axis fixed feed control 0 0 0 0 0 Md 20 Current feed value is set to 0 at the positioning start Positioni...

Page 99: ...e positioning and the positioning will not start The maximum movement amount that can be set in Da 6 Positioning address movement amount is 1073741824 230 For the 4 axis fixed feed control set 1 Reference axis speed in Pr 20 Interpolation speed specification method If 0 Composite speed is set Interpolation mode error Error code 199AH occurs and the positioning will not start Positioning data to be...

Page 100: ...rol 3 axis fixed feed control or 4 axis fixed feed control set the major axis as the reference axis If the minor axis is set as the reference axis the speed of the major axis cannot be suppressed with Pr 8 Speed limit value For the combinations of the reference axis and interpolation axes refer to the following Page 77 Interpolation control Accumulation cutoff of fractional pulses When movement am...

Page 101: ...es the 2 axis circular interpolation control cannot be set When Degree is set in Pr 1 Unit setting When the units set in Pr 1 Unit setting are different between the reference axis and interpolation axis The combination of mm and inch is possible When Reference axis speed is set in Pr 20 Interpolation speed specification method In the following case an error occurs and the positioning will not star...

Page 102: ...f each axis does not exceed the value in Pr 8 Speed limit value The speed limit does not function for the speed calculated by the RD75 Setting item Setting requirement of reference axis Setting requirement of interpolation axis Da 1 Operation pattern Da 2 Control method Set ABS circular sub Da 3 Acceleration time No Da 4 Deceleration time No Da 5 Axis to be interpolated Da 6 Positioning address mo...

Page 103: ...on method In the following case an error occurs and the positioning will not start During the positioning control the operation stops immediately at the detection of the error Error cause Error code When the radius exceeds 536870912 229 The maximum radius for which the circular interpolation control is possible is 536870912 229 Outside radius range Error code 1A32H occurs at the start of the posit...

Page 104: ...f each axis does not exceed the value in Pr 8 Speed limit value The speed limit does not function for the speed calculated by the RD75 Setting item Setting requirement of reference axis Setting requirement of interpolation axis Da 1 Operation pattern Da 2 Control method Set INC circular sub Da 3 Acceleration time No Da 4 Deceleration time No Da 5 Axis to be interpolated Da 6 Positioning address mo...

Page 105: ...of the arc that can be controlled and positioning path Circular interpolation error compensation In the circular interpolation control with the center point specification the arc path calculated with the start point address and center point address and the end point address set in Da 6 Positioning address movement amount may deviate Page 407 Pr 41 Allowable circular interpolation error width Contr...

Page 106: ...art point address and center point address and a radius end point radius calculated from the end point address and center point address the composite speed differs from the command speed and as follows Calculated error Pr 41 Allowable circular interpolation error width Large arc error deviation Error code 1A17H occurs at the start of the positioning and the control will not start During the positi...

Page 107: ...ter point address The radius is compensated in proportion to the angular velocity moved from the start point Thus if a difference error is found between a radius start point radius calculated from the start point address and center point address and a radius end point radius calculated from the end point address and center point address the composite speed differs from the command speed and as fol...

Page 108: ... each axis does not exceed the value in Pr 8 Speed limit value The speed limit does not function for the speed calculated by the RD75 Error cause Error code When the radius exceeds 536870912 229 The maximum radius for which the circular interpolation control is possible is 536870912 229 Outside radius range Error code 1A32H occurs at the start of the positioning Start point address Center point ad...

Page 109: ...dress The radius is compensated in proportion to the angular velocity moved from the start point Thus if a difference error is found between a radius start point radius calculated from the start point address and center point address and a radius end point radius calculated from the end point address and center point address the composite speed differs from the command speed and as follows Error b...

Page 110: ... not function for the speed calculated by the RD75 Error cause Error code When the radius exceeds 536870912 229 The maximum radius for which the circular interpolation control is possible is 536870912 229 Outside radius range Error code 1A32H occurs at the start of the positioning When the end point address is out of the range of 2147483648 231 to 2147483647 231 1 End point setting error Error cod...

Page 111: ...the linear interpolation axis linear control to the circular interpolation control Unit setting Reference axis mm inch pulse Circular interpolation axis The same as the reference axis Linear interpolation axis mm inch pulse Tangent control Keeps the direction of the workpiece against the center point of the circular interpolation control by following the value of the linear interpolation axis degr...

Page 112: ...ollows When the unit is set to Degree the positioning range of the absolute system is 0 to 359 99999 If the rotation angle is 360 or larger in the circular interpolation control x axis y axis the tangent control and normal line control cannot be performed because 360 or larger angle cannot be set for the linear control z axis degree To perform the tangent control or normal line control with the ro...

Page 113: ...e axis and circular interpolation axis The combination of mm and inch is possible When Reference axis speed is set in Pr 20 Interpolation speed specification method In the following case an error occurs and the positioning will not start During the positioning control the operation stops immediately at the detection of the error Operation chart Top view of the circular interpolation Error cause Er...

Page 114: ...ls on the settings refer to the following Page 420 Positioning Data Set a value in Da 8 Command speed so that the speed of each axis does not exceed the value in Pr 8 Speed limit value The speed limit does not function for the speed calculated by the RD75 Setting item Setting requirement of reference axis Setting requirement of circular interpolation axis 1 Setting requirement of linear interpolat...

Page 115: ...ication method In the following case an error occurs and the positioning will not start During the positioning control the operation stops immediately at the detection of the error Operation chart Top view of the circular interpolation Error cause Error code When the radius exceeds 536870912 229 The maximum radius for which the circular interpolation control is possible is 536870912 229 Outside ra...

Page 116: ...ls on the settings refer to the following Page 420 Positioning Data Set a value in Da 8 Command speed so that the speed of each axis does not exceed the value in Pr 8 Speed limit value The speed limit does not function for the speed calculated by the RD75 Setting item Setting requirement of reference axis Setting requirement of circular interpolation axis 1 Setting requirement of linear interpolat...

Page 117: ... linear interpolation axis linear control to the circular interpolation control Unit setting Reference axis mm inch pulse Circular interpolation axis The same as the reference axis Linear interpolation axis mm inch pulse Tangent control Keeps the direction of the workpiece against the center point of the circular interpolation control by following the value of the linear interpolation axis degree ...

Page 118: ...piece may change at the positioning data switching therefore adjust the command speed not to shake the workpiece Rotation angle of circular interpolation axis x axis y axis The rotation angle of the circular interpolation axis in the 3 axis helical interpolation control is as follows The setting of the true circle is available only when Start point End point is set for the 3 axis helical interpola...

Page 119: ... the circular interpolation control In the 3 axis helical interpolation control as well as the circular interpolation control 2 axes Pr 41 Allowable circular interpolation error width is enabled When a circular interpolation error occurs the path of the circular interpolation control X axis Y axis becomes spiral as shown below Rotation direction when the line axis Z axis is set in degrees When Deg...

Page 120: ...20 Interpolation speed specification method In the following case an error occurs and the positioning will not start During the positioning control the operation stops immediately at the detection of the error Operation chart Top view of the circular interpolation Operation chart Top view of the circular interpolation Error cause Error code When the radius exceeds 536870912 229 The maximum radius ...

Page 121: ...ils on the settings refer to the following Page 420 Positioning Data Set a value in Da 8 Command speed so that the speed of each axis does not exceed the value in Pr 8 Speed limit value The speed limit does not function for the speed calculated by the RD75 Setting item Setting requirement of reference axis Setting requirement of circular interpolation axis 1 Setting requirement of linear interpola...

Page 122: ...immediately at the detection of the error Operation chart Top view of the circular interpolation Operation chart Top view of the circular interpolation Error cause Error code When the radius exceeds 536870912 229 The maximum radius for which the circular interpolation control is possible is 536870912 229 Outside radius range Error code 1A32H occurs at the start of the positioning When the end poin...

Page 123: ...ils on the settings refer to the following Page 420 Positioning Data Set a value in Da 8 Command speed so that the speed of each axis does not exceed the value in Pr 8 Speed limit value The speed limit does not function for the speed calculated by the RD75 Setting item Setting requirement of reference axis Setting requirement of circular interpolation axis 1 Setting requirement of linear interpola...

Page 124: ...e combinations of the reference axis and interpolation axes refer to the following Page 77 Interpolation control Operation chart The following shows the operation timing for the 1 axis speed control with the axis 1 and the 2 axis speed control in which the axis 1 is used as the reference axis During the speed control In speed control flag Md 31 Status b0 is on reference axis only Positioning compl...

Page 125: ...d value is updated 2 Current feed value is cleared to zero The current feed value is fixed to 0 t V OFF ON OFF ON OFF OFF ON OFF ON t V Da 8 Da 8 BUSY signal XC XD Positioning start signal Y10 Positioning complete signal X14 X15 Md 31 In speed control flag Reference axis axis 1 Command speed Interpolation axis axis 2 Command speed Status b0 Axis stop signal stop command either Y4 or Y5 Does not tu...

Page 126: ...llows Axis 1 4000 00mm min the speed is limited by Pr 8 Axis 2 3000 00mm min the speed is limited by the ratio of the command speeds of the axis 1 and 2 When the reference axis speed is less than 1 as the result of the speed limit the operation is performed at the speed 1 When the bias speed is set the lowest speed is the bias speed Positioning data to be set To use the speed control Forward run s...

Page 127: ...ition control Cd 24 Speed position switching enable flag must be turned on and positioning data must be set When Cd 24 Speed position switching enable flag is turned on after Speed position switching signal is turned on the speed control is not switched to the position control The speed control is switched to the position control when Speed position switching signal is turned on again If Cd 24 Spe...

Page 128: ...he operation delays for 0 88ms at maximum in the switching control using Cd 46 Speed position switching command If the responsiveness for the switching signal is required use Speed position switching signal Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Pr 42 External command function selection 2 Set 2 Speed position position speed switching request 62 ...

Page 129: ...h the settings as follows Pr 1 Unit setting is 2 degree and Pr 21 Current feed value during speed control is 1 Current feed value is updated The setting value of Da 6 Positioning address movement amount is 270 00000 degree t V OFF ON OFF ON OFF ON ON OFF OFF OFF ON ON Positioning start signal Y10 Y11 Y12 Y13 BUSY signal XC XD XE XF Positioning complete signal X14 X15 X16 X17 Speed position switchi...

Page 130: ...tion Position control Positioning start signal Y10 Y11 Y12 Y13 BUSY signal XC XD XE XF M code ON signal X4 X5 X6 X7 WITH mode Start complete signal X10 X11 X12 X13 Pulse output to an external source PULSE External speed position switching command Positioning complete signal X14 X15 X16 X17 M code ON signal X4 X5 X6 X7 AFTER mode M code ON signal OFF request Status b4 OPR complete flag Status b1 Sp...

Page 131: ...e current feed value at the start of the control is kept The current feed value is updated when the control is switched to the position control 1 Current feed value is updated The current feed value is updated during both speed control and position control 2 Current feed value is cleared to zero The current feed value is cleared to 0 at the start of the control The current feed value is updated wh...

Page 132: ...A change request of the movement amount is recognized by writing data into Cd 23 Speed position switching control movement amount change register using a program The timing when the new movement amount becomes valid is from when the speed position switching control INC mode is performed to when Speed position switching signal is input By using Speed position switching latch flag Md 31 Status b1 of...

Page 133: ...ted by adding Set movement amount and Droop pulse amount If the signal is turned on during the acceleration or deceleration the variation of the droop pulse amount becomes large and the operation stop position varies Even if the values in Md 29 Speed position switching control positioning amount are the same between the two controls the stop positions change because the droop pulse amount changes ...

Page 134: ... the speed control to position control setting the value of Cd 45 Speed position switching device selection To switch the speed control to the position control Cd 24 Speed position switching enable flag must be turned on and positioning data must be set When Cd 24 Speed position switching enable flag is turned on after Speed position switching signal is turned on the speed control is not switched ...

Page 135: ...the operation delays for 0 88ms at maximum in the switching control using Cd 46 Speed position switching command If the responsiveness for the switching signal is required use Speed position switching signal Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Pr 42 External command function selection 2 Set 2 Speed position position speed switching request 62...

Page 136: ...l method with the settings as follows Pr 1 Unit setting is 2 degree and Pr 21 Current feed value during speed control is 1 Current feed value is updated The setting value of Da 6 Positioning address movement amount is 270 00000 degree t V OFF ON OFF ON OFF ON ON OFF OFF OFF ON ON Positioning start signal Y10 Y11 Y12 Y13 BUSY signal XC XD XE XF Positioning complete signal X14 X15 X16 X17 Speed posi...

Page 137: ...art signal Y10 Y11 Y12 Y13 BUSY signal XC XD XE XF M code ON signal X4 X5 X6 X7 WITH mode Standby Speed control Start complete signal X10 X11 X12 X13 Pulse output to an external source PULSE Positioning operation Positioning complete signal X14 X15 X16 X17 M code ON signal X4 X5 X6 X7 AFTER mode Position control Speed control Position control External speed position switching command Speed control...

Page 138: ...g speed control Speed position function selection error Error code 1AAEH occurs Time required to switch the speed control to the position control The time taken from when Speed position switching signal is turned on to when Speed position switching latch flag Md 31 Status b1 is turned on is 1ms Setting of Pr 21 Current feed value during speed control Md 20 Current feed value 1 Current feed value i...

Page 139: ...e satisfied When the conditions 1 to 3 are not satisfied in the condition 5 Speed position function selection error Error code 1AAEH occurs when PLC READY signal Y0 is turned off and on The operation does not stop immediately at the positioning address when the positioning target reaches the positioning address during the deceleration even if the automatic deceleration is started after Speed posit...

Page 140: ...owing Page 420 Positioning Data Setting item Setting requirement Da 1 Operation pattern Da 2 Control method Set Forward run speed position or Reverse run speed position Da 3 Acceleration time No Da 4 Deceleration time No Da 5 Axis to be interpolated Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time Da 10 M code Da 27 M code ON signal output timing Da 28 A...

Page 141: ...ly the speed control is performed The control decelerates and stops when Position speed switching signal is not input until the positioning target moves for the movement amount specified in the position control When Position speed switching signal is input during the automatic deceleration in the position control the speed is accelerated again to the command speed the speed control continues Posit...

Page 142: ... position speed switching control In speed control flag Md 31 Status b0 is on Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 45 Speed position switching device selection 1 Set 1 Use Near point dog signal 1566 1666 1766 1866 Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 45 Speed position switching devic...

Page 143: ...7 WITH mode Start complete signal X10 X11 X12 X13 Pulse output to an external source PULSE External position speed switching signal Positioning complete signal X14 X15 X16 X17 M code ON signal X4 X5 X6 X7 AFTER mode M code ON signal OFF request OPR complete flag Status b4 Stop signal STOP Speed control command speed is enabled from the point where the position speed switching signal is externally ...

Page 144: ...ue is updated during the position control After the control is switched to the speed control the current feed value at that point is held 1 Current feed value is updated The current feed value is updated during both position control and speed control 2 Current feed value is cleared to zero The current feed value is updated during the position control When the control is switched to the speed contr...

Page 145: ...nge request of the command speed is recognized by writing data into Cd 25 Position speed switching control speed change register using a program The timing when the new command speed becomes valid is from when the position speed switching control is performed to when Position speed switching signal is input By using Position speed switching latch flag Md 31 Status b5 of the axis monitor area the s...

Page 146: ...AH occurs and the operation will not start The control decelerates and stops when Position speed switching signal is not input until the positioning target moves for the movement amount specified When Position speed switching signal is input during the automatic deceleration in the position control the speed is accelerated again to the command speed the speed control continues When Position speed ...

Page 147: ... not possible Error code 1A1CH occurs and the control will not start In the current value change Continuous path control cannot be set Current value change cannot be set in Da 2 Control method in the positioning data when Continuous path control is set in Da 1 Operation pattern of the previous positioning data For example if the operation pattern of the positioning data No 1 is Continuous path con...

Page 148: ...or code 1997H occurs If the specified value is out of the software stroke limit range Software stroke limit Error code 1994H or Software stroke limit Error code 1996H occurs The current value cannot be changed while the stop command and M code ON signal are on The M code output function is invalid Setting item Setting requirement Da 1 Operation pattern Da 2 Control method Set Current value change ...

Page 149: ...d 3 Positioning start No 9003 Sets 9003 the start No for a current value change 1500 1600 1700 1800 Cd 9 New current value 50000 Set Md 20 Current feed value after the change 1506 1507 1606 1607 1706 1707 1806 1807 Turn on Positioning start signal Write the current value to Cd 9 New current value Write 9003 in Cd 3 Positioning start No Y10 Y0 X0 X10 XC X14 9003 V t X8 Md 20 Cd 3 Cd 9 50000 50000 P...

Page 150: ...rtComplete_Axis 0 Axis 1 Start complete signal X10 RD75_1 bnPositioningStart_Axis 0 Axis 1 Positioning start signal Y10 RD75_1 stnAxisControlData_Axis_D 0 uPositioningStartNo_D Axis 1 Cd 3 Positioning start No RD75_1 stnAxisControlData_Axis_D 0 dNewCurrentValue_D Axis 1 Cd 9 New current value Global label local label Define the global label or local label as follows Setting Assign Device Label for...

Page 151: ...the positioning data No 600 Control method setting error Error code 1A26H occurs Application example of the NOP instruction If the speed switching or the operation suspension automatic deceleration may be executed during the positioning operation between two points in the future the data can be reserved using the NOP instruction and can be changed only by replacing the identifier Setting item Sett...

Page 152: ...me If the execution condition set in Da 10 M code of the JUMP instruction is not satisfied the JUMP instruction is ignored and the next positioning data No is executed Restrictions When using a conditional JUMP instruction establish the execution conditions of the JUMP instruction by when the positioning data whose number is four number before the positioning data No of the JUMP instruction is exe...

Page 153: ...uction Da 3 Acceleration time No Da 4 Deceleration time No Da 5 Axis to be interpolated Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time Set the positioning data No 1 to 600 of the target of the JUMP instruction Da 10 M code Set the execution condition of the JUMP instruction with a condition data No as follows 0 Unconditional JUMP 1 to 10 Condition data...

Page 154: ...ms in the control method Page 164 Repeated start FOR loop Special start Positioning start data special start data condition data and positioning data Control method Positioning data For the special start FOR to NEXT positioning data is required for each point of FOR and NEXT However the loop is available with only one data in the control method The nesting is available by combining the control met...

Page 155: ... 420 Positioning Data Restrictions The LEND before the execution of LOOP is ignored If the operation pattern Positioning complete is set between LOOP and LEND the positioning control is completed after the execution of that positioning data and the loop control is not performed Positioning data No Operation pattern Control method Condition Operation 1 Continuous control ABS2 Positioning data is ex...

Page 156: ...t with Major positioning control For details on the sub functions that can be combined with the major positioning control refer to the following MELSEC iQ R Positioning Module User s Manual Startup Note that the pre reading start function cannot be used together with Advanced positioning control Advanced positioning control from an engineering tool Advanced positioning control start of Block start...

Page 157: ...erview of Block start data and Condition data stored in the RD75 Setting item Setting detail Block start data Da 11 Shape Set whether to end the control after only the block start data of the shape itself is executed or to continue executing the block start data set in the next point Da 12 Start data No Set Positioning data No to be executed Da 13 Special start instruction Set the method by which ...

Page 158: ...rder buffer memory High order buffer memory Same for axis 2 axis 3 and axis 4 Block No 26192 26193 26194 26195 26196 26197 26198 26199 Buffer memory address Buffer memory address Setting item Setting item Condition identifier Setting item Setting item 7004 7000 1st point Setting item Axis 1 block start data 26000 26050 b15 b8 b7 b0 b15 b8 b7 b0 Da 11 Da 12 Shape Start data No Da 13 Da 14 Special s...

Page 159: ...ioning control STEP 8 Monitor the advanced positioning control Control monitoring Create a program to set 7000 in Cd 3 Positioning start No control data setting Set the point No of block start data to be started 1 to 50 in Cd 4 Positioning starting point No Create a program to turn on Positioning start signal using a positioning start command Write the programs created on STEP 4 to the CPU module ...

Page 160: ...equired The set value is ignored Set the value within the setting range such as the initial value 1 NEXT start instruction is used in combination with Repeated start FOR loop and Repeated start FOR condition The control using only NEXT start instruction will not be performed 2 If End is set for the repeated start the operation that is the same as the one of the block start normal start will be per...

Page 161: ...in which Continuous positioning control or Continuous path control is set in Da 1 Operation pattern to the positioning data in which Independent positioning control Positioning complete is set Axis 1 block start data Da 11 Shape Da 12 Start data No Da 13 Special start instruction Da 14 Parameter 1st point 1 Continue 1 0 Block start 2nd point 1 Continue 2 0 Block start 3rd point 1 Continue 5 0 Bloc...

Page 162: ...01 6 00 15 00 10 00 OFF OFF ON ON ON OFF OFF ON 2 11 4 00 5 11 Positioning according to the 2nd point settings Positioning according to the 3rd point settings Positioning according to the 5th point settings Address Address 1 Dwell time of corresponding positioning data Operation pattern Positioning data No Positioning start signal Y10 Y11 Y12 Y13 Start complete signal X10 X11 X12 X13 BUSY signal X...

Page 163: ...a 12 Start data No Da 13 Special start instruction Da 14 Parameter 1st point 1 Continue 1 1 Condition start 1 2nd point 1 Continue 10 1 Condition start 2 3rd point 0 End 50 0 Block start Axis 1 positioning data No Da 1 Operation pattern 1 01 Continuous positioning control 2 01 Continuous positioning control 3 00 Positioning complete 10 11 Continuous path control 11 11 Continuous path control 12 00...

Page 164: ...1st point block start data of the axis 1 is started Axis 1 block start data Da 11 Shape Da 12 Start data No Da 13 Special start instruction Da 14 Parameter 1st point 1 Continue 1 2 Wait start 3 2nd point 1 Continue 10 0 Block start 3rd point 0 End 50 0 Block start Axis 1 positioning data No Da 1 Operation pattern 1 01 Continuous positioning control 2 01 Continuous positioning control 3 00 Position...

Page 165: ...is is set for the condition data Da 18 Parameter 1 and Da 19 Parameter 2 However the setting value of the starting axis The axis which performs the positioning start should be 0 If a value other than 0 is set the positioning data No set in Da 18 Parameter 1 or Da 19 Parameter 2 is given priority to be executed rather than Da 12 Start data No For details refer to the following Page 439 Condition Da...

Page 166: ... been set in Da 14 Parameter Positioning data settings Control example The following describes the control to be executed when the operation using the 1st point block start data of the axis 1 is started The positioning data No 1 2 3 10 11 50 and 51 of the axis 1 are executed Processing returns to the 1st point block start data of the axis 1 and the positioning data No 1 2 3 10 11 50 and 51 is exec...

Page 167: ...example The following describes the control to be executed when the operation using the 1st point block start data of the axis 1 is started 1 The condition judgment will be performed when switching to the point of 6 NEXT start Before the positioning at the NEXT start point is performed Axis 1 block start data Da 11 Shape Da 12 Start data No Da 13 Special start instruction Da 14 Parameter 1st point...

Page 168: ...5 FOR condition and 6 NEXT start If nesting is attempted FOR to NEXT nest construction Warning code 09F1H occurs The destination of jump by NEXT at the 7th point is changed to the 4th point and NEXT at the 9th point is processed as Normal start When a nest construction is not configured When a nest construction is configured A warning occurs when FOR at the 4th point is executed The destination of...

Page 169: ...n data Da 15 Condition target corresponding to each type of the controls The settings of Condition data in this section are assumed to be performed using an engineering tool Set either of the two setting items Setting not possible 1 Includes the buffer memory addresses and devices X Y which belong to the RD75 Setting Condition data with an engineering tool is recommended To perform the setting usi...

Page 170: ...uously the condition operator may not be detected In cases like this use a range operator Programmable controller CPU memo area can be specified as the buffer memory address to be specified in Da 17 Da 15 Condition target Da 16 Condition operator Da 17 Address Da 18 Parameter 1 Da 19 Parameter 2 01H Device X 07H DEV ON 08H DEV OFF 0 to 1FH Bit No 02H Device Y 0 to 1FH Bit No 03H Buffer memory 1 wo...

Page 171: ...ies an axis and the positioning data No of the axis as the target for the simultaneous start Condition The positioning data No 3 of the axis 2 is the target for the simultaneous start 1 Set 0000H for the starting axis Axis which has executed the positioning start Da 15 Condition target Da 16 Condition operator Da 17 Address Da 18 Parameter 1 Da 19 Parameter 2 01H Device X 08H DEV OFF 0CH Da 15 Con...

Page 172: ...1 Set 7000 in Cd 3 Positioning start No By setting this value the control is established as Advanced positioning control using the block start data 2 Set the point number of Block start data started In this case set 1 3 Turn on Start signal 4 The positioning data set to 1st point block start data is started 1 2 4 3 1500 Y10 1501 7000 1 ON RD75 CPU module I O signals Drive unit Buffer memory Contro...

Page 173: ...ue Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 3 Positioning start No 7000 Set 7000 which indicates the control using Block start data 1500 1600 1700 1800 Cd 4 Positioning starting point No 1 Set the point number of the block start data started 1501 1601 1701 1801 Signal name Signal status Device Axis 1 Axis 2 Axis 3 Axis 4 Interface signal PLC READY signal ON The CPU modul...

Page 174: ... start 2nd point 0 End 10 0 Block start Axis 1 positioning data No Da 1 Operation pattern 1 11 Continuous path control 2 00 Positioning complete 10 11 Continuous path control 11 11 Continuous path control 12 00 Positioning complete Y10 Y0 X0 X10 XC X14 X8 12 00 1 11 11 11 10 11 2 00 7000 1 32767 8001H 10 000AH Cd 3 Cd 4 V t Positioning start signal PLC READY signal RD75 READY signal Start complete...

Page 175: ...ositioningStart_Axis 0 Axis 1 Positioning start signal Y10 RD75_1 stnAxisControlData_Axis_D 0 uPositioningStartNo_D Axis 1 Cd 3 Positioning start No RD75_1 stnAxisControlData_Axis_D 0 uPositioningStartingPointNo_D Axis 1 Cd 4 Positioning starting point No Global label local label Define the global label or local label as follows Setting Assign Device Label for labels is not necessary because the u...

Page 176: ...ration JOG operation In the JOG operation the machine is moved only for a movement amount pulses are continuously output while JOG start signal is on This control method is used to move the workpiece in the direction in which a limit signal is turned on when the operation is stopped by turning off the limit signal to check the positioning system connection and obtain the positioning data address P...

Page 177: ...ontrol refer to the following MELSEC iQ R Positioning Module User s Manual Startup For details on each sub function refer to the following Page 209 CONTROL SUB FUNCTIONS Manual control from an engineering tool The execution of the JOG operation and Inching operation and setting whether to enable or disable Manual pulse generator operation can be performed in the test mode of the engineering tool M...

Page 178: ...n time specified in Pr 32 JOG operation acceleration time selection in the direction specified by the start signal BUSY signal turns on at this time 2 When the accelerating workpiece reaches the speed set in Cd 17 JOG speed the workpiece continues moving at that speed The workpiece moves at the constant speed during 2 to 3 3 When the start signal is turned off the deceleration starts at the decele...

Page 179: ... other than 0 is set the inching operation is performed Page 185 Inching Operation Operation when a stroke limit error occurs When the operation stops due to a hardware stroke limit error or software stroke limit error during the operation the JOG operation can be performed in the opposite direction direction toward the normal range after the error is reset If JOG start signal is turned on in the ...

Page 180: ...eate a program to set the following Create a program to turn on JOG start signal using a JOG operation start command Write the programs created on STEP 1 and STEP 2 to the CPU module Turn on JOG start signal of the axis to be started Monitor the JOG operation state Turn off JOG start signal that is on One of the following two methods can be used Method 1 Directly set write the parameters to the RD...

Page 181: ... amount per rotation Al Unit pulse Pr 4 Unit magnification Am Pr 5 Pulse output mode Pr 6 Rotation direction setting Pr 7 Bias speed at start Unit pulse s Pr 8 Speed limit value Unit pulse s Pr 9 Acceleration time 0 Unit ms Pr 10 Deceleration time 0 Unit ms Pr 11 Backlash compensation amount Unit pulse Pr 12 Software stroke limit upper limit value Unit pulse Pr 13 Software stroke limit lower limit...

Page 182: ...m the CPU module are updated If the buffer memory is accessed during the update an unexpected value may be read or written Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 16 Inching movement amount 0 Set 0 1517 1617 1717 1817 Cd 17 JOG speed 10000 Set a value that is equal to or larger than the value in Pr 7 Bias speed at start and also equal to or sm...

Page 183: ...ing Page 506 JOG operation setting program Page 507 JOG operation inching operation execution program t OFF OFF OFF OFF OFF ON ON ON ON ON OFF Y8 Y9 Y0 X0 XC X8 Forward run JOG start signal Reverse run JOG start signal PLC READY signal RD75 READY signal BUSY signal Error detection signal Forward run JOG operation Reverse run JOG operation ...

Page 184: ...nal is turned on while Stop signal is turned on Stop signal ON at start Error code 1908H occurs The operation can be started when Stop signal is turned off and JOG start signal is off and on again OFF ON OFF ON OFF ON OFF ON PLC READY signal Y0 RD75 READY signal X0 Forward run JOG start signal Y8 YA YC YE Axis stop signal Y4 Y5 Y6 Y7 BUSY signal XC XD XE XF Turning on of the JOG start signal while...

Page 185: ...run JOG operation is not performed even if Reverse run JOG start signal is turned on Example 3 When JOG start signal is turned on again during the deceleration due to turning off of JOG start signal the JOG operation is performed from the point when JOG start signal is turned on OFF ON OFF ON OFF ON t BUSY signal XC XD XE XF Forward run JOG operation Reverse run JOG start signal is ignored Reverse...

Page 186: ...ignal is ignored and the JOG operation is not performed Md 1 ON t OFF ON OFF In test mode flag Forward run JOG start signal Y8 YA YC YE The JOG operation is not possible because the test function is being used The JOG operation is not possible because this is not the rising edge of the JOG start signal Forward run JOG operation execution ...

Page 187: ...ount The following shows an operation example of the inching operation No Operation 1 When a start signal is turned on the inching operation is performed in the direction specified with the start signal BUSY signal turns on at this time 2 The workpiece moves for the movement amount set in Cd 16 Inching movement amount 3 When the speed reaches 0 the operation stops BUSY signal turns off at this tim...

Page 188: ...e other than 0 for Cd 16 Inching movement amount When 0 is set the JOG operation is performed Page 176 JOG Operation Operation when a stroke limit error occurs When the operation is stopped due to a hardware stroke limit error or software stroke limit error during the operation the inching operation can be operated in the opposite direction direction toward the normal range after the error is rese...

Page 189: ...timing time t1 t2 t3 t4 1 0 to 3 0ms 0 1ms or less 0 to 0 88ms Depends on the parameter ON t1 t2 t4 ON ON OFF OFF OFF OFF t3 Md 26 Standby Standby Axis operation status Positioning operation Forward run JOG start signal Y8 YA YC YE Reverse run JOG start signal Y9 YB YD YF BUSY signal XC XD XE XF Pulse output to an external source PULSE Positioning complete signal X14 X15 X16 X17 JOG operation ...

Page 190: ...ram to turn on JOG start signal using an inching operation start command Write the programs created on STEP 1 and STEP 2 to the CPU module Turn on JOG start signal of the axis to be started Monitor the inching operation state Turn off JOG start signal that is on One of the following two methods can be used Method 1 Directly set write the parameters to the RD75 using an engineering tool Method 2 Se...

Page 191: ...l Advanced positioning control or OPR control configure the setting items required for the control Parameters are set for each axis For details on the settings refer to the following Page 380 Basic Setting Setting item Setting requirement Parameter Pr 1 Unit setting Pr 2 No of pulses per rotation Ap Unit pulse Pr 3 Movement amount per rotation Al Unit pulse Pr 4 Unit magnification Am Pr 5 Pulse ou...

Page 192: ...the CPU module are updated If the buffer memory is accessed during the update an unexpected value may be read or written Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 16 Inching movement amount 100 Set a setting value so that the command pulse is not larger than the maximum output pulse Maximum output pulse RD75D 5Mpulse s RD75P 200kpulse s 1517 161...

Page 193: ...peration setting program Page 507 JOG operation inching operation execution program t OFF OFF OFF OFF OFF OFF OFF ON ON ON ON ON ON Y8 Y9 Y0 X0 XC X8 X14 Forward run inching operation Reverse run inching operation Forward run JOG start signal Reverse run JOG start signal PLC READY signal RD75 READY signal BUSY signal Error detection signal Positioning complete signal ...

Page 194: ...ignored and the inching operation is not performed OFF ON OFF ON OFF ON ON OFF OFF ON PLC READY signal Y0 RD75 READY signal X0 Forward run JOG start signal Y8 YA YC YE Axis stop signal Y4 Y5 Y6 Y7 BUSY signal XC XD XE XF Turning on of the JOG start signal while Axis stop signal is on causes the error Stop signal ON at start Md 1 ON t OFF ON OFF In test mode flag The inching operation is not possib...

Page 195: ...anual pulse generator stops the machine decelerates and stops within 90ms If Cd 21 Manual pulse generator enable flag is set to 0 during the manual pulse generator operation the machine decelerates and stops within 90ms 2 Start complete signal does not turn on in the manual pulse generator operation No Operation 1 When Cd 21 Manual pulse generator enable flag is set to 1 BUSY signal turns on and t...

Page 196: ... pulse generator operation is started One RD75 module can be connected to one manual pulse generator The RD75 module can simultaneously output pulses to the axis 1 to axis 4 drive units using one manual pulse generator 1 to 4 axis simultaneous operation is possible Operation when a stroke limit error occurs When a hardware stroke limit error or a software stroke limit error is detected during the ...

Page 197: ...t is Manual pulse generator 1 pulse movement amount Movement amount per pulse The movement amount per pulse is given by the following calculation formula For example when Pr 1 Unit setting is mm and the movement amount per pulse is 1 m 0 1 1 1 10 that is the number of pulses output to the drive unit from the manual pulse generator per pulse is 1 10 pulse Thus the RD75 outputs 1 pulse to the drive ...

Page 198: ... operation The speed during the positioning control by the manual pulse generator operation depends on the number of input pulses per unit time and can be calculated using the following calculation formula Output command frequency Input frequency Cd 20 Manual pulse generator 1 pulse input magnification ...

Page 199: ...ble or disable the manual pulse generator operation setting of Cd 21 Manual pulse generator enable flag Write the programs created on STEP 1 and STEP 2 to the CPU module Issue a command to enable the manual pulse generator operation and input the signals from the manual pulse generator Monitor the manual pulse generator operation End the input from the manual pulse generator and issue a command to...

Page 200: ...PR control configure the setting items required for the control Parameters are set for each axis However the manual pulse generator input logic b8 of Pr 22 and Pr 24 are set only for the axis 1 The setting for the axes 2 to 4 is ignored For details on the settings refer to the following Page 380 Basic Setting Setting item Setting requirement Parameter Pr 1 Unit setting Pr 2 No of pulses per rotati...

Page 201: ...rom the CPU module are updated If the buffer memory is accessed during the update an unexpected value may be read or written Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 20 Manual pulse generator 1 pulse input magnification 1 Set the manual pulse generator 1 pulse input magnification 1 to 10000 times 1522 1523 1622 1623 1722 1723 1822 1823 Cd 21 Ma...

Page 202: ... following Page 507 Manual pulse generator operation program OFF ON ON OFF OFF OFF 1 t OFF 0 0 1 ON Y0 X0 X10 XC X8 Cd 21 Cd 20 Pulse input A phase Manual pulse generator enable flag Pulse input B phase Manual pulse generator 1 pulse input magnification Forward run Reverse run PLC READY signal RD75 READY signal Start complete signal BUSY signal Error detection signal ...

Page 203: ...ion Setting within the Modules must be set in System Parameter of the engineering tool in advance For details on the settings refer to the following MELSEC iQ R Inter Module Synchronization Function Reference Manual The inter module synchronization function can be used only when Operation Mode of the basic parameter 3 is set to Quick Start Mode Setting Operation Mode to Q Compatible Mode and turni...

Page 204: ... synchronization of the pulse output start timing among multiple modules However the applicable positioning data Nos are 1 to 600 Starting method After setting positioning data enable the pre analysis mode and input a start trigger signal to the simultaneous start target RD75s while their Md 61 Analysis complete flag is 1 Analysis completed Only Positioning start signal Y10 Y11 Y12 Y13 can be used...

Page 205: ...re analysis mode 0 Analysis not completed 1 Analysis completed Waiting for a start trigger 0 Analysis not completed Positioning start signal Y10 Y11 Y12 Y13 Positioning control RD75 The first module RD75 The second module BUSY signal XC XD XE XF Analysis mode setting Analysis complete flag Axis operation status Standby Analyzing Inter module synchronization cycle Inter module synchronization cycle...

Page 206: ...hin the inter module synchronization cycle 1 Even when the same values are set in Da 6 Positioning address movement amount and Da 8 Command speed among the modules and pulse output has started at the same inter module synchronization cycle the timing for automatic deceleration or stop of the positioning control may differ because each RD75 operates independently t 1 v Md 26 t v Md 26 Positioning s...

Page 207: ... in CPU Module Operation Setting at Error Detection of System Parameter the control CPU of the RD75 in which a moderate error has occurred stops due to the error and the operation of the RD75 that has started pulse output decelerates to stop This function synchronizes the start timing of pulse output with the inter module synchronization cycle After the start each RD75 maintains the positioning co...

Page 208: ...e positioning data may not be finished before the intended inter module synchronization cycle and pulse output may start at the next inter module synchronization cycle Starting method After setting positioning data input a start trigger to start the specified positioning data The following table lists the start triggers used in the normal analysis mode Start trigger name Starting method Start trig...

Page 209: ...diately after the completion The third RD75 starts pulse output at the next inter module synchronization cycle because the positioning data analysis crosses the inter module synchronization cycle t 1 1 2 3 v Md 26 t 1 2 3 v Md 26 t 2 3 v Md 26 Positioning start trigger Positioning control RD75 The first module RD75 The second module RD75 The third module BUSY signal XC XD XE XF Axis operation stat...

Page 210: ...Interval Setting within the Modules of System Parameter Precautions This function synchronizes the start timing of pulse output with the inter module synchronization cycle After the start each RD75 maintains the positioning control independently After the start each RD75 maintains the positioning control independently Thus even if an error occurs in one RD75 and the operation decelerates to stop t...

Page 211: ... to output the difference d between the actual and the set positioning end addresses in the continuous path control in which the difference d is output during the execution of the next positioning data Function to limit control Speed limit function If the command speed exceeds Pr 8 Speed limit value during the control this function limits the command speed to within the setting range of Pr 8 Speed...

Page 212: ...s decelerates to stop the positioning being executed when Skip signal is input and performs the next positioning M code output function Issues a command for a subsidiary work such as stopping clamps or drills and changing tools corresponding to each M code number 0 to 65535 that can be set to each positioning data Teaching function Stores the address positioned with the manual control in Da 6 Posi...

Page 213: ...machine OPR can be performed regardless of the workpiece position Control details The following shows the operation of the OPR retry function OPR retry operation when the workpiece is within the range between the upper lower limits 1 The movement starts in the direction set in Pr 44 OPR direction by Machine OPR start 2 The operation decelerates when Limit signal OFF is detected 3 After the operati...

Page 214: ...ine OPR in the direction set in Pr 44 OPR direction The following is an example of when Pr 44 OPR direction is set to 0 Forward direction When Pr 44 OPR direction is set to 0 Forward direction check that the limit switch placed in the OPR direction works as the upper limit When Pr 44 OPR direction is set to 1 Reverse direction check that the limit switch placed in the OPR direction works as the lo...

Page 215: ...et in the OPR direction the retry operation in the OPR direction using the limit switch cannot be executed Always establish upper lower limit switches at the upper lower limit positions of the machine and connect them to the RD75 If the OPR retry function is used without hardware stroke limit switches the motor will continue rotation until a hardware stroke limit signal is detected Do not configur...

Page 216: ...OPR retry as required For details on the settings refer to the following Page 413 Pr 48 OPR retry Page 419 Pr 57 Dwell time during OPR retry Parameters are set for each axis Setting the parameters using an engineering tool is recommended To perform the setting using programs many programs and devices are required The execution becomes complicated and the scan times will increase Setting item Setti...

Page 217: ...et the OP shift amount within the range from the detected zero signal to the upper lower limit switches 1 The OPR is performed in the direction set in Pr 44 OPR direction by Machine OPR start 2 The OPR operation stops when Zero signal is detected and outputs Deviation counter clear output to the drive unit 3 After Deviation counter clear output is output the OP shift operation is performed 4 The p...

Page 218: ...eration status are set after the OP shift operation is completed OPR request flag Md 31 Status b3 is reset after the OP shift operation is completed The value set in Pr 53 OP shift amount is not added in Md 34 Movement amount after near point dog ON The movement amount immediately before the OP shift operation considering the amount when the near point dog is on as 0 is stored For the stopper meth...

Page 219: ... on the settings refer to the following Page 417 Pr 53 OP shift amount Page 418 Pr 56 Speed specification during OP shift Parameters are set for each axis Setting the parameters using an engineering tool is recommended To perform the setting using programs many programs and devices are required The execution becomes complicated and the scan times will increase Setting item Setting value Setting de...

Page 220: ...m Backlash compensation function This function compensates the backlash amount in the machine system When the backlash compensation amount is set pulses for an extra amount equivalent to the set backlash amount are output every time the movement direction changes Control details The following figure shows the operation of the backlash compensation function Pr 11 Backlash compensation amount Worm g...

Page 221: ...int The backlash compensation including the movement amount and Pr 11 Backlash compensation amount is output when the moving direction changes The backlash compensation function cannot be used for an axis where a stepping motor is connected Set 0 initial value in Pr 11 Backlash compensation amount Setting method To use Backlash compensation function set Backlash compensation amount in the paramete...

Page 222: ... reached one pulse or more one pulse is output When the machine OPR is completed when the current value change is completed when the speed control is started excluding when the current feed value change is enabled or when the fixed feed control is started the function clears the cumulative values less than one pulse which could not be output to 0 If the cumulative value is cleared an error will oc...

Page 223: ...ce the command value in units of mm or inches is converted in units of pulses set Ap Al and Am so that the following relational expression is satisfied In this case the machine movement amount for the command 1 pulse output from the RD75 is calculated by the following calculation formula The command frequency from the RD75 is limited If the command frequency exceeds the upper limit increase Moveme...

Page 224: ... Ex Movement amount per pulse A when Pr 1 Unit setting is 0 mm A 40000 10 1 1 20000 0 2 m If the value is beyond the setting range setting values of each parameter can be decreased by reducing the numerator and denominator with the movement amount per pulse A kept Setting item Setting range Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Pr 2 No of pulses per rotation Ap When Pr 62 Electronic ge...

Page 225: ...form the positioning Set Movement amount per pulse A in advance Page 221 Movement amount per pulse After the positioning is completed measure Actual movement amount L Calculate Error compensation amount Calculate the post compensation Pr 2 No of pulses per rotation Ap Pr 3 Movement amount per rotation Al and Pr 4 Unit magnification Am from Post compensation movement amount per pulse A Adjust the v...

Page 226: ... the settings refer to the following Page 380 Pr 1 Unit setting Page 381 Pr 2 No of pulses per rotation 16 bits Ap Page 382 Pr 3 Movement amount per rotation 16 bits Al Page 387 Pr 2 No of pulses per rotation 32 bits Ap Page 388 Pr 3 Movement amount per rotation 32 bits Al Setting item Setting value Setting detail Value before compensation Pr 2 No of pulses per rotation Ap Set the post compensatio...

Page 227: ...for the unit mm Note that if the setting value of the movement amount per pulse is decreased the command frequency increases If the setting value of the movement amount per pulse is less than 1 the machine system may oscillate Always use the movement amount per pulse within the following range If the machine system oscillates use the electronic gear function of the drive unit and increase the move...

Page 228: ... being continuously executed is carried over to the next positioning data Since the alignment is not performed the output speed drops are eliminated and the machine vibration which occurs during the speed change can be suppressed Since the alignment is not performed the operation is controlled in a path that passes near the position set in Da 6 Positioning address movement amount Control details T...

Page 229: ... movement direction is changed Refer to the following figure Therefore the interpolation axis may suddenly reverse its direction To avoid the sudden direction reversal set Continuous positioning control 01 for the positioning data at the passing point instead of Continuous path control 11 Positioning by interpolation Reference axis operation Partner axis operation Positioning data No 1 Partner axi...

Page 230: ...peed of the positioning data No 2 in the operation chart the distance d is output when the next positioning data is executed at the constant speed and the execution time is extended In At deceleration the execution time is not extended and is equivalent to the set execution time of the positioning control The following shows the operation chart of Output timing selection of near pass control V2 V1...

Page 231: ...at the rising edge when turned off and on of PLC READY signal Y0 For details on the settings refer to the following Page 468 Cd 43 Output timing selection of near pass control Setting item Setting value Setting detail Initial value at the factory Cd 43 Output timing selection of near pass control Select the timing to output the difference d between the actual and the set positioning end addresses ...

Page 232: ...xis fixed feed control 3 axis fixed feed control 4 axis fixed feed control 2 axis circular interpolation control and 3 axis helical interpolation control the axis exceeding the speed limit value is controlled with the speed limit value The speeds of the other axes being interpolated are suppressed by the movement amount ratio In the 2 axis linear interpolation control 3 axis linear interpolation c...

Page 233: ...t for each axis Setting the parameters using an engineering tool is recommended To perform the setting using programs many programs and devices are required The execution becomes complicated and the scan times will increase Setting item Setting value Setting detail Initial value at the factory Pr 8 Speed limit value Set the speed limit value maximum speed during the control 200000 Pr 31 JOG speed ...

Page 234: ...odule Drive unit capable of performing the torque limit control with the analog voltage input The RD75 monitors the creep speed reach during the OPR control and updates the value in Md 35 Torque limit stored value to the one in Pr 54 OPR torque limit value Monitoring this value prevents the need to monitor the creep speed reach using the program If all controls of the torque limit value are perfor...

Page 235: ...trol Major positioning control Position control 1 axis linear control Pr 17 Torque limit setting value 2 3 4 axis linear interpolation control 1 axis fixed feed control 2 3 4 axis fixed feed control 2 axis circular interpolation control 3 axis helical interpolation control 1 2 3 4 axis speed control Speed position switching control Position speed switching control Other controls Current value chan...

Page 236: ...5 The settings are validated at the rising edge when turned off and on of PLC READY signal Y0 For details on the settings refer to the following Page 394 Pr 17 Torque limit setting value Page 418 Pr 54 OPR torque limit value The following table shows the buffer memory address of Md 35 Torque limit stored value For details on the stored contents refer to the following Page 461 Md 35 Torque limit st...

Page 237: ...age 72 Checking the current value The upper and lower limits of the movable range of the workpiece are set in Pr 12 Software stroke limit upper limit value or Pr 13 Software stroke limit lower limit value Differences in the movable range The following figure shows the movable range of the workpiece when the software stroke limit function is used The following figures show the differences in the op...

Page 238: ... Select either Md 20 Current feed value or Md 21 Machine feed value in Pr 14 Software stroke limit selection 2 Movable range from Pr 12 Software stroke limit upper limit value to Pr 13 Software stroke limit lower limit value Check detail Processing when an error occurs 1 An error occurs if the current value 1 is outside the software stroke limit range 2 Check Md 20 Current feed value or Md 21 Mach...

Page 239: ...re checked Page 236 Details of the software stroke limit check For speed control The machine decelerates and stops when the software stroke limit range is exceeded For position control The operation is not performed if the target address is outside the software stroke limit range 2 3 4 axis linear interpolation control 1 axis fixed feed control 2 3 4 axis fixed feed control 2 axis circular interpo...

Page 240: ...oning data right before the positioning data having the error When the simultaneous start is performed the stroke limit check is performed for every current value of the axes to be started simultaneously All the axes do not start if an error occurs even if an error occurs only in one axis Arc address Da 7 End point address Da 6 Axis 1 Axis 1 stroke limit Deceleration stop not carried out Start poi...

Page 241: ...em Setting value Setting detail Initial value at the factory Pr 12 Software stroke limit upper limit value Set the upper limit value of the movement range 2147483647 Pr 13 Software stroke limit lower limit value Set the lower limit value of the movement range 2147483648 Pr 14 Software stroke limit selection Set whether to use Md 20 Current feed value or Md 21 Machine feed value as Current value 0 ...

Page 242: ... 12 Pr 13 and Pr 15 Parameters are set for each axis Setting the parameters using an engineering tool is recommended To perform the setting using programs many programs and devices are required The execution becomes complicated and the scan times will increase Setting when the control unit is degree Current value address The address of Md 20 Current feed value is a ring address from 0 to 359 99999...

Page 243: ... drive unit side is reached Control details The following figure shows the operation of the hardware stroke limit function WARNING When the hardware stroke limit is required to be wired ensure to wire it in the negative logic using a normally closed contact If it is set in the positive logic using a normally open contact the operation cannot be stopped and a collision occurs when a failure such as...

Page 244: ...he RD75 control range outside the upper lower limit switches or is stopped due to the detection of the hardware stroke limit the OPR control excluding when the OPR retry function is valid Major positioning control and Advanced positioning control cannot be started To perform these types of the control again return the workpiece into the RD75 control range using the JOG operation Inching operation ...

Page 245: ...rride function The speed is changed for all controls to be executed Note that the manual pulse generator operation is excluded The new speed is set in percentage of the command speed Speed change function Speed change function changes the speed of the operation being controlled to a newly specified speed at a specified timing The new speed is directly set in the buffer memory and the speed is chan...

Page 246: ...nal remains on When a value other than 0 is set in Cd 14 New speed value and the speed is changed while Speed change 0 flag Md 31 Status b10 is on Speed change 0 flag Md 31 Status b10 is turned off and the operation continues If a stop signal is input while Speed change 0 flag Md 31 Status b10 is on BUSY signal turns off and Md 26 Axis operation status changes to Stopped In this case the operation...

Page 247: ...w speed value The speed change request is ignored Deceleration start flag is not turned on when the deceleration is performed using the speed change function Setting the function from the CPU module The following shows the data setting and a program example for changing the control speed of the axis 1 by the command sent from the CPU module In this example the control speed is changed to 20 00mm m...

Page 248: ...alid Page 473 Cd 14 New speed value The following shows the time chart of the speed change Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Pr 42 External command function selection 1 Set 1 External speed change request 62 212 362 512 Cd 8 External command valid 1 Set 1 Validate external command 1505 1605 1705 1805 Cd 14 New speed value 1000000 Set the ne...

Page 249: ...Selection_D Axis 1 Pr 42 External command function selection RD75_1 stnAxisControlData_Axis_D 0 uExternalCommandValid_D Axis 1 Cd 8 External command valid RD75_1 stnAxisControlData_Axis_D 0 udNewSpeedValue_D Axis 1 Cd 14 New speed value Global label local label Define the global label or local label as follows Setting Assign Device Label for labels is not necessary because the unused internal rela...

Page 250: ...ed unit 1 at that time When Cd 13 Positioning operation speed override is set to 0 the speed becomes 0 and Speed change 0 flag Md 31 Status b10 is turned on When the speed is changed using the override function during the position control or during the position control of the speed position switching control and position speed switching control the operation is performed at a speed for the distanc...

Page 251: ...the interpolation control configure the required setting in the reference axis To change the speed successively using the override function set 10ms or longer as the interval between each speed change If the interval between the speed changes is short the override value may not be reflected to the speed When the machine OPR is performed the speed change using the override function cannot be perfor...

Page 252: ...peed change using the override function Add the following program to the control program and write it to the CPU module Page 508 Override program Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 13 Positioning operation speed override 200 Set the new speed in percentage 1513 1613 1713 1813 200 V t Cd 13 Y10 Y0 X0 X10 XC X14 X8 Positioning start signal ...

Page 253: ...leration time change is enabled the speed will be changed with the new acceleration deceleration time Cd 10 and Cd 11 Control details After setting the following two items perform the speed change to change the acceleration deceleration time at the speed change Setting a new value of the acceleration deceleration time Cd 10 New acceleration time value Cd 11 New deceleration time value Enabling the...

Page 254: ...tion time change is set to be disabled after New acceleration deceleration time is validated the positioning data for which New acceleration deceleration time was validated continues to be controlled with that value The next positioning data is controlled at the acceleration deceleration time set in the parameters in advance If New acceleration deceleration time is set to 0 and the speed change is...

Page 255: ...nged to 2000ms and the deceleration time is changed to 0 the deceleration time is not changed The set data becomes valid when the data is written into the RD75 and the speed change is performed Set the following data For details on the settings refer to the following Page 472 Cd 10 New acceleration time value Page 472 Cd 11 New deceleration time value Page 473 Cd 12 Acceleration deceleration time ...

Page 256: ...rned on the value in Pr 17 Torque limit setting value is set to Md 35 Torque limit stored value The setting range is between 0 and Pr 17 Torque limit setting value When the new torque value is 0 a torque change is considered not to be performed Control precautions If a value other than 0 is set in Cd 22 New torque value the torque generated in the servomotor is limited with that value To limit the...

Page 257: ...a into the RD75 using a program The set data is validated when the data is written into the RD75 For details on the settings refer to the following Page 476 Cd 22 New torque value Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 22 New torque value Set the new torque limit value 1525 1625 1725 1825 ...

Page 258: ...rget position change is performed by turning on Cd 29 Target position change request flag Control details The following describes the control details of the target position change function When the address after change is farther from the start point than the positioning address When the speed is changed simultaneously with the address change When the direction of the operation is changed Target p...

Page 259: ...ing to the new position is performed Even though the speed changes to the constant speed or the output is reversed by performing the target position change while Md 48 Deceleration start flag is on Deceleration start flag remains on Page 293 Deceleration start flag function When the speed does not need to be changed set 0 in Cd 28 Target position change value new speed When the target position cha...

Page 260: ...e Add the following program to the control program and write it to the CPU module Page 511 Target position change program Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 27 Target position change value new address 3000 Set the new address 1534 1535 1634 1635 1734 1735 1834 1835 Cd 28 Target position change value new speed 1000000 Set the new speed 153...

Page 261: ...he analysis of the positioning data is completed Ta Start time Ta is the time from when Positioning start signal Y10 Y11 Y12 Y13 is turned on to when Execution prohibition flag Y14 Y15 Y16 Y17 is turned off Control precautions The time required to analyze the positioning data is up to 7ms After the positioning data analysis the system is put in the execution prohibition flag OFF waiting state Any ...

Page 262: ...BUSY signal XC RD75_1 bnStartComplete_Axis 0 Axis 1 Start complete signal X10 RD75_1 bnPositioningStart_Axis 0 Axis 1 Positioning start signal Y10 RD75_1 bnExecutionProhibitionFlag_Axis_D 0 Axis 1 Execution prohibition flag Y14 RD75_1 stnAxisControlData_Axis_D 0 uPositioningStartNo_D Axis 1 Cd 3 Positioning start No Global label local label Define the global label or local label as follows Setting...

Page 263: ...Start complete signal X10 RD75_1 bnPositioningStart_Axis 0 Axis 1 Positioning start signal Y10 RD75_1 bnExecutionProhibitionFlag_Axis_D 0 Axis 1 Execution prohibition flag Y14 Global label local label Define the global label or local label as follows Setting Assign Device Label for labels is not necessary because the unused internal relay and data device are automatically assigned to the labels ...

Page 264: ...igger is input and the time set in Pr 82 Start adjustment time elapses as shown in the following figure Normal timing time 1 The start time for when the quick start function is used t1 t2 1 t3 0 88 to 1 77ms External command signal 20 s Positioning start signal 8 s Pr 82 Start adjustment time t t3 t2 t1 v Md 26 Cd 43 Md 61 ON OFF 1 Pre analysis mode 0 Normal analysis mode 0 Analysis not completed ...

Page 265: ...pleted and the variation in the start timing becomes large Setting method To use the start time adjustment function write the following data into the RD75 using a program The set data is validated when the data is written into the RD75 For details on the settings refer to the following Page 408 Pr 82 Start adjustment time Precautions Even if a single value is set in Pr 82 Start adjustment time of ...

Page 266: ...omponent Description 1 Servo amplifier Use a Mitsubishi General Purpose AC Servo which has an absolute position detection function absolute position data transfer protocol equivalent to that of MR J3 A Install the battery to the servo amplifier Validate the absolute position detection function of the servo amplifier For details refer to the manual for the servo amplifier used 2 Servomotor Use a se...

Page 267: ...capacitor in the detector the absolute position data will be hold for a specified time even if a cable is disconnected or broken Transmission procedure for absolute position signal The following figure shows the overview of the absolute position signal transmission procedure between a servo amplifier and a programmable controller system CPU module RD75 and I O modules For details on the communicat...

Page 268: ...low in this table ABS request ABSR 18 1 The ABSR is turned on when ABS data is requested in the ABS transmission mode ABS transmission data bit 0 ABSB0 22 This signal indicates the lower bit of the two bits of ABS data to be transferred from the servo amplifier to the programmable controller system in the ABS transmission mode The ABSB0 turns on when this signal occurs ABS transmission data bit 1 ...

Page 269: ...ue cannot be provided during the absolute position restoration Condition 1 Number of output pulses This condition limits the number of pulses output from the positioning module to a servo amplifier when the positioning is performed with the OP 0 in the absolute position detection system In the absolute position detection system the number of pulses within the range determined by the following calc...

Page 270: ...9 to 0 for address decrease 0 to 359 99999 cannot be exercised Unit setting Range of positioning addresses mm 214748364 8 to 214748364 7 m inch 21474 83648 to 21474 83647 inches pulse 2147483648 to 2147483647 pulses degree 0 to 359 99999 Item Value Movement amount per pulse 0 1 m Detected resolution 8192 pluse rev Upper limit value lower limit value of positioning addresses Range of positioning ad...

Page 271: ...ration of the stop command processing for deceleration stop function Deceleration curve re processing A deceleration curve is re processed starting from the speed at the stop cause occurrence to top according to the set deceleration time If a stop cause occurs during the automatic deceleration of the position control the deceleration stop processing stops as soon as the target has reached the posi...

Page 272: ...cause and the setting of Pr 36 Sudden stop deceleration time Setting method To use the stop command processing for deceleration stop function set the following control data in a program The set data becomes valid as soon as they are written to the buffer memory The status of PLC READY signal Y0 is irrelevant For details on the settings refer to the following Page 468 Cd 42 Stop command processing ...

Page 273: ...n cannot be restarted after the stop If Cd 6 Restart command is issued Restart not possible Warning code 0902H will occur Even if a stop command is turned on after Continuous operation interrupt request is executed the continuous operation interrupt request cannot be canceled Thus if the restart is executed after the stop is executed by turning on the stop command the operation will stop when the ...

Page 274: ...on interrupt request is not accepted The request is cleared to 0 at a start or restart Control data requiring settings Set the following data to interrupt the continuous operation For details on the settings refer to the following Page 475 Cd 18 Continuous operation interrupt request Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 18 Continuous operat...

Page 275: ...leration A normal operation will be performed until the positioning data No requiring automatic deceleration takes its turn Once the turn comes the positioning data will be executed and the operation will automatically decelerate and stop Data No unit step The operation automatically decelerates and stops for each positioning data Even in the continuous path control the automatic deceleration and ...

Page 276: ...Axis operation status Cd 36 Step start request Result of step starts The positioning of the step operation has normally stopped Step standby 1 Step continue The next positioning data No is performed The positioning of the step operation has not normally stopped due to stop signal or an error Stopped Error 1 Step continue Step not possible Warning code 0996H YES YES YES NO NO NO Write 1 Carry out s...

Page 277: ...ata set in Cd 3 Positioning start No ON ON ON ON ON OFF OFF OFF OFF V No 10 No 11 11 00 t Cd 35 Da 1 Step valid flag Positioning start signal Y10 Y11 Y12 Y13 BUSY signal XC XD XE XF Positioning complete signal X14 X15 X16 X17 Positioning Positioning data No Operation pattern Positioning is carried out not by the step of positioning data No unit but by the step of automatic deceleration unit Dwell ...

Page 278: ...or details on the settings refer to the following Page 480 Cd 34 Step mode Page 480 Cd 35 Step valid flag Page 480 Cd 36 Step start request Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 34 Step mode Set either 0 Deceleration unit step or 1 Data No unit step 1544 1644 1744 1844 Cd 35 Step valid flag 1 Set 1 Carry out step operation 1545 1645 1745 184...

Page 279: ...sible Control details The following figure shows the operation of the skip function Control type Skip function Skip operation applicability OPR control Machine OPR control Skip operation not possible Fast OPR control Major positioning control Position control 1 axis linear control Skip operation possible 2 3 4 axis linear interpolation control 1 axis fixed feed control 2 3 4 axis fixed feed contro...

Page 280: ... M code ON signals X4 X5 X6 X7 do not turn on when the M code output is set to the AFTER mode When 1 AFTER mode is set in Pr 18 M code ON signal output timing In this case the M code will not be stored in Md 25 Valid M code No positioning data can be skipped in the speed control and the position speed switching control If Skip signal is turned on while M code signal is on the transition to the nex...

Page 281: ...am to the control program and write it to the CPU module Setting item Setting value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Pr 42 External command function selection 3 Set 3 Skip request 62 212 362 512 Cd 8 External command valid 1 Set 1 Validate external command 1505 1605 1705 1805 Classification Label Name Description Module label RD75_1 stnParameter_Axis_D 0 uExternalCo...

Page 282: ...ode when M code ON signal is turned on The following two types of timing for outputting M codes are provided WITH mode and AFTER mode WITH mode M code ON signal X4 X5 X6 X7 turns on at the positioning start and an M code is stored in Md 25 Valid M code AFTER mode M code ON signal X4 X5 X6 X7 turns on at the completion of the positioning and an M code is stored in Md 25 Valid M code Md 25 Cd 7 01 0...

Page 283: ...g value Setting detail Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 7 M code ON signal OFF request 1 Set 1 M code ON signal is turned OFF 1504 1604 1704 1804 Da 1 Operation pattern Processing 00 Independent positioning control positioning complete The next positioning data No will not be executed until M code ON signal is turned off 01 Continuous positioning control 11 Continuous path cont...

Page 284: ...ecify the M code ON signal output timing separately for each positioning data use Da 27 M code ON signal output timing The following settings are required to use the parameter Set an M code number in Da 10 M code one of the setting items of positioning data Set the timing to output an M code ON signal X4 X5 X6 X7 in Da 27 M code ON signal output timing of the positioning data To specify the same M...

Page 285: ...s but as ON execution instructions Monitor item Monitor value Monitor details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Md 25 Valid M code Stores the M code number Da 10 M code set in the positioning data 808 908 1008 1108 Classification Label Name Description Module label RD75_1 stnAxisMonitorData_Axis 0 uValidMcode Axis 1 Md 25 Valid M code Global label local label Define the global labe...

Page 286: ...rrent value change is performed Md 20 Current feed value may not show the absolute address having the OP as a reference Teaching cannot be performed for positions that cannot be targeted using the manual control positions to which the workpiece cannot physically move During the operation that refers to a center point outside the moveable range such as the circular interpolation control operation w...

Page 287: ...e the data in the buffer memory to a storage destination specified by the extension parameter storage setting Positioning data and block start data 0 Not requested 1 Requested After the data is written 0 is automatically stored 1900 Cd 38 Teaching data selection Set the write destination of Current feed value 0 Written to Da 6 Positioning address movement amount 1 Written to Da 7 Arc address 1548 ...

Page 288: ...value to Da 6 Positioning address movement amount Set the positioning data No where the teaching is carried out End the teaching Turn off PLC READY signal Y0 Perform the module data backup End Check that the module data backup is completed Using a JOG operation inching operation or manual pulse generator operation Set the positioning data No in the buffer memory address 1549 Set 0 in the buffer me...

Page 289: ...address on axis 2 Use the buffer memory addresses 1648 and 1649 and follow the same procedure with axis 1 Move the object to the end point of circular interpolation with a manual operation 2 Using a JOG operation inching operation or manual pulse generator operation Set Cd 38 Teaching data selection to write the current feed value to Da 6 Positioning address movement amount Set 0 in the buffer mem...

Page 290: ...ator operation Perform the teaching operation with the following program Page 510 Teaching program Before setting positioning data check the teaching function and teaching procedure The positioning addresses to be written are absolute address ABS values When the positioning operation is normally completed with the written positioning data registering the positioning data in the flash ROM of the RD...

Page 291: ...on speed switching control Command in position flag will be turned off in the following cases 0 will be stored in Md 31 Status b2 At the position control start At the speed control start At the start of the speed position switching control or position speed switching control At the OPR control start At the JOG operation start At the inching operation start When the manual pulse generator operation...

Page 292: ...ss For details on the stored contents refer to the following Page 458 Md 31 Status Parameters are set for each axis Setting the parameters using an engineering tool is recommended To perform the setting using programs many programs and devices are required The execution becomes complicated and the scan times will increase Setting item Setting value Setting detail Initial value at the factory Pr 16...

Page 293: ...390 Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 Page 400 Pr 25 Acceleration time 1 to Pr 27 Acceleration time 3 Page 400 Pr 28 Deceleration time 1 to Pr 30 Deceleration time 3 Control details and setting of Acceleration deceleration method setting In the acceleration deceleration method setting an acceleration deceleration processing method is selected and set The set acceleration decelerat...

Page 294: ...urve acceleration deceleration processing begins at that point Set the required values for Acceleration deceleration method setting in the parameter areas shown in the following table and write them to the RD75 The set data is validated when the data is written into the RD75 For details on the settings refer to the following Page 402 Pr 34 Acceleration deceleration processing selection Page 403 Pr...

Page 295: ...for only the position control whose operation pattern is Positioning complete at the point to which Da 11 Shape is set to End The following table shows the operation of Deceleration start flag in the case when the following block start data and positioning data are used Block start data Da 11 Shape Da 12 Start data No Da 13 Special start instruction 1st point 1 Continue 1 0 Block start 2nd point 1...

Page 296: ...d switching control Deceleration start flag is turned on by the automatic deceleration Deceleration start flag remains ON if the control is switched to the speed control by Position speed switching signal after Deceleration start flag has turned ON If the condition start in a block start is not started since the condition is not satisfied Deceleration start flag turns on as long as Da 11 Shape is ...

Page 297: ...ing buffer memory address For details on the stored contents refer to the following Page 466 Md 48 Deceleration start flag Monitor item Monitor value Monitor details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Md 48 Deceleration start flag 0 Status other than below 1 Status from deceleration start to next operation start 899 999 1099 1199 ...

Page 298: ...ntrol and OPR request flag is on Machine OPR JOG operation Inching operation Manual pulse generator operation Current value change using the start No for a current value change No 9003 1 2 3 4 axis speed control Positioning start possible can be executed Positioning start possible can be executed 1 axis linear control 2 3 4 axis linear interpolation control 1 2 3 4 axis fixed feed control 2 axis c...

Page 299: ...Pr 901 Axis No for interrupt factor and write them to the RD75 Clear the mask by setting Cd 50 Interrupt factor mask If the RD75 detects an interrupt factor an interrupt request is sent to the CPU module and the corresponding interrupt program of the CPU module is executed Set 1 Interrupt factor reset request for Cd 51 Interrupt factor reset request to clear the interrupt factor The RD75 can detec...

Page 300: ...d 30 External I O signal 102 Drive unit READY Md 30 External I O signal 103 Stop signal Md 30 External I O signal OFF ON 104 External command signal Md 30 External I O signal 105 Zero signal Md 30 External I O signal 106 Near point dog signal Md 30 External I O signal 107 Deviation counter clear signal Md 30 External I O signal 200 In speed control flag Md 31 Status 201 Speed position switching la...

Page 301: ...nitor details Buffer memory address 2 Md 65 Interrupt factor detection flag 0 1 Stores the detecting status of an interrupt factor 0 Interrupt factor not detected 1 Interrupt factor detected 55000 n Setting item Setting value Setting detail Buffer memory address 1 Cd 51 Interrupt factor reset request 0 1 The interrupt factor is reset 0 No reset request 1 Reset request When the interrupt factor res...

Page 302: ...ting detail Buffer memory address Pr 900 Interrupt factor setting setting 4 202 202 Command in position flag Md 31 Status 55195 Pr 901 Axis No for interrupt factor 1 1 Axis 1 55259 1 Configure the interrupt setting using an engineering tool and create the processing for Axis 1 command in position in the I50 program Write the project and validate the setting 2 In the normal control program set Cd 5...

Page 303: ...lassification Label Name Description Module label RD75_1 bModuleAccessFlag Module access flag X1 RD75_1 stInterruptSettingData_D unInterruptCauseSetting_No_D 0 Interrupt setting No 1 Pr 900 Interrupt factor setting RD75_1 stInterruptSettingData_D unInterruptCauseAxis_No_D 0 Interrupt setting No 1 Pr 901 Axis No for interrupt factor Classification Label Name Description Module label RD75_1 bModuleA...

Page 304: ...ssification Label Name Description Module label RD75_1 stInterruptSettingData_D unInterruptCauseResetRequest_No_D 0 Interrupt setting No 1 Cd 51 Interrupt factor reset request Global label local label Define the global label or local label as follows Setting Assign Device Label for labels is not necessary because the unused internal relay and data device are automatically assigned to the labels ...

Page 305: ...ault settings Module data backup function Saves the module extension parameters positioning data and block start data in the buffer memory currently being used in control into the module extension parameter file External I O signal logic switching function Switches I O signal logics according to the equipment connected to the RD75 For the system in which signals handled as normally closed contacts...

Page 306: ...parameter initialization is performed powering off and on the system again or resetting the CPU module is required If an error occurs on the parameter set in the RD75 when PLC READY signal Y0 is turned on RD75 READY signal X0 will not turn on and the control cannot be performed The number of module data initializations using a program after the power is turned on once or the CPU module is reset is...

Page 307: ...ffer memory The module initialization can also be performed by using the GP PINIT instruction of the dedicated instructions For details on the dedicated instructions refer to the following MELSEC iQ R Programming Manual Instructions Standard Functions Function Blocks When the initialization is completed 0 is set in Cd 2 Module data initialization request automatically Setting item Setting value Se...

Page 308: ...ecuted while PLC READY signal Y0 is on PLC READY ON write Warning code 0905H will occur Writing to the flash ROM can be executed up to 100000 times If the number of writing to the flash ROM exceeds 100000 times writing data to the flash ROM may become impossible and Flash ROM write error Error code 1931H will occur The number of module data backups using a program after the power is turned on once...

Page 309: ...he RD75 The module backup can also be performed by using the GP PFWRT instruction of the dedicated instructions For details on the dedicated instructions refer to the following MELSEC iQ R Programming Manual Instructions Standard Functions Function Blocks When the data has been written to the flash ROM 0 is set in Cd 1 Module data backup request automatically Setting item Setting value Setting det...

Page 310: ...gnal Y0 is turned off and on The logic is negative right after the power is turned on If the logic of each signal is set incorrectly the operation may not be performed properly Before setting logics check the specifications of the device used Setting item Setting detail Initial value at the factory Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Pr 22 Input signal logic selection Set the logic o...

Page 311: ...that can be monitored RUN LED ERR LED No of write accesses to flash ROM the same information as Md 19 No of write accesses to flash ROM External I O signal The logics of the external I O signals are set in Pr 22 Input signal logic selection and Pr 23 Output signal logic selection Operation method Display Module Information List by following the procedure shown below Diagnostics System Monitor Doub...

Page 312: ...ent function module monitor window The following describes the check method 1 Display the Intelligent Function Module Monitor window View Docking Window Intelligent Function Module Monitor Intelligent Function Module Monitor 1 to Intelligent Function Module Monitor 10 2 Select the RD75 from the project view 3 Right click Select Register to Intelligent Function Module Monitor in the shortcut menu 4...

Page 313: ...n Module Monitor 1 to Intelligent Function Module Monitor 10 2 Select the RD75 from the project view 3 Right click Select Register to Intelligent Function Module Monitor in the shortcut menu 4 Select the RD75 from the Module List in Module Information Selection window 5 In Monitor Item Category List select Display by Axis Unit or Display by Item Unit and click the OK button 6 Select Online Watch S...

Page 314: ...ion mode and the amplifier less operation mode Operation mode switching between the normal operation mode and the amplifier less operation mode is reflected on all axes in a batch The operation mode cannot be switched for each axis Operation mode Description Normal operation mode The module is in this mode immediately after the power on In this mode External I O signal is connected and the positio...

Page 315: ...n Cd 44 External input signal operation device is reflected on these signals b1 Upper limit signal b2 Drive unit READY signal b3 Stop signal b4 External command signal b5 Zero signal b6 Near point dog signal b7 Use prohibited b8 Deviation counter clear signal These signals turn on or off in the same way in the normal operation mode b9 to b15 Use prohibited Setting item Setting value Setting detail...

Page 316: ...1 are off and switch the operation mode between the normal operation mode and the amplifier less operation mode If the operation mode is switched while any of input signals other than Module access flag X1 in on Error at switching from normal operation mode to amplifier less operation mode Error code 18B0H or Error at switching from amplifier less operation mode to normal operation mode Error code...

Page 317: ...r Setting Procedure 1 Add the RD75 to the engineering tool Navigation Parameter Module Information Right click Add New Module 2 The parameter setting has two types including the module parameter and module extension parameter Select either of them from the tree on the following window Navigation Parameter Module Information Target module 3 Write the settings to the CPU module with the engineering ...

Page 318: ...Movement amount per rotation 16 bits Refer to the right item default value 20000 Page 382 Pr 3 Movement amount per rotation 16 bits Al No of pulses per rotation 32 bits 1 to 200000000 pulses default value 20000 Page 387 Pr 2 No of pulses per rotation 32 bits Ap Movement amount per rotation 32 bits Refer to the right item default value 20000 Page 388 Pr 3 Movement amount per rotation 32 bits Al Uni...

Page 319: ...Standard speed switching mode default value 1 Front loading speed switching mode Page 396 Pr 19 Speed switching mode Interpolation speed specification method 0 Composite speed default value 1 Reference axis speed Page 397 Pr 20 Interpolation speed specification method Current feed value during speed control 0 Do not update current feed value default value 1 Update current feed value 2 Clear curren...

Page 320: ... default value 1 Sudden stop Page 405 Pr 37 to Pr 39 Stop group 1 to 3 sudden stop selection Stop group 2 sudden stop selection Stop group 3 sudden stop selection Positioning complete signal output time 0 to 65535 ms default value 300 Page 406 Pr 40 Positioning complete signal output time Allowable circular interpolation error width Refer to the right item default value 100 Page 407 Pr 41 Allowabl...

Page 321: ...tion time 0 default value 1 Deceleration time 1 2 Deceleration time 2 3 Deceleration time 3 Page 416 Pr 52 OPR deceleration time selection OP shift amount Refer to the right item default value 0 Page 417 Pr 53 OP shift amount OPR torque limit value 1 to 3000 default value 300 Page 418 Pr 54 OPR torque limit value Deviation counter clear signal output time 1 to 65535 ms default value 11 Page 418 Pr...

Page 322: ...p signal 104 External I O signal_Special start instruction 105 External I O signal_Zero signal 106 External I O signal_Near point dog signal 107 External I O signal_Deviation counter clear signal 200 Status_In speed control flag 201 Status_Speed position switching latch flag 202 Status_Command in position flag 203 Status_OPR request flag 204 Status_OPR complete flag 205 Status_Position speed switc...

Page 323: ...etting Current feed value of the axis to be transferred to the module label to Enable sets all the items of the set axis to Enable Refresh data register RD Transfer the setting of the buffer memory to the refresh data register RD of the CPU module Other transfer destinations are automatically set by setting the refresh data register RD to which Current feed value of each axis is transferred Specif...

Page 324: ...2 Target value Target speed Page 460 Md 33 Target speed OPR request flag ON cause Page 460 Md 63 OPR request flag ON factor Positioning control end cause Page 461 Md 64 Positioning control complete factor Movement amount after near point dog ON Page 461 Md 34 Movement amount after near point dog ON Torque limit stored value Page 461 Md 35 Torque limit stored value Special start data instruction co...

Page 325: ...ning data being executed_Command speed Positioning data being executed_Positioning address Positioning data being executed_Arc address Analysis mode Page 465 Md 60 Analysis mode Analysis complete flag Page 466 Md 61 Analysis complete flag Deceleration start flag Page 466 Md 48 Deceleration start flag Refresh Group Refresh Group Page 323 Refresh group Group n n 1 64 Refresh Timing I O 1 Refresh Tim...

Page 326: ...ion used the refresh read time is also added to the execution time of an inter module synchronous interrupt program When Target is a module label or a refresh data register RD The following table shows the refresh read time with an R CPU used When Target is a specified device Calculate the refresh read time according to the number of items and the number of their transfer data word that are set to...

Page 327: ...umber 0 to 4 for each axis Select the module extension parameter from the tree on the following window Navigation Parameter Module Information Target module Module Extended Parameter Positioning data Set the positioning data for each axis Item Setting range Reference Operation pattern 0 Positioning complete 1 Continuous positioning control 3 Continuous path control Page 421 Da 1 Operation pattern ...

Page 328: ... ABS 16H INC3 3 axis linear interpolation control INC 17H FEED3 Fixed feed control by 3 axis linear interpolation 18H VF3 3 axis speed control forward run 19H VR3 3 axis speed control reverse run 20H ABSH Helical interpolation control with sub point specified ABS 21H INCH Helical interpolation control with sub point specified INC 22H ABSH Helical interpolation control with center point specified A...

Page 329: ... signal output timing 0 Use the set value of Pr 18 M code ON signal output timing 1 WITH mode 2 AFTER mode Page 432 Da 27 M code ON signal output timing ABS direction in degrees 0 Use the set value of Cd 40 ABS direction in degrees 1 ABS clockwise 2 ABS counterclockwise 3 Shortcut Direction setting invalid Page 433 Da 28 ABS direction in degrees Interpolation speed specification method 0 Use the s...

Page 330: ...n 00h Normal start 01h Condition start 02h Wait start 03h Simultaneous start 04h FOR loop 05h FOR condition 06h NEXT start Page 437 Da 13 Special start instruction Parameter 1 to 10 0 to 255 Page 438 Da 14 Parameter 1 Double click Condition data edit in Axis Block start data 2 Click the cell of the condition data number to be edited and click the Edit button 3 Select settings of Condition Operator...

Page 331: ...ndition operator Condition Identifier Refer to the right item Page 439 Da 15 Condition target Condition Data Buffer Address Refer to the right item Page 441 Da 17 Address Parameter Refer to the right item Page 441 Da 18 Parameter 1 Page 442 Da 19 Parameter 2 X device Y device Axis 1 specification Axis 2 specification Axis 3 specification Axis 4 specification ...

Page 332: ...nitor Position speed switching control The status related to position speed switching control can be monitored Operation monitor OPR monitor The status related to OPR control can be monitored Operation monitor JOG manual pulse The status related to JOG operation and manual pulse generator operation can be monitored Start history The start history of past 16 records can be monitored Error history T...

Page 333: ...sitioning Monitor window In Module Information List the on state is indicated in color green for each axis When an error occurs the axis in which the error occurs is indicated in orange in Error Detection When a warning occurs the axis in which the warning occurs is indicated in orange in Status Axis warning detection ...

Page 334: ... started necessary parameters and positioning data must be set and written to the RD75 Starting method Start Positioning test with the following procedure 1 Display the Module Tool List window and select Positioning test Tool Module Tool List Positioning test 2 Select the RD75 being used from the Module Selection Positioning Test window and click the OK button 3 If external input signals are used ...

Page 335: ...positioning data being performed Stop Target Axis Stops the positioning control of the axis set as the target axis Stop All Axis Stops the positioning control of all the axes Restart Stop Axis Restarts the positioning control that is stopped by the Stop Target Axis or Stop All Axis button Positioning Complete Ends the positioning control When the Positioning Complete button is clicked and the Star...

Page 336: ...according to the selected control method Positioning Start Signal Positioning data No Block Start Block No and point No Multiple Axes Simultaneous Start Multiple axes simultaneous start data No 5 Click the Starting button to start the test operation 6 After the test is completed click the Positioning Complete button then click the Close button To stop the positioning control being performed click ...

Page 337: ...nal CHG In the positioning control test the operation can be started or skipped with External command signal CHG 1 Set the external command function selection before starting Positioning Test 2 When starting Positioning Test click the Yes button in the following window 3 Select External Command Valid in External Command To switch the positioning control between the speed control and position contr...

Page 338: ...h compensation amount by the forward run reverse run Measuring the accurate address and movement amount An OP can be established by performing the OPR test and operation can be checked by set OPR basic parameters and OPR detailed parameters JOG operation 1 Select a target axis to be tested from the pull down menu of Target Axis 2 Select JOG Manual Pulse Generator OPR from the pull down menu of Sel...

Page 339: ...e pull down menu of Target Axis 2 Select JOG Manual Pulse Generator OPR from the pull down menu of Select Function 3 Set Manual Pulse 1 Pulse Generator Input Magnification 4 Select Manual pulse generator enable flag 5 The test for manual pulse generator operation starts using the manual pulse generator connected to the RD75 ...

Page 340: ...Axis 2 Select JOG Manual Pulse Generator OPR from the pull down menu of Select Function 3 Select Machine OPR or Fast OPR from the pull down menu of OPR Method 4 Click the OPR button The on state of Near point dog signal Zero signal and OPR complete flag can be checked on the monitor part Check the OPR completion on the monitor ...

Page 341: ... or acceleration deceleration time Speed change 1 Select a target axis to be tested from the pull down menu of Target Axis 2 Select New Speed from the pull down menu of Select Function 3 Set New Speed Value 4 Click the New Speed button The set value of New Speed Value is reflected to the positioning control being performed Override function 1 Select a target axis to be tested from the pull down me...

Page 342: ...n deceleration time change 1 Select a target axis to be tested from the pull down menu of Target Axis 2 Select New Speed from the pull down menu of Select Function 3 Select Acceleration deceleration time change enable 4 Set Acceleration Time and Deceleration Time 5 Click the New Speed button The set values of Acceleration Time and Deceleration Time are reflected to the positioning control being pe...

Page 343: ...D75 to a specified address 1 Select a target axis to be tested from the pull down menu of Target Axis 2 Select Other control from the pull down menu of Select Function 3 Set New Current Value 4 Click the Current Value Changing button The set value of New Current Value is reflected to Current feed value ...

Page 344: ...t as the start I O number Since the signals described as Use prohibited are used by the system users cannot use them If these signals are used turned off and on the operation of the RD75 cannot be guaranteed Input signal Device No Signal name X0 RD75 READY signal X1 Module access flag X2 X3 Use prohibited X4 Axis 1 M code ON X5 Axis 2 X6 Axis 3 X7 Axis 4 X8 Axis 1 Error detection X9 Axis 2 XA Axis...

Page 345: ...s 4 Y8 Axis 1 Forward run JOG start Y9 Axis 1 Reverse run JOG start YA Axis 2 Forward run JOG start YB Axis 2 Reverse run JOG start YC Axis 3 Forward run JOG start YD Axis 3 Reverse run JOG start YE Axis 4 Forward run JOG start YF Axis 4 Reverse run JOG start Y10 Axis 1 Positioning start Y11 Axis 2 Y12 Axis 3 Y13 Axis 4 Y14 Axis 1 Execution prohibition flag Y15 Axis 2 Y16 Axis 3 Y17 Axis 4 Y18 to ...

Page 346: ...2H will occur When PLC READY signal Y0 is turned off this signal also turns off If the operation is started while the M code is on M code ON signal ON start Error code 19A0H will occur X8 X9 XA XB Axis 1 Axis 2 Axis 3 Axis 4 Error detection Off No error On Error occurrence This signal turns on when an error occurs and turns off when the error is reset on Cd 5 Axis error reset XC XD XE XF Axis 1 Ax...

Page 347: ...al pulse generator operation will stop By turning on this signal during the positioning operation the operation will be stopped Whether to decelerate or suddenly stop can be selected with Pr 39 Stop group 3 sudden stop selection During the interpolation control of the positioning operation if this signal of any axis is turned on all axes in the interpolation control will decelerate and stop Y8 Y9 ...

Page 348: ...a Set the setting data for the interrupt function Module extension parameter Positioning data Positioning data Set the data for the major positioning control Block start data Block start data Set the block start data for the advanced positioning control Condition Data Set the condition data for the advanced positioning control Valid timing Applicable data Description When PLC READY signal Y0 is tu...

Page 349: ...ameters of Setting data and are set as the factory default The parameters related to axes that are not used are left at the initial values Setting data can be initialized with programs Setting of Setting data with engineering tools is recommended The program for the setting is complicated and many devices must be used This will increase the scan time Item Description System monitor Monitors the RD...

Page 350: ...5 Pulse output mode Pr 6 Rotation direction setting Pr 7 Bias speed at start Pr 62 Electronic gear selection Basic parameter 2 Pr 8 Speed limit value Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 Detailed parameter 1 Pr 11 Backlash compensation amount Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value Pr 14 Software stroke limit selection Pr 15 Softwar...

Page 351: ...ion time selection Pr 33 JOG operation deceleration time selection Pr 34 Acceleration deceleration processing selection Pr 35 S curve ratio Pr 36 Sudden stop deceleration time Pr 37 Stop group 1 sudden stop selection Pr 38 Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning complete signal output time Pr 41 Allowable circular interpolation error width Pr 4...

Page 352: ...ching control Other controls 1 axis linear control 2 3 4 axis linear interpolation control Fixed feed control 2 axis circular interpolation control 3 axis helical interpolation control Current value change JUMP instruction NOP instruction LOOP to LEND Basic parameter 1 Pr 1 Unit setting Pr 2 No of pulses per rotation Pr 3 Movement amount per rotation Pr 4 Unit magnification Pr 5 Pulse output mode ...

Page 353: ...t feed value during speed control Pr 22 Input signal logic selection Pr 23 Output signal logic selection Pr 24 Manual pulse generator input selection Pr 150 Speed position function selection Detailed parameter 2 Pr 25 Acceleration time 1 Pr 26 Acceleration time 2 Pr 27 Acceleration time 3 Pr 28 Deceleration time 1 Pr 29 Deceleration time 2 Positioning parameter Position control Axis speed control ...

Page 354: ...Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning complete signal output time Pr 41 Allowable circular interpolation error width Pr 42 External command function selection Pr 82 Start adjustment time Positioning parameter Position control Axis speed control Speed position or position speed switching control Other controls 1 axis linear control 2 3 4 axis ...

Page 355: ...nvalid setting Pr 16 Command in position width Pr 17 Torque limit setting value Pr 18 M code ON signal output timing Pr 19 Speed switching mode Pr 20 Interpolation speed specification method Pr 21 Current feed value during speed control Pr 22 Input signal logic selection Pr 23 Output signal logic selection Pr 24 Manual pulse generator input selection Detailed parameter 1 Pr 150 Speed position func...

Page 356: ...gnal Y0 output from the CPU module to the RD75 changes from off to on When the Starting button is clicked at Positioning Test of the engineering tool Advanced positioning control is performed in combination with Major positioning control For details on the parameters required for Advanced positioning control refer to the parameter settings of Major positioning control ...

Page 357: ... READY signal Y0 output from the CPU module to the RD75 changes from off to on When the Starting button is clicked at Positioning Test of the engineering tool OPR parameter Machine OPR control Fast OPR control OPR basic parameter Pr 43 OPR method Near point dog method Stopper method 1 Stopper method 2 Stopper method 3 Count method 1 Count method 2 Data setting method Pr 44 OPR direction Pr 45 OP a...

Page 358: ...xed feed control 2 axis circular interpolation control 3 axis helical interpolation control 1 axis speed control 2 axis speed control 3 axis speed control 4 axis speed control Da 1 Operation pattern Independent positioning control positioning complete Continuous positioning control Continuous path control Da 2 Control method Line 1 Line 2 Line 3 Line 4 1 Fixed feed 1 Fixed feed 2 Fixed feed 3 Fixe...

Page 359: ...t value change JUMP instruction LOOP instruction LEND instruction Da 1 Operation pattern Independent positioning control positioning complete Continuous positioning control Continuous path control Da 2 Control method Forward run position speed Reverse run position speed NOP instruction Current value change JUMP instruction LOOP instruction LEND instruction Da 3 Acceleration time No Da 4 Decelerati...

Page 360: ...r each axis Set as required Setting not required Because this item is an irrelevant item the set value is ignored Set the value within the setting range such as the initial value Checking block start data Block start data is checked when the block start data starts Block start data setting items Block start normal start Condition start Wait start Simultaneous start Repeated start FOR loop Repeated...

Page 361: ...uired Because this item is an irrelevant item the set value is ignored Set the value within the setting range such as the initial value Checking condition data Condition data is checked at the following timings When Block start data starts When JUMP instruction starts Condition Data Major positioning control Advanced positioning control Other than JUMP instruction JUMP instruction Block start norm...

Page 362: ... rotation 16 bits 20000 3 3H 153 99H 303 12FH 453 1C5H Pr 4 Unit magnification 1 4 4H 154 9AH 304 130H 454 1C6H Pr 5 Pulse output mode 1 5 5H 155 9BH 305 131H 455 1C7H Pr 6 Rotation direction setting 0 6 6H 156 9CH 306 132H 456 1C8H Pr 7 Bias speed at start 0 7 7H 157 9DH 307 133H 457 1C9H 8 8H 158 9EH 308 134H 458 1CAH System area 9 9H 159 9FH 309 135H 459 1CBH 10 AH 160 A0H 310 136H 460 1CCH Pr ...

Page 363: ...g speed control 0 31 1FH 181 B5H 331 14BH 481 1E1H Pr 22 Input signal logic selection 0 32 20H 182 B6H 332 14CH 482 1E2H Pr 23 Output signal logic selection 0 33 21H Pr 24 Manual pulse generator input selection 0 34 22H 184 B8H 334 14EH 484 1E4H Pr 150 Speed position function selection 0 35 23H 185 B9H 335 14FH 485 1E5H System area 36 24H 186 BAH 336 150H 486 1E6H Pr 25 Acceleration time 1 1000 De...

Page 364: ...Pr 40 Positioning complete signal output time 300 60 3CH 210 D2H 360 168H 510 1FEH Pr 41 Allowable circular interpolation error width 100 61 3DH 211 D3H 361 169H 511 1FFH 62 3EH 212 D4H 362 16AH 512 200H Pr 42 External command function selection 0 63 3FH to 69 45H 213 D5H to 219 DBH 363 16BH to 369 171H 513 201H to 519 207H System area 70 46H 220 DCH 370 172H 520 208H Pr 43 OPR method 0 OPR basic ...

Page 365: ... 390 186H 540 21CH Pr 58 Setting of operation during uncompleted OPR 0 91 5BH to 99 63H 241 F1H to 249 F9H 391 187H to 399 18FH 541 21DH to 549 225H System area 100 64H 250 FAH 400 190H 550 226H Pr 62 Electronic gear selection 0 Basic parameter 1 101 65H 251 FBH 401 191H 551 227H System area 102 66H 252 FCH 402 192H 552 228H Pr 2 No of pulses per rotation 32 bits 20000 Basic parameter 1 103 67H 25...

Page 366: ...11 38FH 1011 3F3H 1111 457H 812 32CH 912 390H 1012 3F4H 1112 458H Md 28 Axis feedrate 0 813 32DH 913 391H 1013 3F5H 1113 459H 814 32EH 914 392H 1014 3F6H 1114 45AH Md 29 Speed position switching control positioning amount 0 815 32FH 915 393H 1015 3F7H 1115 45BH 816 330H 916 394H 1016 3F8H 1116 45CH Md 30 External I O signal 0000H 817 331H 917 395H 1017 3F9H 1117 45DH Md 31 Status 0008H 818 332H 91...

Page 367: ...ioning data No 0 838 346H 938 3AAH 1038 40EH 1138 472H Md 47 Positioning data being executed Positioning identifier 0 839 347H 939 3ABH 1039 40FH 1139 473H M code 0 840 348H 940 3ACH 1040 410H 1140 474H Dwell time 0 841 349H 941 3ADH 1041 411H 1141 475H Positioning option 0 842 34AH 942 3AEH 1042 412H 1142 476H Command speed 0 843 34BH 943 3AFH 1043 413H 1143 477H 844 34CH 944 3B0H 1044 414H 1144 ...

Page 368: ...24 4C8H Md 5 Start date hour 0000H 1225 4C9H Md 6 Start minute second 0000H 1226 4CAH Md 7 Error judgment 0000H 1442 5A2H Md 50 Start year month 0000H 1227 4CBH Start history 3 Md 3 Start information 0000H 1228 4CCH Md 4 Start No 0000H 1229 4CDH Md 5 Start date hour 0000H 1230 4CEH Md 6 Start minute second 0000H 1231 4CFH Md 7 Error judgment 0000H 1443 5A3H Md 50 Start year month 0000H 1232 4D0H S...

Page 369: ...6 Start minute second 0000H 1266 4F2H Md 7 Error judgment 0000H 1450 5AAH Md 50 Start year month 0000H 1267 4F3H Start history 11 Md 3 Start information 0000H 1268 4F4H Md 4 Start No 0000H 1269 4F5H Md 5 Start date hour 0000H 1270 4F6H Md 6 Start minute second 0000H 1271 4F7H Md 7 Error judgment 0000H 1451 5ABH Md 50 Start year month 0000H 1272 4F8H Start history 12 Md 3 Start information 0000H 12...

Page 370: ...5 519H Error history 3 Md 9 Axis in which the error occurred 0 1306 51AH Md 10 Error No 0 1307 51BH Md 11 Error occurrence date hour 0000H 1308 51CH Md 12 Error occurrence minute second 0000H 1459 5B3H Md 51 Error occurrence year month 0000H 1309 51DH Error history 4 Md 9 Axis in which the error occurred 0 1310 51EH Md 10 Error No 0 1311 51FH Md 11 Error occurrence date hour 0000H 1312 520H Md 12 ...

Page 371: ... minute second 0000H 1468 5BCH Md 51 Error occurrence year month 0000H 1345 541H Error history 13 Md 9 Axis in which the error occurred 0 1346 542H Md 10 Error No 0 1347 543H Md 11 Error occurrence date hour 0000H 1348 544H Md 12 Error occurrence minute second 0000H 1469 5BDH Md 51 Error occurrence year month 0000H 1349 545H Error history 14 Md 9 Axis in which the error occurred 0 1350 546H Md 10 ...

Page 372: ...569H Md 17 Warning occurrence minute second 0000H 1478 5C6H Md 52 Warning occurrence year month 0000H 1386 56AH Warning history 7 Md 14 Axis in which the warning occurred 0 1387 56BH Md 15 Warning No 0 1388 56CH Md 16 Warning occurrence date hour 0000H 1389 56DH Md 17 Warning occurrence minute second 0000H 1479 5C7H Md 52 Warning occurrence year month 0000H 1390 56EH Warning history 8 Md 14 Axis i...

Page 373: ...Md 16 Warning occurrence date hour 0000H 1417 589H Md 17 Warning occurrence minute second 0000H 1486 5CEH Md 52 Warning occurrence year month 0000H 1418 58AH Warning history 15 Md 14 Axis in which the warning occurred 0 1419 58BH Md 15 Warning No 0 1420 58CH Md 16 Warning occurrence date hour 0000H 1421 58DH Md 17 Warning occurrence minute second 0000H 1487 5CFH Md 52 Warning occurrence year month...

Page 374: ...H 1512 5E8H 1612 64CH 1712 6B0H 1812 714H Cd 12 Acceleration deceleration time change during speed change enable disable selection 0 1513 5E9H 1613 64DH 1713 6B1H 1813 715H Cd 13 Positioning operation speed override 0 1514 5EAH 1614 64EH 1714 6B2H 1814 716H Cd 14 New speed value 0 1515 5EBH 1615 64FH 1715 6B3H 1815 717H 1516 5ECH 1616 650H 1716 6B4H 1816 718H Cd 15 Speed change request 0 1517 5EDH...

Page 375: ...xis 1 start data No 0 Axis control data 1541 605H 1641 669H 1741 6CDH 1841 731H Cd 31 Simultaneous starting axis start data No axis 2 start data No 0 1542 606H 1642 66AH 1742 6CEH 1842 732H Cd 32 Simultaneous starting axis start data No axis 3 start data No 0 1543 607H 1643 66BH 1743 6CFH 1843 733H Cd 33 Simultaneous starting axis start data No axis 4 start data No 0 1544 608H 1644 66CH 1744 6D0H ...

Page 376: ...04 770H System area 1905 771H Cd 41 Deceleration start flag valid 0 System control data 1906 772H System area 1907 773H Cd 42 Stop command processing for deceleration stop selection 0 System control data 1908 774H to 1925 785H System area 1926 786H Cd 137 Amplifier less operation mode switching request 0000H System control data 1927 787H System area 1928 788H 1929 789H 1930 78AH 1931 78BH Cd 44 Ex...

Page 377: ... 20003 4E23H Positioning option Da 27 M code ON signal output timing Da 28 ABS direction in degrees Da 29 Interpolation speed specification method 0 2004 7D4H 8004 1F44H 14004 36B4H 20004 4E24H Da 8 Command speed 0 2005 7D5H 8005 1F45H 14005 36B5H 20005 4E25H 2006 7D6H 8006 1F46H 14006 36B6H 20006 4E26H Da 6 Positioning address movement amount 0 2007 7D7H 8007 1F47H 14007 36B7H 20007 4E27H 2008 7D...

Page 378: ...7099 69DBH 28099 6DC3H 29099 71ABH 0 26100 65F4H 27100 69DCH 28100 6DC4H 29100 71ACH Condition data No 1 Da 15 Condition target Da 16 Condition operator 0 26101 65F5H 27101 69DDH 28101 6DC5H 29101 71ADH System area 26102 65F6H 27102 69DEH 28102 6DC6H 29102 71AEH Da 17 Address 0 26103 65F7H 27103 69DFH 28103 6DC7H 29103 71AFH 26104 65F8H 27104 69E0H 28104 6DC8H 29104 71B0H Da 18 Parameter 1 0 26105...

Page 379: ... 29599 739FH Condition Data 0 26600 67E8H to 26699 684BH 27600 6BD0H to 27699 6C33H 28600 6FB8H to 28699 701BH 29600 73A0H to 29699 7403H Block start data 0 Start block 3 Block No 7003 26700 684CH to 26799 68AFH 27700 6C34H to 27799 6C97H 28700 701CH to 28799 707FH 29700 7404H to 29799 7467H Condition Data 0 26800 68B0H to 26899 6913H 27800 6C98H to 27899 6CFBH 28800 7080H to 28899 70E3H 29800 746...

Page 380: ...nterrupt factor setting 0 55259 D7DBH Pr 901 Axis No for interrupt factor 0 55004 D6DCH Interrupt setting No 5 Md 65 Interrupt factor detection flag 0 55068 D71CH Cd 50 Interrupt factor mask 0 55132 D75CH Cd 51 Interrupt factor reset request 0 55196 D79CH Pr 900 Interrupt factor setting 0 55260 D7DCH Pr 901 Axis No for interrupt factor 0 55005 D6DDH Interrupt setting No 6 Md 65 Interrupt factor de...

Page 381: ...0 55140 D764H Cd 51 Interrupt factor reset request 0 55204 D7A4H Pr 900 Interrupt factor setting 0 55268 D7E4H Pr 901 Axis No for interrupt factor 0 55013 D6E5H Interrupt setting No 14 Md 65 Interrupt factor detection flag 0 55077 D725H Cd 50 Interrupt factor mask 0 55141 D765H Cd 51 Interrupt factor reset request 0 55205 D7A5H Pr 900 Interrupt factor setting 0 55269 D7E5H Pr 901 Axis No for inter...

Page 382: ... changing the unit check if the parameter and data values are within the setting range Set 2 degree to perform the speed position switching control ABS mode Application examples of each unit The units mm inch degree and pulse are applicable to the following systems mm or inch XY table conveyor Select inch when the machine uses the inch as the unit degree Rotating body 360 degrees rotation pulse XY...

Page 383: ...4 define the movement amount per pulse when a pulse train is output The following explains how to set the individual parameters Pr 2 Pr 3 and Pr 4 when mm is selected for Pr 1 Unit setting The movement amount per pulse is given by the following calculation formula Due to the mechanical tolerance the actual movement amount may differ slightly from the specified movement amount The error can be comp...

Page 384: ...e default value is 20000 for all the axes Pr 4 Unit magnification When the movement amount per rotation of the motor shaft exceeds the setting range of Pr 3 Movement amount per rotation 16 bits adjust the setting range 10 to 1000 times with this area When Pr 62 Electronic gear selection is set to 0 16 bits this area is valid When Pr 62 Electronic gear selection is set to 1 32 bits the unit magnifi...

Page 385: ...the pulse output modes for positive and negative logic PULSE SIGN mode CW CCW mode During forward run the forward run feed pulse PULSE F is output During reverse run the reverse run feed pulse PULSE R is output Pulse output mode Setting value PULSE SIGN mode 0 CW CCW mode 1 A phase B phase mode multiple of 4 2 A phase B phase mode multiple of 1 3 Positive logic Negative logic Forward run and rever...

Page 386: ...nd Positive logic Negative logic Example When the command 1 pulse output is set to 1pulse s the pulse rises and falls one time per second Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Pr 5 Pulse output mode 4 154 304 454 Forward run Reverse run Command 1 pulse output A phase B phase When B phase is 90 behind A phase When A phase is 90 behind B phase Command 1 pulse output AΦ BΦ Forward run Revers...

Page 387: ... properly with JOG operation If any malfunction is identified check and correct the wiring Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0 Current value increment with forward run pulse output for all the axes Rotation direction setting Setting value Current value increment with forward run pulse output 0 Current value inc...

Page 388: ...tor executing the S curve acceleration deceleration may cause step out Before using the S curve acceleration deceleration check that step out does not occur In the system that uses a stepping motor the circular interpolation control and 3 axis helical interpolation control cannot be performed Although setting the bias speed at start is required by the characteristics of the stepping motor the sett...

Page 389: ...ses set the number of pulses per rotation with this area Buffer memory address The following table shows the buffer memory address of this area Setting range The setting range is 1 to 200000000 Default value The default value is 20000 for all the axes Electronic gear selection Setting value 16 bits 0 32 bits 1 Setting value of Pr 62 Electronic gear selection Address of Pr 2 No of pulses per rotati...

Page 390: ...s of this area Setting range The setting range depends on the setting of Pr 1 Unit setting 1 When this buffer memory area is set with programs a calculation is performed in the RD75 to convert a setting value to the value in each unit For setting this buffer memory area take the value after the unit conversion into consideration Default value The default value is 20000 for all the axes Buffer memo...

Page 391: ...r memory address The following table shows the buffer memory address of this area Setting range The setting range depends on the setting of Pr 1 Unit setting 1 When this buffer memory area is set with programs a calculation is performed in the RD75 to convert a setting value to the value in each unit For setting this buffer memory area take the value after the unit conversion into consideration De...

Page 392: ...ers Thus set the maximum positioning speed to a value equal to the value set in Pr 8 Speed limit value or only a little lower value than the speed limit value The settings in these areas are valid for OPR positioning and JOG operations In the interpolation positioning the acceleration deceleration time set for the reference axis is valid Buffer memory address The following table shows the buffer m...

Page 393: ...e buffer memory address of this area Setting range The setting range depends on the setting of Pr 1 Unit setting 1 When this buffer memory area is set with programs a calculation is performed in the RD75 to convert a setting value to the value in each unit For setting this buffer memory area take the value after the unit conversion into consideration Default value The default value is 0 for all th...

Page 394: ...r limit value Lower limit value Set the value within the setting range such as the initial value When the unit is degree the software stroke limit check is invalid during speed control including the speed control of speed position switching control and position speed switching control or during manual control Buffer memory address The following table shows the buffer memory address of this area Se...

Page 395: ... signal is used as a front loading signal of the positioning complete signal When positioning control starts Command in position flag bit 2 in Md 31 Status turns off and Command in position flag turns on at the set position of the command in position signal Buffer memory address The following table shows the buffer memory address of this area Software stroke limit selection Setting value Apply the...

Page 396: ...ows the buffer memory address of this area Setting range The setting range is 1 to 5000 Default value The default value is 300 for all the axes Limits for the pulse train output type A drive unit that can issue a torque limit command with analog voltage is required The D A converter module and the wiring between the D A converter module and drive unit are required The set value in Pr 17 Torque lim...

Page 397: ...ng data Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0 WITH mode for all the axes WITH mode setting value 0 AFTER mode setting value 1 An M code is output and the M code ON signal X4 X5 X6 X7 is turned on when a positioning operation starts An M code is output and the M code ON signal X4 X5 X6 X7 is turned on when a posit...

Page 398: ...g mode Setting value Description Standard speed switching mode 0 Switches the speed when executing the next positioning data Front loading speed switching mode 1 Switches the speed at the end of the positioning data being executed Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Pr 19 Speed switching mode 28 178 328 478 t n n 1 t n n 1 Speed Speed Switch the speed when executing the next positioning...

Page 399: ...itioning data can be set with the positioning option Da 29 Interpolation speed specification method of the positioning data Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0 Composite speed for all the axes Interpolation speed specification method Setting value Description Composite speed 0 The movement speed for the control...

Page 400: ...anual pulse generator input for the axis 1 Setting for any of the axis 2 to 4 is invalid Buffer memory address The following table shows the buffer memory address of this area Default value Each input signal of all the axes is set to 0 Negative logic Current feed value during speed control Setting value Description Current feed value is not updated 0 The current feed value does not change The curr...

Page 401: ...other than 0 and 2 is set the control is performed in the INC mode with the setting value regarded as 0 Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0 Speed position switching control INC mode for all the axes Output signal logic selection Setting value Negative logic 0 Positive logic 1 Buffer memory Assignment of output ...

Page 402: ...speed to decrease from Pr 8 Speed limit value from Pr 31 JOG speed limit value during a JOG operation control to zero during positioning The specifications of this area are the same as those of Pr 10 Deceleration time 0 For details refer to the following Page 390 Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 Buffer memory address The following table shows the buffer memory address of this are...

Page 403: ... the acceleration time during JOG operation Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0 Acceleration time 0 for all the axes Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Pr 31 JOG speed limit value 48 198 348 498 49 199 349 499 Setting of Pr 1 Unit setting Setting value with engineering tools Setting value with progr...

Page 404: ...ddress of this area Default value The default value is 0 Trapezoidal acceleration deceleration processing for all the axes JOG operation deceleration time selection Setting value Description Deceleration time 0 0 Use the value set in Pr 10 Deceleration time 0 Deceleration time 1 1 Use the value set in Pr 28 Deceleration time 1 Deceleration time 2 2 Use the value set in Pr 29 Deceleration time 2 De...

Page 405: ...ng the sine curve as shown below Buffer memory address The following table shows the buffer memory address of this area Setting range The setting range is 1 to 100 Default value The default value is 100 for all the axes Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Pr 35 S curve ratio 53 203 353 503 A B B 2 B 2 V t V t b a Sine curve Positioning speed When S curve ratio is 70 Positioning speed Wh...

Page 406: ...ing range is 1 to 8388608 Default value The default value is 1000 for all the axes Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Pr 36 Sudden stop deceleration time 54 204 354 504 55 205 355 505 Pr 8 Da 8 Pr 36 Pr 9 Pr 25 Pr 26 Pr 27 Pr 10 Pr 28 Pr 29 Pr 30 V t Speed limit value Command speed Actual acceleration time 1 Positioning start 2 Sudden stop cause occurrence 3 Positioning stop Actual dec...

Page 407: ... control and position speed switching control Error at operation mode switching in amplifier less operation The methods of stopping include 0 Normal deceleration stop and 1 Sudden stop If 1 Sudden stop is selected the axis suddenly decelerates to a stop according to the setting of Pr 36 Sudden stop deceleration time when a stop cause occurs Buffer memory address The following table shows the buffe...

Page 408: ...me set to the reference axis Buffer memory address The following table shows the buffer memory address of this area Setting range The setting range is 0 to 65535 Default value The default value is 300 for all the axes Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Pr 40 Positioning complete signal output time 59 209 359 509 M BUSY signal Positioning complete signal Output time CPU module RD75 Prog...

Page 409: ...The following table shows the buffer memory address of this area Setting range The setting range depends on the setting of Pr 1 Unit setting 1 When this buffer memory area is set with programs a calculation is performed in the RD75 to convert a setting value to the value in each unit For setting this buffer memory area take the value after the unit conversion into consideration Default value The d...

Page 410: ...ll the axes External command function selection Setting value Description Start with external command 0 Starts a positioning operation by inputting an external command signal External speed change request 1 Changes the speed in the current positioning operation by inputting an external command signal Set a new speed value in Cd 14 New speed value Speed position position speed switching request 2 S...

Page 411: ... OPR is decelerated when the near point dog is on the OPR stops with the stopper and the machine OPR completes when the zero signal is detected Page 47 Stopper method 2 Stopper method 3 3 After the OPR starts at the creep speed the OPR stops with the stopper and the machine OPR completes when the zero signal is detected Page 50 Stopper method 3 Count method 1 4 After the speed of the OPR is decele...

Page 412: ...ting value Description Forward direction address increment 0 Moves the workpiece in the address increment direction Arrow 2 Reverse direction address decrement 1 Moves the workpiece in the address decrement direction Arrow 1 Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Pr 44 OPR direction 71 221 371 521 Lower limit Address increment Address decrement Upper limit When the OP is set at the lower l...

Page 413: ...rt and Pr 47 Creep speed Buffer memory address The following table shows the buffer memory address of this area Setting range The setting range depends on the setting of Pr 1 Unit setting 1 When this buffer memory area is set with programs a calculation is performed in the RD75 to convert a setting value to the value in each unit For setting this buffer memory area take the value after the unit co...

Page 414: ... of Pr 1 Unit setting 1 When this buffer memory area is set with programs a calculation is performed in the RD75 to convert a setting value to the value in each unit For setting this buffer memory area take the value after the unit conversion into consideration Default value The default value is 1 for all the axes Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Pr 47 Creep speed 76 226 376 526 77 2...

Page 415: ...R retry function Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0 Do not perform OPR retry by limit switch for all the axes OPR retry Setting value Do not perform OPR retry by limit switch 0 Perform OPR retry by limit switch 1 Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Pr 48 OPR retry 78 228 378 528 ...

Page 416: ...e equal to or grater than the movement time from the near point dog signal ON to the stop with the stopper If the OPR method is not Stopper method 1 the value in Pr 49 OPR dwell time is irrelevant Buffer memory address The following table shows the buffer memory address of this area Setting range The setting range is 0 to 65535 Default value The default value is 0 for all the axes Buffer memory na...

Page 417: ...s 4 Pr 50 Setting for the movement amount after near point dog ON 80 230 380 530 81 231 381 531 Setting of Pr 1 Unit setting Setting value with engineering tools Setting value with programs 1 0 mm 0 to 214748364 7 m 0 to 2147483647 10 1 m 1 inch 0 to 21474 83647 inch 0 to 2147483647 10 5 inches 2 degree 0 to 21474 83647 degree 0 to 2147483647 10 5 degrees 3 pulse 0 to 2147483647 pulse 0 to 2147483...

Page 418: ...ation time selection Setting value Description Acceleration time 0 0 Uses the value set in Pr 9 Acceleration time 0 Acceleration time 1 1 Uses the value set in Pr 25 Acceleration time 1 Acceleration time 2 2 Uses the value set in Pr 26 Acceleration time 2 Acceleration time 3 3 Uses the value set in Pr 27 Acceleration time 3 Name Axis 1 Axis 2 Axis 3 Axis 4 Pr 51 OPR acceleration time selection 82 ...

Page 419: ...the value in each unit For setting this buffer memory area take the value after the unit conversion into consideration Default value The default value is 0 for all the axes Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Pr 53 OP shift amount 84 234 384 534 85 235 385 535 Setting of Pr 1 Unit setting Setting value with engineering tools Setting value with programs 1 0 mm 214748364 8 to 214748364 7 ...

Page 420: ...nt method 1 and data setting method For details refer to the manual of the drive unit used Buffer memory address The following table shows the buffer memory address of this area Setting range The setting range is 1 to 65535 Default value The default value is 11 for all the axes Pr 56 Speed specification during OP shift Set the operation speed for when a value other than 0 is set in Pr 53 OP shift ...

Page 421: ... control when OPR request flag Md 31 Status b3 is on Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0 Do not execute the positioning control for all the axes Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Pr 57 Dwell time during OPR retry 89 239 389 539 Setting of operation during uncompleted OPR Setting value Do not execut...

Page 422: ...12 b15 b4 b8 Da 1 Da 2 Da 3 Da 4 Da 5 b0 b12 b15 b4 b8 Da 27 Da 29 Da 28 2 3 1 1 Up to 600 positioning data for each axis can be set stored in the buffer memory addresses shown on the left These data are controlled as positioning data No 1 to No 600 for each axis One positioning data is configured of the items shown in the bold box Configuration of positioning identifier Configuration of positioni...

Page 423: ... refer to the following Page 551 Positioning data Default value The default value is 00 for all the axes Operation pattern Setting value Description Positioning Complete 00 Set this value to execute the positioning to the specified address to complete the positioning Continuous positioning control 01 Performs the positioning successively in order of data numbers with one start signal The operation...

Page 424: ...lation control with center point specified ABS CW 0FH ABS Circular interpolation control with center point specified ABS CCW 10H INC Circular interpolation control with center point specified INC CW 11H INC Circular interpolation control with center point specified INC CCW 12H VF2 2 axis speed control forward run 13H VR2 2 axis speed control reverse run 14H ABS3 3 axis linear interpolation control...

Page 425: ...ing data Default value The default value is 00 for all the axes Da 4 Deceleration time No Set which of Deceleration time 0 to 3 to use for the deceleration time during positioning For the setting refer to the following and check the assignment of this area Page 421 Configuration of positioning identifier Buffer memory address For the buffer memory address of this area refer to the following Page 5...

Page 426: ... 421 Configuration of positioning identifier Buffer memory address For the buffer memory address of this area refer to the following Page 551 Positioning data Default value The default value is 00 for all the axes Axis to be interpolated Setting value Description Axis 1 specification 00 Selects the axis 1 as the axis to be interpolated partner axis Axis 2 specification 01 Selects the axis 2 as the...

Page 427: ... position switching control INC mode Set the movement amount after the control method is switched from the speed control to the position control ABS mode Set the absolute address which is to be the target value after the control method is switched from the speed control to the position control The unit is degree only Position speed switching control Set the movement amount in the position control ...

Page 428: ...he movement amount 214748364 8 to 214748364 7 m Set the movement amount 2147483648 to 2147483647 10 1 m ABS helical sub 20H ABS helical right 22H ABS helical left 23H Set the address 214748364 8 to 214748364 7 m Set the address 2147483648 to 2147483647 10 1 m INC helical sub 21H INC helical right 24H INC helical left 25H Set the movement amount 214748364 8 to 214748364 7 m Set the movement amount ...

Page 429: ... Set the address 2147483648 to 2147483647 pulse Set the address 2147483648 to 2147483647 pulse INC helical sub 21H INC helical right 24H INC helical left 25H Set the movement amount 2147483648 to 2147483647 pulse Set the movement amount 2147483648 to 2147483647 pulse Setting of Da 2 Control method 5 Setting value with engineering tools Setting value with programs ABS linear 1 01H ABS linear 2 0AH ...

Page 430: ...the range in the table above When Pr 1 Unit setting is degree No control method requires the setting of the arc address with degree Circular interpolation with sub point specified Circular interpolation with center point specified Setting of Da 2 Control method Setting value with engineering tools Setting value with programs ABS circular sub 0DH ABS circular right 0FH ABS circular left 10H Set the...

Page 431: ...8 to 2147483647 pulse 2 ABS helical sub 20H ABS helical right 22H ABS helical left 23H Set the address 2147483648 to 2147483647 pulse Set the address 2147483648 to 2147483647 pulse INC helical sub 21H INC helical right 24H INC helical left 25H Set the movement amount 2147483648 to 2147483647 pulse 2 Set the movement amount 2147483648 to 2147483647 pulse 2 Setting of Da 2 Control method Setting val...

Page 432: ...ed Error code 1A12H occurs and the positioning does not start Buffer memory address For the buffer memory address of this area refer to the following Page 551 Positioning data Setting range The setting range depends on the setting of Pr 1 Unit setting 1 When this buffer memory area is set with programs a calculation is performed in the RD75 to convert a setting value to the value in each unit For ...

Page 433: ...en the positioning ends to when Positioning complete signal X14 X15 X16 X17 turns on as the dwell time When Da 1 Operation pattern is 01 Continuous positioning control Set the time from when the positioning control ends to when the next positioning control starts as the dwell time When Da 1 Operation pattern is 11 Continuous path control The setting value is irrelevant to the control The dwell tim...

Page 434: ... value The default value is 0 for all the axes Da 27 M code ON signal output timing Set the M code ON signal output timing for each positioning data For details on the settings refer to the following Page 395 Pr 18 M code ON signal output timing Configuration of positioning option The positioning option consists of Da 27 M code ON signal output timing to Da 29 Interpolation speed specification met...

Page 435: ...lation speed specification method for each positioning data For the setting refer to the following and check the assignment of this area Page 432 Configuration of positioning option For details on the settings refer to the following Page 397 Pr 20 Interpolation speed specification method Buffer memory address For the buffer memory address of this area refer to the following Page 551 Positioning da...

Page 436: ...ory address Axis 1 start block 0 Da 11 Da 12 Start data No Da 13 Special start instruction Da 14 Parameter Setting item 27049 27099 50th point Buffer memory address Setting item 27001 27051 2nd point Buffer memory address Setting item b15 b0 b7 b8 Shape 27000 b15 b0 b7 b8 27050 1st point Buffer memory address Axis 2 start block 0 Da 11 Da 12 Start data No Da 13 Special start instruction Da 14 Para...

Page 437: ...performed Outside start No range Error code 19A3H occurs Block No 1 Axis Block start data Condition Buffer memory Engineering tool 7000 Axis 1 Start block 0 Condition data 1 to 10 Setting possible Setting possible Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 10 Axis 4 Condition data 1 to 10 7001 Axis 1 Start block 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition ...

Page 438: ...Start data No Set Positioning data No specified with Block start data For the setting refer to the following and check the assignment of this area Page 436 Da 11 Shape Buffer memory address For the buffer memory address of this area refer to the following Page 553 Block start data Setting range The setting range is 1 to 600 01H to 258H Default value The default value is 0 for all the axes Shape Se...

Page 439: ...have not been established that Block start data is ignored and Block start data of the next point will be executed Wait start 2H Performs the condition judgment specified in Condition data for the specified positioning data If the conditions have been established Block start data is executed If the conditions have not been established the control stops waits until the conditions are established Si...

Page 440: ...ction Description Block start Not used Setting this item is not required Condition start Set the condition data No number of Condition data which is set to perform condition judgment For details on the condition data refer to Page 439 Condition Data Wait start Simultaneous start Repeated start FOR loop Set the number of repetitions Repeated start FOR condition Set the condition data No number of C...

Page 441: ...emory as a condition Set 03H when the target buffer memory is 1 word 16 bits Set 04H when the target buffer memory is 2 words 32 bits Buffer memory 2 words 04H Positioning data No 05H Select this item only for Simultaneous start Buffer memory configuration Assignment 1 Da 16 Condition operator 2 Da 15 Condition target No 10 Setting item 26190 26191 26192 26193 26194 26195 26196 26197 26198 26199 B...

Page 442: ...the trigger DEV OFF 08H 03H Buffer memory 1 word 04H Buffer memory 2 words P1 01H Select how to use the value stored in the buffer memory as a part of the condition and are judged with signed values P1 02H P1 03H P1 04H P1 P2 05H P1 P2 06H 05H Positioning data No Axis 1 specification 10H When Simultaneous start is specified select the axis or axes that start s simultaneously Axis 2 specification 2...

Page 443: ...alue buffer memory address Specify the target Buffer memory address For the buffer memory of 2 words set the low order buffer memory address 04H Buffer memory 2 words 05H Positioning data No Not used Setting this item is not required Setting of Da 16 Condition operator Setting value Description 01H P1 Numerical value Set the value of P1 to be equal to or smaller than the value of P2 P1 P2 If P1 is...

Page 444: ...1 P2 Numerical value Bit number Set the value of P2 to be equal to or greater than the value of P1 P1 P2 If P1 is greater than P2 P1 P2 Condition data error Error code 1A04H occurs 06H P1 P2 07H DEV ON Not used Setting this item is not required 08H DEV OFF 10H Axis 1 specification 20H Axis 2 specification 30H Axis 1 and axis 2 specification 40H Axis 3 specification Numerical value Positioning data...

Page 445: ...n Indicates the source of the start signal Starting axis Indicates the started axis The following figure shows the information to be stored Buffer memory address For the buffer memory address of this area refer to the following Page 364 Monitor data In test mode flag Stored value Not in test mode 0 In test mode 1 Buffer memory name Common for Axis 1 to 4 Md 1 In test mode flag 1200 0 0 0 0 0 b15 b...

Page 446: ...214 1215 1216 1455 1454 1453 1452 1451 1450 1449 1448 1447 1446 1445 1444 1443 1442 1441 1440 Pointer number Item 1292 Md 8 Md 4 Pointer number 0 Start history Start No Md 3 Start information Md 5 Start date hour Md 50 Start year month Md 7 Error judgment Md 6 Start minute second Start history pointer Stores a pointer number that comes next to the number assigned to the latest start history record...

Page 447: ...dress of this area refer to the following Page 364 Monitor data Start No Stored value Positioning operation 1 to 600 1H to 258H 7000 1B58H 7001 1B59H 7002 1B5AH 7003 1B5BH 7004 1B5CH JOG operation 9010 2332H Manual pulse generator operation 9011 2333H Machine OPR 9001 2329H Fast OPR 9002 232AH Current value change 9003 232BH Simultaneous start 9004 232CH Buffer memory configuration Stored contents...

Page 448: ...area stores a pointer number that comes next to the pointer number assigned to the latest start history record Buffer memory address The following table shows the buffer memory address of this area Buffer memory configuration Stored contents Stored value 1 Minute tens place 0 to 5 2 Minute ones place 0 to 9 3 Second tens place 0 to 5 4 Second ones place 0 to 9 Buffer memory name Common for Axis 1 ...

Page 449: ...5 1466 1336 10 1329 1330 1331 1465 1332 9 1325 1326 1327 1464 1328 8 1321 1322 1323 1463 1324 7 1317 1318 1319 1462 1320 6 1313 1314 1315 1461 1316 5 1309 1310 1311 1460 1312 4 1305 1306 1307 1459 1308 3 1301 1302 1303 1458 1304 2 1297 1298 1299 1457 1300 1 0 1357 Md 13 1293 1294 1295 1456 1296 Md 10 Md 9 Md 11 Md 12 Md 51 Pointer number Item Pointer number Error history Error No Axis in which the...

Page 450: ...llowing Page 364 Monitor data Md 13 Error history pointer This area stores a pointer number that comes next to the number assigned to the latest error history record Buffer memory address The following table shows the buffer memory address of this area Buffer memory configuration Stored contents Stored value 1 Year tens place 0 to 9 2 Year ones place 0 to 9 3 Month tens place 0 and 1 4 Month ones ...

Page 451: ...382 1383 1384 1478 1385 6 1378 1379 1380 1477 1381 5 1374 1375 1376 1476 1377 4 1370 1371 1372 1475 1373 3 1366 1367 1368 1474 1369 2 1362 1363 1364 1473 1365 1 0 1422 Md 18 1358 1359 1360 1472 1361 Md 15 Md 14 Md 16 Md 17 Md 52 Pointer number Item Pointer number Warning history Warning No Axis in which the warning occurred Warning occurrence date hour Warning occurrence minute second Warning occu...

Page 452: ...n hexadecimal Buffer memory address For the buffer memory address of this area refer to the following Page 364 Monitor data Md 18 Warning history pointer This area stores a pointer number that comes next to the pointer number assigned to the latest warning history record Buffer memory address The following table shows the buffer memory address of this area Buffer memory configuration Stored conten...

Page 453: ...s area stores the latest date date hour when the data is written to flash ROM with the BCD code Monitor the value in hexadecimal Buffer memory address The following table shows the buffer memory address of this area Buffer memory name Common for Axis 1 to 4 Md 19 No of write accesses to flash ROM 1424 1425 Buffer memory configuration Stored contents Stored value 1 Year tens place 0 to 9 2 Year one...

Page 454: ...mory address The following table shows the buffer memory address of this area Buffer memory configuration Stored contents Stored value 1 Minute tens place 0 to 5 2 Minute ones place 0 to 9 3 Second tens place 0 to 5 4 Second ones place 0 to 9 Buffer memory name Common for Axis 1 to 4 Md 55 Date of write accesses to flash ROM minute second 1490 Buffer memory configuration Stored contents Stored val...

Page 455: ...21 Machine feed value This area stores the address of the current position according to the machine coordinate coordinate specified with the machine The stored value is different from the actual motor position during operation Multiplying the stored value by the following converted value enables the monitoring of the converted value in each unit The update cycle of this area is 0 88ms Under the sp...

Page 456: ...d 24 Axis warning No When a warning is detected this area stores the warning code corresponding to the warning Monitor the value in hexadecimal The latest warning code is stored at all times and when a new warning occurs the warning code is overwritten When Cd 5 Axis error reset axis control data is turned on the warning code is cleared to 0 Buffer memory address The following table shows the buff...

Page 457: ...by 2 Error 1 Standby 0 Stopped 1 Interpolation 2 JOG operation 3 Manual pulse generator operation 4 Analyzing 5 Special start standby 6 OPR 7 Position control 8 Speed control 9 Speed control in speed position switching control 10 Position control in speed position switching control 11 Position control in position speed switching control 12 Speed control in position speed switching control 13 Start...

Page 458: ...mory address The following table shows the buffer memory address of this area Md 28 Axis feedrate This area stores the speed which is actually output as a command in each axis at that time The stored value may be different from the actual motor speed Multiplying the stored value by the following converted value enables the monitoring of the converted value in each unit When the axis is at a stop 0...

Page 459: ...the buffer memory address of this area If 1 Pre analysis mode is set for Cd 43 Analysis mode setting and Positioning start signal Y10 Y11 Y12 Y13 is used as the start trigger the external command signal CHG is disabled from when the positioning data analysis starts until a pulse input starts by inputting the start trigger Thus the external command signal Md 30 External I O signal b4 is fixed to 0 ...

Page 460: ...attern The state of this signal is monitored every 0 88ms It is not monitored under the speed control or while the speed control is in effect during the speed position switching control or position speed switching control While operations are performed with interpolation this signal turns on only for the starting axis This signal turns off for all the axes at the start OPR request flag This signal...

Page 461: ...ed value in each unit Buffer memory address The following table shows the buffer memory address of this area Positioning operation Stored value When the position control and current value change are started The value of Da 6 Positioning address movement amount is stored When the OP shift operation of the OPR control The value of the OP shift amount is stored Other than the above 0 is stored Unit C...

Page 462: ...positioning is completed 0 is stored Interpolation of position control The composite speed or reference axis speed is stored in this area of the reference axis and 0 is stored in this area of the interpolation axis Interpolation of speed control The target speeds of the reference axis and interpolation axis are stored in the monitor of each axis JOG operation The actual target speed considering th...

Page 463: ...e generator enable flag is turned on the value set in Pr 17 Torque limit setting value is stored When a value other than 0 is set in Cd 22 New torque value the value set in Cd 22 New torque value is stored When the creep speed is reached with the OPR the value set in Pr 54 OPR torque limit value is stored Buffer memory address The following table shows the buffer memory address of this area Positi...

Page 464: ... area stores Positioning data No indicated by the start data pointer currently being executed Buffer memory address The following table shows the buffer memory address of this area Special start data instruction code setting value Stored value Block start normal start 0 Condition start 1 Wait start 2 Simultaneous start 3 FOR loop 4 FOR condition 5 NEXT 6 Buffer memory name Axis 1 Axis 2 Axis 3 Axi...

Page 465: ...on is executed with the special start The range of the stored value is 0 to 255 The count is decremented by one at the loop end When the count reaches 0 the loop ends For an endless loop 0 is stored Buffer memory address The following table shows the buffer memory address of this area Md 42 Control method repetition counter This area stores the remaining number of repetitions when Repetition is ex...

Page 466: ...004 of the block currently being executed In other operations this area stores 0 Buffer memory address The following table shows the buffer memory address of this area Md 46 Last executed positioning data No This area stores the positioning data No of the positioning data that was executed last time The value is held until a new positioning operation is executed When the JOG operation or inching o...

Page 467: ...ntrol method Page 423 Da 3 Acceleration time No Page 423 Da 4 Deceleration time No Page 424 Da 5 Axis to be interpolated 839 939 1039 1139 Da 10 M code Page 432 Da 10 M code 840 940 1040 1140 Da 9 Dwell time Page 431 Da 9 Dwell time 841 941 1041 1141 Positioning option Da 27 M code ON signal output timing Da 28 ABS direction in degrees Da 29 Interpolation speed specification method Page 432 Da 27 ...

Page 468: ...l pulse generator operation enable it stores 0 Buffer memory address The following table shows the buffer memory address of this area Md 70 Amplifier less operation mode status This area stores the operation mode currently being executed Buffer memory address The following table shows the buffer memory address of this area Analysis complete flag Stored value Analysis not completed 0 Analysis compl...

Page 469: ...eters positioning data and block start data in the buffer memory and setting values in the module extension parameter file to their factory default settings After the data is initialized 0 is automatically stored Storing 0 indicates the completion of the initialization After the data is initialized turn on the systm again or reset the CPU module For details on the module data initialization functi...

Page 470: ...the difference d between the actual and the set positioning end addresses in continuous path control in which the difference is output during the execution of the next positioning data Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0 At constant speed Deceleration start flag valid Setting value Deceleration start flag inval...

Page 471: ...lowing table shows the buffer memory address of this area Default value The default value is 0 Cd 137 Amplifier less operation mode switching request Switch the operation mode Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0000H Setting item Setting value b0 Lower limit signal 0 OFF 1 ON b1 Upper limit signal b2 Drive unit ...

Page 472: ...detection and axis warning No for each axis Errors are cleared by setting 1 Reset axis errors for this area After the error is reset 0 is automatically stored Storing 0 indicates the completion of the error reset When the axis operation status is Error this area clears the errors and sets the status of the RD75 to Standby again Buffer memory address The following table shows the buffer memory addr...

Page 473: ...urned off by setting 1 M code ON signal is turned off for this Area After the OFF request is accepted 0 is automatically stored Storing 0 indicates the completion of the OFF request acceptance Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0 for all the axes Cd 8 External command valid Set whether to validate external comma...

Page 474: ... the axes Cd 11 New deceleration time value When changing the deceleration time during a speed change use this area to specify a new deceleration time in units of ms When 0 is set the deceleration time is not changed Buffer memory address The following table shows the buffer memory address of this area Setting range The setting range is 0 to 8388608 Default value The default value is 0 for all the...

Page 475: ... Default value The default value is 100 for all the axes Cd 14 New speed value Set a new speed value when changing speed When 0 is set the axis stops and BUSY signal remains on Buffer memory address The following table shows the buffer memory address of this area Setting range The setting range depends on the setting of Pr 1 Unit setting Default value The default value is 0 for all the axes Accele...

Page 476: ... Default value The default value is 0 for all the axes Cd 17 JOG speed Set JOG speed for JOG operation Buffer memory address The following table shows the buffer memory address of this area Setting range The setting range depends on the setting of Pr 1 Unit setting Default value The default value is 0 for all the axes Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Cd 15 Speed change request 1516 1...

Page 477: ...automatically stored Storing 0 indicates the completion of the OPR request flag OFF request Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0 for all the axes Cd 20 Manual pulse generator 1 pulse input magnification Set the factor by which the number of pulses from the manual pulse generator is magnified When the setting val...

Page 478: ...movement amount during the position control can be changed For that set a new movement amount Set the new movement amount during the speed control of the speed position switching control INC mode The setting value is cleared to 0 when the next operation starts Buffer memory address The following table shows the buffer memory address of this area Setting range The setting range depends on the setti...

Page 479: ...mand signal CHG Speed position position speed switching request is selected Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0 Speed control is switched to position control when External command signal CHG is turned on Speed position switching enable flag Setting value Speed control is not switched to position control even wh...

Page 480: ...ed 0 is automatically stored Storing 0 indicates the completion of the target position change Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0 for all the axes Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Cd 27 Target position change value new address 1534 1634 1734 1834 1535 1635 1735 1835 Setting of Pr 1 Unit setting Se...

Page 481: ... The following table shows the buffer memory address of this area Setting range The setting range is 1 to 600 Default value The default value is 0 for all the axes Cd 33 Simultaneous starting axis start data No axis 4 start data No Set the simultaneous starting axis start data No Buffer memory address The following table shows the buffer memory address of this area Setting range The setting range ...

Page 482: ...e step operation continues by setting 1 Continue step operation for this area of the axis where step operation is stopped correctly After the step start request is accepted 0 is automatically stored Storing 0 indicates the completion of the step start request acceptance Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0 for a...

Page 483: ...fer memory address of this area Default value The default value is 0 Take the current feed value as a positioning address for all the axes Cd 39 Teaching positioning data No Specify the positioning data No for teaching Teaching is performed when the set value is 1 to 600 The value is cleared to 0 when the RD75 is initialized It is also cleared to 0 when an illegal value 601 or greater is entered B...

Page 484: ... Shortcut the direction setting is invalid 0 ABS clockwise 1 ABS counterclockwise 2 Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Cd 40 ABS direction in degrees 1550 1650 1750 1850 Speed position switching device selection Setting value Speed position switching control Position speed switching control External command signal is used for switching speed control to position control External command...

Page 485: ...ffer memory address of this area Default value The default value is 0 for all the axes Cd 43 Analysis mode setting Set the positioning start mode Buffer memory address The following table shows the buffer memory address of this area Default value The default value is 0 for all the axes Speed position switching device selection Setting value Speed position switching control Position speed switching...

Page 486: ...uest Perform the interrupt factor reset request The interrupt factor is reset by setting 1 Reset request for this area When the interrupt factor reset request acceptance is completed 0 No reset request is automatically stored Storing 0 indicates the completion of the interrupt factor reset request Buffer memory address For the buffer memory address of this area refer to the following Page 378 Inte...

Page 487: ...Y 3 Start complete 4 Positioning complete 5 Lower limit signal Md 30 External I O signal ON OFF 100 Upper limit signal Md 30 External I O signal 101 Drive unit READY Md 30 External I O signal 102 Stop signal Md 30 External I O signal OFF ON 103 External command signal Md 30 External I O signal 104 Zero signal Md 30 External I O signal 105 Near point dog signal Md 30 External I O signal 106 Deviati...

Page 488: ...Only when the RD75 is set as the inter module synchronization target module this area is valid In the interpolation control only the value of the reference axis is changed Buffer memory address The following table shows the buffer memory address of this area Analysis complete flag Stored value Analysis not completed 0 Analysis completed 1 Buffer memory name Axis 1 Axis 2 Axis 3 Axis 4 Analysis com...

Page 489: ... can be utilized Operation mode Description Q series compatible mode The start time is 1 5ms In this mode the start time corresponds to the start time of the QD75N and LD75 Quick start mode The start time is 0 3ms Extended parameter storage setting Description CPU The module extension parameters stored in the CPU module are used When the power is turned on or the CPU module status is changed from ...

Page 490: ...Extended parameter storage setting 1 Select a write destination CPU module or RD75 with Write to PLC 2 Extension parameter storage setting determines whether the file in the CPU module is used or the file in the RD75 is used 3 The power is turned on or the CPU module status is changed from STOP to RUN 4 The power is turned on Parameter file Parameter Storage destination Type Item Module parameter ...

Page 491: ...be performed only while the CPU module status is STOP Use Cd 1 Module data backup request for the module data backup and Cd 2 Module data initialization request for the module data initialization Parameter reflection In the RD75 the parameter is reflected to the buffer memory at power on or when the CPU module status is changed from STOP to RUN The following table shows the parameters reflected to...

Page 492: ...ension parameter file stored in the RD75 is initialized Precautions When the module parameter is written to the CPU module the written module parameter is reflected at power on or when the CPU module status is changed from STOP to RUN To cancel reflecting the parameter delete the parameter from the CPU module or initialize the parameter with an engineering tool Restrictions When the extension para...

Page 493: ...with programs requires many programs and devices the execution becomes complicated and the scan times will increase When changing positioning data during the continuous path control or continuous positioning control rewrite the data before positioning data four steps before is executed If data has not been rewritten when positioning data four steps before is executed the data is processed as data ...

Page 494: ...shows the system configuration used for the program examples in this section 1 R61P 2 R04CPU 3 RD75D4 X0 to X1F Y0 to Y1F 4 RX40C7 X20 to X3F 5 RX40C7 X40 to X5F 6 RY42NT1 Y60 to Y7F 7 External device 8 Servo amplifier 9 Servomotor 1 3 4 5 6 7 8 9 2 M X47 to X49 Y60 to Y62 X20 to X3F X40 to X45 ...

Page 495: ...s_D 0 uUnitMagnification_D Axis 1 Pr 4 Unit magnification RD75_1 stnParameter_Axis_D 0 uOPR_Method_D Axis 1 Pr 43 OPR method RD75_1 stnParameter_Axis_D 0 uOPR_Direction_D Axis 1 Pr 44 OPR direction RD75_1 stnParameter_Axis_D 0 dOP_Address_D Axis 1 Pr 45 OP address RD75_1 stnParameter_Axis_D 0 udOPR_Speed_D Axis 1 Pr 46 OPR speed RD75_1 stnParameter_Axis_D 0 udCreepSpeed_D Axis 1 Pr 47 Creep speed ...

Page 496: ...1 Cd 13 Positioning operation speed override RD75_1 stnAxisControlData_Axis_D 0 uNewTorqueValue_D Axis 1 Cd 22 New torque value RD75_1 stnAxisControlData_Axis_D 0 uStepMode_D Axis 1 Cd 34 Step mode RD75_1 stnAxisControlData_Axis_D 0 uStepValidFlag_D Axis 1 Cd 35 Step valid flag RD75_1 stnAxisControlData_Axis_D 0 uSkipCommand_D Axis 1 Cd 37 Skip command RD75_1 stnAxisControlData_Axis_D 0 uInterrupt...

Page 497: ... PROGRAMMING 13 2 List of Labels Used 495 13 Global labels for which Assign Device Label is not set When Assign Device Label is not set the unused internal relay and data device are automatically assigned ...

Page 498: ...496 13 PROGRAMMING 13 2 List of Labels Used ...

Page 499: ...ioning start program 10 Quick start program The program is unnecessary when the quick start is not performed 11 M code OFF program The program is unnecessary when the M code output function is not used 12 JOG operation setting program The program is unnecessary when the JOG operation is not used 13 Inching operation setting program The program is unnecessary when the inching operation is not used ...

Page 500: ...section shows program examples for positioning of Axis 1 Parameter setting program When parameters are set in Module Parameter of an engineering tool this program is unnecessary Setting of basic parameter 1 axis 1 220 For using the electronic gear function in 16 bits ...

Page 501: ...am Example 499 13 Setting of OPR basic parameter axis 1 Parameter setting program for the speed position switching control ABS mode This program is unnecessary when the speed position switching control ABS mode is not executed ...

Page 502: ...500 13 PROGRAMMING 13 4 Program Example Positioning data setting program When positioning data is set in Module Extended Parameter of an engineering tool this program is unnecessary ...

Page 503: ...13 PROGRAMMING 13 4 Program Example 501 13 ...

Page 504: ...502 13 PROGRAMMING 13 4 Program Example Block start data setting program When positioning data is set in Module Extended Parameter of an engineering tool this program is unnecessary ...

Page 505: ...st OFF program When Setting of operation during uncompleted OPR is set to 1 Execute positioning control in Module Parameter of an engineering tool this program is unnecessary External command function valid setting program PLC READY signal Y0 ON program ...

Page 506: ...chine OPR Fast OPR Positioning with the positioning data No 1 Speed position switching control positioning data No 2 For the ABS mode writing the target movement amount after change is unnecessary Position speed switching control positioning data No 3 Advanced positioning control ...

Page 507: ...13 PROGRAMMING 13 4 Program Example 505 13 Turning off a fast OPR command and fast OPR command storage This program is unnecessary when the fast OPR is not used Positioning start program ...

Page 508: ...506 13 PROGRAMMING 13 4 Program Example Quick start program M code OFF program JOG operation setting program Inching operation setting program ...

Page 509: ...13 PROGRAMMING 13 4 Program Example 507 13 JOG operation inching operation execution program Manual pulse generator operation program ...

Page 510: ...508 13 PROGRAMMING 13 4 Program Example Speed change program Override program Acceleration deceleration time change program ...

Page 511: ...13 PROGRAMMING 13 4 Program Example 509 13 Torque change program Step operation program Skip program ...

Page 512: ...510 13 PROGRAMMING 13 4 Program Example Teaching program Continuous operation interrupt program ...

Page 513: ...13 PROGRAMMING 13 4 Program Example 511 13 Target position change program Absolute position restoration program ...

Page 514: ...512 13 PROGRAMMING 13 4 Program Example Restart program Parameter data initialization program ...

Page 515: ...13 PROGRAMMING 13 4 Program Example 513 13 Flash ROM write program Error reset program ...

Page 516: ...514 13 PROGRAMMING 13 4 Program Example Stop program ...

Page 517: ...marily diagnosed without an engineering tool and the cause is narrowed down The RD75 status can be checked with the RUN LED and the ERR LED The following table lists the RD75 status and the corresponding LED displays Off On Flashing at 400ms intervals RD75 status LED display Description Action Normal operation RUN AX3 AX4 ERR AX1 AX2 The axes stopped The axes on standby RUN AX3 AX4 ERR AX1 AX2 The...

Page 518: ... rated range The capacity of the power supply module is not sufficient Calculate the total current consumption of modules mounted on the base unit CPU module I O modules and intelligent function modules and check that the power capacity is sufficient The modules are not mounted on the base unit correctly Check the mounting status of modules Check item Action A minor error has occurred Check the er...

Page 519: ... not change even after the execution of positioning Review the start program The number of input pulses in the monitor of the drive unit did not change even after the execution of positioning 1 Refer to the manual for the drive unit used and check that the function to suppress the motor rotation is not working The pulse output mode setting does not meet the specifications of the drive unit Set a v...

Page 520: ... limit value In JOG operation check that Forward run JOG start signal Y8 YA YC YE or Reverse run JOG start signal Y9 YB YD YF do not repeatedly turn on and off Check item Action The value in Md 20 Current feed value is same with or different from the set position When the value in Md 20 Current feed value has reached the set position The electronic gear of 16 bits is used Check that settings of Pr...

Page 521: ...red in the axis to be interpolated or simultaneous starting axis for the following cases The interpolation axis is BUSY Axis error No is stored only in the reference axis during analysis of positioning data An error has occurred in positioning data or parameters that are not related to interpolation control Axis error No is stored only in the reference axis during analysis of positioning data An e...

Page 522: ... extension parameter file error 1800H to 185FH Error at interrupt function setting range check 1860H to 18BFH Dedicated instruction error 18C0H to 18FFH Error at inter module synchronization 1900H to 193FH Error common to positioning control 1940H to 197FH Error at OPR or absolute position restoration 1980H to 198FH Error in manual control 1990H to 19EFH Error in positioning operation 19F0H to 19F...

Page 523: ...curred in positioning operation 1 is stored in the following buffer memory address of Md 31 Status Axis warning detection b9 Warning code Warning type 0900H to 093FH Warning common to positioning control 0980H to 098FH Warning in manual operation JOG operation and manual pulse generator operation 0990H to 09EFH Warning in positioning operation 0A10H to 0A5FH Warning at positioning data setting ran...

Page 524: ...f Md 23 Axis error No is cleared Md 24 Axis warning No is cleared The value in Md 26 Axis operation status changes from 1 Error to 0 Standby Md 31 Status Axis warning detection b9 is turned off Clearing errors warnings of all axes collectively By setting 1 to Cd 49 All axes error reset errors or warnings of all axes are collectively cleared Processing Error detection signal X8 X9 XA XB is turned o...

Page 525: ...etails refer to Page 473 Cd 13 Positioning operation speed override 0907H Outside new torque value range The value set in Cd 22 New torque value is greater than the value in Pr 17 Torque limit setting value Operation of when the warning has occurred The torque is controlled with the value in Pr 17 Torque limit setting value Set the value equal to or smaller than Pr 17 Torque limit setting value to...

Page 526: ... ON signal is on when the positioning data where Continuous path control is set in Da 1 Operation pattern has been executed Operation of when the warning has occurred The execution of positioning data is continued Check and correct the on off timing of Cd 7 M code ON signal OFF request 0993H Speed position switching signal ON during acceleration A speed position switching signal has been turned on...

Page 527: ... warning has occurred The target position is not changed Do not turn on Target position change request flag when Speed change 0 flag Md 31 Status b10 is on 099FH The value set in Cd 27 Target position change value new address is outside the software stroke limit range Operation of when the warning has occurred The target position is not changed Correct the value in Cd 27 Target position change val...

Page 528: ...ect the set value in the Cd 13 Positioning operation speed override For details refer to Page 473 Cd 13 Positioning operation speed override 09F0H No operation termination setting The 50th point of block start data is set to Continue when the positioning has been performed with block start data Operation of when the warning has occurred The operation ends Set the 50th point of block start data to ...

Page 529: ...on of when the error has occurred The positioning function corresponding to each dedicated instruction is not executed Set 0 in the status when executing the G ABRST instruction For details refer to MELSEC iQ R Programming Manual Instructions Standard Functions Function Blocks 1861H The status has been changed during absolute position restoration during communication with a servo amplifier by the ...

Page 530: ...deceleration stop sudden stop for manual pulse generator operation deceleration stop only Correct the program with which PLC READY signal Y0 is turned on or off 1901H Drive unit READY OFF The start request has been performed while Drive unit READY signal is off Operation of when the error has occurred The operation does not start Check the power supply of the drive unit wiring between the drive un...

Page 531: ...OM sum check error The system has been powered off while data is being written to the flash ROM Operation of when the error has occurred Data cannot be written to the flash ROM correctly Return the value of the parameter to the factory default 1940H Start at OP When Pr 48 OPR retry is set to 0 Do not perform OPR retry by limit switch the machine OPR has been performed using the near point dog meth...

Page 532: ...he wiring For details refer to MELSEC iQ R Positioning Module User s Manual Startup Correct the program Correct the control data of the dedicated instruction For details refer to MELSEC iQ R Programming Manual Instructions Standard Functions Function Blocks 1980H Outside JOG speed range The value outside the setting range is set in Cd 17 JOG speed at the JOG start Operation of when the error has o...

Page 533: ...alue in Md 20 Current feed value or in Md 21 Machine feed value has become outside the software stroke limit range in manual operation If the current feed value or machine feed value is outside the software stroke limit range move the object to the position within the software stroke limit range with a manual operation 1996H The new current value is below Pr 13 Software stroke limit lower limit va...

Page 534: ...ion is not performed During operation The operation stops according to the setting of Pr 39 Stop group 3 sudden stop selection of detailed parameter 2 deceleration stop sudden stop The operation stops at the stop position while the speed is 0 Correct the value in Da 2 Control method For details refer to Page 422 Da 2 Control method 199DH A value other than 0 is set in the buffer memory address 190...

Page 535: ...ration The operation stops according to the setting of Pr 39 Stop group 3 sudden stop selection of detailed parameter 2 deceleration stop sudden stop Set 0 in Cd 40 ABS direction in degrees For details refer to Page 482 Cd 40 ABS direction in degrees Invalidate the software stroke limit The stroke limit is invalidated when Software stroke limit upper limit value Software stroke limit lower limit v...

Page 536: ...ion of when the error has occurred At the start of operation The operation is not performed During operation The operation ends Correct the block start data For details refer to Page 441 Da 17 Address 1A10H Illegal data No The positioning data No for the JUMP destination is currently being executed Operation of when the error has occurred At the start of operation The operation is not performed Du...

Page 537: ...are stroke limit The positioning address set in Da 6 Positioning address movement amount is over the value in Pr 12 Software stroke limit upper limit value Operation of when the error has occurred At the start of operation The operation is not performed During operation The operation stops immediately Correct the value in Da 6 Positioning address For details refer to Page 425 Da 6 Positioning addr...

Page 538: ... continuous path control such as speed control speed position switching control position speed switching control or fixed feed control is set in Da 2 Control method Operation of when the error has occurred At the start of operation The operation is not performed During operation The deceleration stop is performed for Da 6 Positioning address movement amount of the previous positioning data accordi...

Page 539: ...rror A value outside the setting range is set in Da 2 Control method Operation of when the error has occurred At the start of operation The operation is not performed During operation The deceleration stop is performed for Da 6 Positioning address movement amount of the previous positioning data according to the value set in Da 4 Deceleration time No of the previous positioning data Correct the va...

Page 540: ...Page 428 Da 7 Arc address 1A2AH The sub point address is outside the range of 2147483648 to 2147483647 when the circular interpolation control or helical interpolation control has been performed with the sub point being specified Operation of when the error has occurred At the start of operation The operation is not performed During operation The operation stops immediately Correct the sub point a...

Page 541: ...of when the error has occurred At the start of operation The operation is not performed During operation The operation stops according to the setting of Pr 39 Stop group 3 sudden stop selection of detailed parameter 2 deceleration stop sudden stop Correct the value in Da 6 Positioning address movement amount For details refer to Page 425 Da 6 Positioning address movement amount 1A31H A value outsi...

Page 542: ...ddress For details refer to Page 428 Da 7 Arc address 1A60H Outside unit setting range A value outside the setting range is set in Pr 1 Unit setting of basic parameter 1 Operation of when the error has occurred RD75 READY signal X0 does not turn on Correct the value within the setting range and turn on PLC READY signal Y0 For details refer to Page 380 Pr 1 Unit setting 1A61H Outside pulse number p...

Page 543: ...Pr 9 Acceleration time 0 of basic parameter 2 Operation of when the error has occurred RD75 READY signal X0 does not turn on Correct the value within the setting range and turn on PLC READY signal Y0 if the signal is off For details refer to Page 390 Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 1A6CH Outside deceleration time 0 range A value outside the setting range is set in Pr 10 Decelera...

Page 544: ...Pr 17 Torque limit setting value 1AA9H M code ON timing error A value outside the setting range is set in Pr 18 M code ON signal output timing of detailed parameter 1 Operation of when the error has occurred RD75 READY signal X0 does not turn on Correct the value within the setting range and turn on PLC READY signal Y0 For details refer to Page 395 Pr 18 M code ON signal output timing 1AAAH Speed ...

Page 545: ...n on At the start of operation The operation is not performed During operation The operation stops according to the setting of Pr 39 Stop group 3 sudden stop selection of detailed parameter 2 deceleration stop sudden stop for manual pulse generator operation deceleration stop only Correct the value within the setting range and turn on PLC READY signal Y0 if the signal is off For details refer to P...

Page 546: ...mit value is equal to or over Pr 7 Bias speed at start and turn on PLC READY signal Y0 if the signal is off For details refer to the following Page 389 Pr 8 Speed limit value Page 401 Pr 31 JOG speed limit value 1ABCH JOG acceleration time selection setting error A value outside the setting range is set in Pr 32 JOG operation acceleration time selection of detailed parameter 2 Operation of when th...

Page 547: ...n Pr 41 Allowable circular interpolation error width of detailed parameter 2 Operation of when the error has occurred At power on or at turning on of PLC READY signal Y0 RD75 READY signal X0 does not turn on At the start of operation The operation is not performed Correct the value within the setting range and turn on PLC READY signal Y0 if the signal is off For details refer to Page 407 Pr 41 All...

Page 548: ...gnal X0 does not turn on Correct the value within the setting range and turn on PLC READY signal Y0 For details refer to Page 413 Pr 48 OPR retry 1B0AH Setting for the movement amount after near point dog ON error A value outside the setting range is set in Pr 50 Setting for the movement amount after near point dog ON of OPR detailed parameter Operation of when the error has occurred RD75 READY si...

Page 549: ...sitioning has not been started by the start timing of next inter module synchronization cycle after the input of start trigger Operation of when the error has occurred The operation stops immediately Adjust settings to meet the following condition Synchronous interrupt program Inter module synchronization cycle 0 1ms 2610H Inter module synchronization signal fault The error step out of the inter m...

Page 550: ...for the refresh processing input X or refresh processing output Y Module label of buffer memory areas The names of the module labels of the buffer memory areas are defined with the following configuration Module name _ Module number Data type _ Axis_ ax Data type Label name or Module name _ Module number Data type _ Axis_D ax Data type Label name _D Module name The module name indicates the model ...

Page 551: ...ned Type Description Access timing Example Auto refresh Values that has been read from or written to module labels are applied to the module in a batch at auto refresh The execution time of a program can be shortened To use auto refresh Target must be set to Module Label in Refresh Setting of Module Parameter At auto refresh RD75_1 stnAxisMonitorData _Axis 0 dCurrentFeedValue Direct access Values ...

Page 552: ...art GP PSTRT1 Starts the positioning control of a specified axis of the RD75 GP PSTRT2 GP PSTRT3 GP PSTRT4 ZP PSTRT1 ZP PSTRT2 ZP PSTRT3 ZP PSTRT4 Teaching GP TEACH1 Performs teaching of a specified axis of the RD75 GP TEACH2 GP TEACH3 GP TEACH4 ZP TEACH1 ZP TEACH2 ZP TEACH3 ZP TEACH4 Module data backup GP PFWRT Writes module extension parameters positioning data and block start data in the buffer...

Page 553: ...13996 13997 13998 13999 b0 b12 b15 b4 b8 Da 1 Da 2 Da 3 Da 4 Da 5 b0 b12 b15 b4 b8 Da 27 Da 29 Da 28 2 3 1 1 Up to 600 positioning data for each axis can be set stored in the buffer memory addresses shown on the left These data are controlled as positioning data No 1 to No 600 for each axis One positioning data is configured of the items shown in the bold box Configuration of positioning identifie...

Page 554: ...x The axis number of the buffer memory address to be determined Substitute a number from 1 to 4 N The positioning data No of the buffer memory address to be determined Substitute a number from 1 to 600 S Substitute one of the following numbers according to the buffer memory address to be determined Positioning identifier Da 1 to Da 5 0 Da 10 M code 1 Da 9 Dwell time 2 Positioning option Da 27 to D...

Page 555: ... b7 b8 26050 1st point Buffer memory address Axis 1 start block 0 Da 11 Da 12 Start data No Da 13 Special start instruction Da 14 Parameter Setting item 27049 27099 50th point Buffer memory address Setting item 27001 27051 2nd point Buffer memory address Setting item b15 b0 b7 b8 Shape 27000 b15 b0 b7 b8 27050 1st point Buffer memory address Axis 2 start block 0 Da 11 Da 12 Start data No Da 13 Spe...

Page 556: ...x 1 200 M P 1 For each variable substitute a number following the description below Ex When the buffer memory address that satisfies the following conditions is determined Axis 2 Start block No 1 Block start data point 25 26050 1000 2 1 200 1 25 1 27274 Item Description Ax The axis number of the buffer memory address to be determined Substitute a number from 1 to 4 M The start block No of the buff...

Page 557: ...er from 0 to 4 Q The condition data No of the buffer memory address to be determined Substitute a number from 1 to 10 R Substitute one of the following numbers according to the buffer memory address to be determined Da 15 Condition target 0 Da 16 Condition operator 0 Da 17 Address lower 16 bits 2 Da 17 Address upper 16 bits 3 Da 18 Parameter 1 lower 16 bits 4 Da 18 Parameter 1 upper 16 bits 5 Da 1...

Page 558: ...ion 1 In the RX RY setting of the master station set 0100H to 011FH as the start I O number of the RD75 1 Master station Network number 1 station number 0 Power supply module R61P CPU module R04CPU Master local module RJ71GF11 T2 Start I O number 0000H to 001FH Input module RX41C4 Start I O number 0020H to 003FH Input module RX41C4 Start I O number 0040H to 005FH 2 Intelligent device station Netwo...

Page 559: ...ol to the CPU module of the master station and set parameters 1 Create the project with the following settings Project New 2 Configure the setting to use the module labels and add the module labels of the CPU module 3 Add the master local module with the following settings Navigation window Parameter Module Information Right click Add New Module ...

Page 560: ... Required Settings of Module Parameter of the master local module as shown below Navigation window Parameter Module Information RJ71GF11 T2 Module Parameter Required Settings 6 Set Network Configuration Settings of Module Parameter of the master local module as shown below Navigation window Parameter Module Information RJ71GF11 T2 Module Parameter Basic Settings Network Configuration Settings ...

Page 561: ...Module Parameter Basic Settings Refresh Setting 8 Write the set parameters to the CPU module on the master station Then reset the CPU module or power off and on the system Online Write to PLC For parameters of the master local module which are not described in this procedure set default values For details on parameters of the master local module refer to the following MELSEC iQ R CC Link IE Field ...

Page 562: ... intelligent device station and set parameters 1 Create the project with the following settings Project New 2 Set Network Required Setting of CPU Parameter of the remote head module as shown below Navigation window Parameter RJ72GF15 T2 CPU Parameter Network Required Setting 3 Add the RD75 with the following settings Navigation window Parameter Module Information Right click Add New Module ...

Page 563: ...arameters with the engineering tool refer to the following Page 316 Module Parameters 6 Write the set parameters to the remote head module on the intelligent device station Then reset the remote head module or power off and on the system Online Write to PLC For parameters of the remote head module which are not described in this procedure set default values For details on parameters of the remote ...

Page 564: ...ter station refer to the following MELSEC iQ R CC Link IE Field Network User s Manual Application Program examples Write the programs to the CPU module on the master station Module label For the program examples the module labels of the CPU module and master local module are used Global label List of global labels Define global labels as shown below Label name Description Device RCPU stSM bAfter_R...

Page 565: ...APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted 563 A ...

Page 566: ...peed wSetJogSpeed 2 D7 wMPG 0 D8 Manual pulse generator 1 pulse input magnification wMPG 1 D9 wMPG 2 D10 Manual pulse generator operation enable wSpeedChangeSetting 0 D11 New speed value wSpeedChangeSetting 1 D12 wSpeedChangeSetting 2 D13 Speed change request wACCDecTimeChange 0 D15 New acceleration time value wACCDecTimeChange 1 D16 wACCDecTimeChange 2 D17 New deceleration time value wACCDecTimeC...

Page 567: ... D69 Block start data Shape Start data No 2 wBlockData 2 D70 Block start data Shape Start data No 3 wBlockData 3 D71 Block start data Shape Start data No 4 wBlockData 4 D72 Block start data Shape Start data No 5 wBlockInstData 0 D73 Block start data Special start instruction 1 wBlockInstData 1 D74 Block start data Special start instruction 2 wBlockInstData 2 D75 Block start data Special start inst...

Page 568: ...566 APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted Common program ...

Page 569: ...Operation Examples of When the Remote Head Module Is Mounted 567 A Parameter setting program When parameters are set in Module Parameter of the engineering tool this program is unnecessary Setting of basic parameter 1 axis 1 ...

Page 570: ...568 APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted Setting of OPR basic parameter axis 1 ...

Page 571: ...on Examples of When the Remote Head Module Is Mounted 569 A Parameter setting program for the speed position switching control ABS mode This program is unnecessary when the speed position switching control ABS mode is not executed ...

Page 572: ... Appendix 4 Operation Examples of When the Remote Head Module Is Mounted Positioning data setting program When positioning data is set in Module Extended Parameter of the engineering tool this program is unnecessary ...

Page 573: ...start data setting program When block start data is set in Module Extended Parameter of the engineering tool this program is unnecessary Setting Special start instruction to Normal start When block start data is set in Module Extended Parameter of the engineering tool this program is unnecessary ...

Page 574: ...xamples of When the Remote Head Module Is Mounted OPR request OFF program When Setting of operation during uncompleted OPR is set to 1 Execute the positioning control in Module Parameter of the engineering tool this program is unnecessary ...

Page 575: ...xamples of When the Remote Head Module Is Mounted 573 A External command function valid setting program PLC READY signal Y0 ON program Positioning start No setting program Machine OPR Fast OPR Positioning with the positioning data No 1 ...

Page 576: ... the Remote Head Module Is Mounted Speed position switching control positioning data No 2 For the ABS mode writing the target movement amount after change is unnecessary Position speed switching control positioning data No 3 Advanced positioning control ...

Page 577: ...ndix 4 Operation Examples of When the Remote Head Module Is Mounted 575 A Turning off a fast OPR command and fast OPR command storage This program is unnecessary when the fast OPR is not used Positioning start program ...

Page 578: ...DICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted M code OFF program JOG operation setting program Inching operation setting program JOG operation inching operation execution program ...

Page 579: ...APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted 577 A Manual pulse generator operation program ...

Page 580: ...578 APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted Speed change program Override program ...

Page 581: ...APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted 579 A Acceleration deceleration time change program ...

Page 582: ...580 APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted Step operation program Skip program ...

Page 583: ...APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted 581 A Continuous operation interrupt program Target position change program ...

Page 584: ...582 APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted Restart program ...

Page 585: ...APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted 583 A Parameter data initialization program ...

Page 586: ...584 APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted Flash ROM write program Error reset program ...

Page 587: ...APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted 585 A Stop program ...

Page 588: ...An output signal is turned off when the remote head module is disconnected because CPU error output mode setting of the RD75 is fixed to 0 Clear Thus if the remote head module is disconnected during positioning operation the PLC READY signal Y0 is turned off from on a PLC READY OFF during operation error code 1900 occurs and the positioning operation decelerates to stop To carry out positioning af...

Page 589: ...nation for the module data backup or module data initialization is the module extension parameter file flash ROM of the RD75 regardless of the extension parameter storage setting Added or changed contents Firmware version Reference Online module change 02 or later MELSEC iQ R Online Module Change Manual Change in the extension parameter storage timing Page 587 Change in the extension parameter sto...

Page 590: ...p request 467 Cd 20 Manual pulse generator 1 pulse input magnification 475 Cd 21 Manual pulse generator enable flag 476 Cd 22 New torque value 476 Cd 23 Speed position switching control movement amount change register 476 Cd 24 Speed position switching enable flag 477 Cd 25 Position speed switching control speed change register 477 Cd 26 Position speed switching enable flag 477 Cd 27 Target positi...

Page 591: ...243 H Hardware stroke limit function 241 History monitor function 310 I Immediate stop 33 INC circular right INC circular left 107 INC helical right INC helical left 120 Inching operation 174 185 Incremental system 71 Independent positioning control positioning complete 63 Input signal 342 BUSY 344 Error detection 344 M code ON 344 Module access flag 344 Positioning complete 344 RD75 READY signal ...

Page 592: ...26 Near point dog method 42 NEXT start 166 NOP instruction 149 Normal start 22 O OP shift function 215 Operation mode 487 OPR basic parameter 409 OPR control 38 OPR detailed parameter 414 OPR method 41 OPR retry function 211 Output signal 343 Axis stop 345 Execution prohibition flag 345 Forward run JOG start 345 PLC READY 345 Positioning start 345 Reverse run JOG start 345 Output timing selection ...

Page 593: ... condition 165 Repeated start FOR loop 164 Restarting 36 S S curve acceleration deceleration processing method 292 Setting data 346 Setting items for condition data 359 Setting items for OPR parameters 355 Setting items for positioning data 356 Setting items for positioning parameters 348 Simultaneous start 163 Skip function 277 Software stroke limit function 235 Speed change function 243 Speed ch...

Page 594: ... 12 12 14 1 14 4 14 5 December 2015 SH NA 081245ENG D Added function Amplifier less operation function Added or modified parts RELEVANT MANUALS Section 1 1 1 2 5 4 7 9 8 1 8 2 8 3 8 7 9 2 11 3 12 2 12 3 12 7 12 8 12 11 12 12 14 3 14 5 Appendix 2 Appendix 4 January 2017 SH NA 081245ENG E Added or modified parts SAFETY PRECAUTIONS TERMS Section 9 2 Appendix 4 This manual confers no industrial proper...

Page 595: ...been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided 4 Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced 5 Failure caused by external irresistible forces such as fir...

Page 596: ...ox Co Ltd in Japan The company names system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies In some cases trademark symbols such as or are not specified in this manual SH NA 081245ENG E ...

Page 597: ......

Page 598: ...ithout notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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