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Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

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Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual Download Page 359

5  POSITIONING CONTROL

5.17  Continuous Trajectory Control

357

5

Program example

This program example is explained in the "Q series Motion compatible device assignment" device assignment method.

■

Program 1

 • Motion SFC program

The Motion SFC program for executing the servo program (No. 510) for specifying helical interpolation at the pass points of 
3 axes continuous trajectory control is shown below.

CPSTART3
 Axis 

1

 Axis 

2

 Axis 

3

 Speed 

 

10000

ABS-3
 Axis 

1, 

3000

 Axis 

2, 

4000

 Axis 

3, 

4000

ABH
 Axis 

1, 

5000

 Axis 

2, 

3500

 Linear axis  3, 

-4000

 Number of pitches 

6

 Radius 

 

1000

ABS-3
 Axis 

1, 

5000

 Axis 

2, 

3500

 Axis 

3, 

3000

CPEND

Helical interpolation

SET M2042

[F10]

X0*M2415*M2435*M2455

[G10]

[K510]

Wait until X0, Axis 1 servo ready, Axis 2 servo ready and
Axis 3 servo ready turn ON

Turn ON all axes servo ON command.

!M2001*!M2002*!M2003

[G12]

END

Wait until Axis 1, Axis 2 and Axis 3 start accept flag turn OFF

Continuous trajectory control

End continuous trajectory control

Positioning address . . . 

Positioning address . . . 

3 axes linear interpolation control (P3)

3 axes helical interpolation control (P2)

Positioning address . . . 

3 axes linear interpolation control (P1)

Positioning speed . . . . . 10000

Axis used . . . Axis 1, Axis 2, Axis 3

Axis 1 . . . . . . . . . . . 5000
Axis 2 . . . . . . . . . . . 3500
Axis 3 . . . . . . . . . . . 3000

Axis 1 . . . . . . . . . . . 5000
Axis 2 . . . . . . . . . . . 3500
Axis 3 . . . . . . . . . .  -4000
Number of pitches . . . .  6
Radius . . . . . . . . . .  1000

Axis 1 . . . . . . . . . . . 3000
Axis 2 . . . . . . . . . . . 4000
Axis 3 . . . . . . . . . . . 4000

Control with the following speed.

For linear/circular interpolation  : 

: 

Vector speed for number of 
interpolation axes.

For helical interpolation

2 axes vector speed for circular 
interpolation.

Summary of Contents for MELSEC iQ-R16MTCPU

Page 1: ...MELSEC iQ R Motion Controller Programming Manual Positioning Control R16MTCPU R32MTCPU R64MTCPU ...

Page 2: ......

Page 3: ...abnormal condition it stops the operation and all outputs are Turned off if the overcurrent or 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 wh...

Page 4: ...ignals refer to the user s manual for the module used If a communication cable is disconnected the network may be unstable resulting in a communication failure of multiple stations Configure an interlock circuit in the program to ensure that the entire system will always operate safely even if communications fail Failure to do so may result in an accident due to an incorrect output or malfunction ...

Page 5: ...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 and SD memory card undefined The values need to be set in the buffer memory and written to the flash ROM and SD memory card again Doing so also may cause malfunction or failure of the module When changing the operating status of the CPU ...

Page 6: ...ort circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction 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 comple...

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: ...external device and CPU module in case of a communication failure Do not disassemble or modify the modules Doing so may cause failure malfunction injury or a fire Use any radio communication device such as a cellular phone or PHS Personal Handy phone System more than 25cm away in all directions from the programmable controller Failure to do so may cause malfunction Shut off the external power supp...

Page 9: ... correct Lock the control panel and prevent access to those who are not certified to handle or install electric equipment CAUTION When changing data and operating status and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module read relevant manuals carefully and ensure the safety before operation In...

Page 10: ...The halogens such as fluorine chlorine bromine and iodine which are contained in a fumigant used for disinfection and pest control of wood packaging materials may cause failure of the product Prevent the entry of fumigant residues into the product or consider other methods such as heat treatment instead of fumigation The disinfection and pest control measures must be applied to unprocessed raw woo...

Page 11: ...NJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY 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 N...

Page 12: ... encoder axis command signal 53 Output axis status 54 Output axis command signal 56 Synchronous control signal 58 Synchronous analysis complete signal 60 Synchronous control start signal 62 Synchronous analysis request signal 64 Machine common command signals 66 Machine command signals 67 Machine status 69 Common devices 71 2 2 Data Registers 88 Axis monitor devices 91 JOG speed setting registers ...

Page 13: ...is 174 3 4 Home Position Return Data 178 Home position return direction 179 Home position return method 180 Home position address 180 Home position return speed 180 Creep speed 180 Travel value after proximity dog ON 181 Parameter block setting 182 Home position return retry function dwell time at the home position return retry 183 Home position shift amount speed set at the home position shift 18...

Page 14: ...vice 209 Dwell execution point device 209 Pressure release execution point device 209 3 10 Override Data 210 Override ratio setting device 210 3 11 Vibration Suppression Command Filter Data 211 Vibration suppression command filter 1 212 Vibration suppression command filter 2 213 Feed current value monitor device after filter 213 Command output complete signal after filter 213 3 12 Servo Parameters...

Page 15: ...ntrol I 318 5 14 Speed Control II 321 5 15 Speed Position Switching Control 324 Speed position switching control start 324 Re starting after stop during control 330 5 16 Speed Control with Fixed Position Stop 334 5 17 Continuous Trajectory Control 338 Specification of pass points by repetition instructions 341 Speed switching by instruction execution 345 1 axis continuous trajectory control 348 2 ...

Page 16: ...on 425 7 2 Backlash Compensation Function 427 7 3 Torque Limit Function 428 7 4 Skip Function in which Disregards Stop Command 430 7 5 Speed Torque Control 431 Operation of speed torque control 432 7 6 Acceleration Deceleration Time Change Function 445 7 7 Pressure Control 450 System configuration 451 Outline of pressure control 452 Pressure profile 453 Feed dwell operation 457 Pressure release op...

Page 17: ...ramming Manual Common IB 0300237 This manual explains the Multiple CPU system configuration performance specifications common parameters auxiliary applied functions error lists and others Print book e Manual PDF MELSEC iQ R Motion Controller Programming Manual Program Design IB 0300239 This manual explains the functions programming debugging for Motion SFC and others Print book e Manual PDF MELSEC...

Page 18: ...ute synchronous encoder or Q171ENC W8 Abbreviation for Serial absolute synchronous encoder Q171ENC W8 SSCNET H 1 High speed synchronous network between Motion controller and servo amplifier SSCNET 1 SSCNET H General name for SSCNET H SSCNET Absolute position system General name for system using the servomotor and servo amplifier for absolute position Intelligent function module General name for mo...

Page 19: ...device indicates a value corresponding to synchronous encoder axis No as shown in the following table Calculate as follows for the device No corresponding to each synchronous encoder Ex For synchronous encoder axis No 12 in Q series Motion compatible device assignment M10440 10n St 320 Synchronous encoder axis setting valid flag M10440 10 11 M10550 D13240 20n Md 320 Synchronous encoder axis curren...

Page 20: ...ach line Ex For line No 2 in MELSEC iQ R Motion device assignment D54440 0 4s St 3208 During G code control D54440 0 4 1 D54444 0 D54496 128s Md 3016 Number of axes on line D54496 128 1 D54624 Line No and axis No representation in G code control In the positioning dedicated signals sn in D54278 16sn etc indicates a value corresponding to line No and axis No as shown in the following table Calculat...

Page 21: ...140 Stop command R M34480 32n Q M3200 20n indicate the device No for the device assignment methods shown below When R and Q are not beside the device No the device No is the same for both device assignment methods Symbol Device assignment method R MELSEC iQ R Motion device assignment Q Q series Motion compatible device assignment ...

Page 22: ...ng control parameters are used for positioning control of the Motion CPU Parameter data can be set and corrected using MT Developer2 Refer to the parameters for positioning control for details of positioning control parameters Page 166 PARAMETERS FOR POSITIONING CONTROL Servo program The servo program is used for the positioning control It comprises a program No servo instructions and positioning ...

Page 23: ... the Motion dedicated PLC instruction Direct positioning start request M P SVSTD D P SVSTD in the sequence program of the PLC CPU and start the positioning control set in the device of the Motion CPU With this instruction servo operations are possible without using a servo program Refer to the following for details of the Motion dedicated PLC instruction MELSEC iQ R Motion controller Programming M...

Page 24: ...57343 25344 points D0 to D799 800 points D10240 to D19823 9584 points Motion register 8000 to 8639 640 points Special register SD SD0 to SD4095 4096 points External input signals Description Upper lower limit switch input The upper lower limit of the positioning range is controlled Stop signal This signal makes the starting axis stop Proximity dog signal ON OFF signal from the proximity dog Speed ...

Page 25: ... operation cycle the automatic refresh and normal tasks of the Motion SFC as well as communication with MT Developer2 are executed The processing time in the main cycle changes according to the free time after the processing in operation cycle the number of automatic refresh transmissions and the number of executed normal tasks of the Motion SFC etc When the main cycle becomes longer it can be sho...

Page 26: ...status 16 points 12 axes Page 52 Synchronous encoder axis status M38832 to Unusable 128 points M38960 to St 420 to St 424 St 426 Output axis status 16 points 64 axes Page 54 Output axis status M39984 to Unusable 16 points M40000 to St 380 Synchronous control signal 64 points Page 58 Synchronous control signal M40064 to Unusable 16 points M40080 to St 381 Synchronous analysis complete signal 64 poi...

Page 27: ...nal M43584 to Rq 2200 Machine common command signal 32 points Page 66 Machine common command signals M43616 to Rq 2240 Rq 2243 to Rq 2247 Rq 2250 to Rq 2261 Machine command signal 32 points 8 machines Page 67 Machine command signals M43872 to Unusable 32 points M43904 to St 2120 St 2123 St 2124 St 2127 St 2128 Machine status 32 points 8 machines Page 69 Machine status M44160 to M49151 Unusable 499...

Page 28: ...and generation axis status 20 points 32 axes Page 46 Command generation axis status M10440 to St 320 to St 325 Synchronous encoder axis status 10 points 12 axes Page 52 Synchronous encoder axis status M10560 to St 420 to St 424 St 426 Output axis status 10 points 32 axes Page 54 Output axis status M10880 to St 380 Synchronous control signal 32 points Page 58 Synchronous control signal M10912 to St...

Page 29: ...atus M32976 to M33007 M2760 to M2779 Axis 19 status M33008 to M33039 M2780 to M2799 Axis 20 status M33040 to M33071 M2800 to M2819 Axis 21 status M33072 to M33103 M2820 to M2839 Axis 22 status M33104 to M33135 M2840 to M2859 Axis 23 status M33136 to M33167 M2860 to M2879 Axis 24 status M33168 to M33199 M2880 to M2899 Axis 25 status M33200 to M33231 M2900 to M2919 Axis 26 status M33232 to M33263 M2...

Page 30: ...128 to M34159 Axis 55 status M34160 to M34191 Axis 56 status M34192 to M34223 Axis 57 status M34224 to M34255 Axis 58 status M34256 to M34287 Axis 59 status M34288 to M34319 Axis 60 status M34320 to M34351 Axis 61 status M34352 to M34383 Axis 62 status M34384 to M34415 Axis 63 status M34416 to M34447 Axis 64 status Device No Signal name MELSEC iQ R Motion device assignment Q series Motion compatib...

Page 31: ...32n M2403 20n St 1063 Command in position M32404 32n M2404 20n St 1064 Speed controlling M32405 32n M2405 20n St 1065 Speed position switching latch M32406 32n M2406 20n St 1066 Zero pass M32407 32n M2407 20n St 1067 Error detection Immediate M32408 32n M2408 20n St 1068 Servo error detection Operation cycle M32409 32n M2409 20n St 1069 Home position return request Main cycle M32410 32n M2410 20n ...

Page 32: ...al turns off at leading edge of Rq 1144 Complete signal OFF command R M34484 32n Q M3204 20n or positioning completion At leading edge of Rq 1144 Complete signal OFF command R M34484 32n Q M3204 20n At positioning completion St 1060 Positioning start complete R M32400 32n Q M2400 20n St 1040 Start accept flag R M30080 n Q M2001 n Rq 1144 Complete signal OFF command R M34484 32n Q M3204 20n OFF ON ...

Page 33: ...tioning complete signal turns ON by the execution of servo program even if the travel value of the axis specified with the servo program is set to 0 CAUTION The deviation counter value is not considered so that The St 1061 Positioning complete R M32401 32n Q M2401 20n turns on with the completion of the command output to positioning address Use the St 1061 Positioning complete R M32401 32n Q M2401...

Page 34: ...home position return St 1063 Command in position R M32403 32n Q M2403 20n This signal turns on when the absolute value of difference between the command position and feed current value becomes below the command in position range set in the fixed parameters This signal turns off in the following cases Command in position check is continually executed during position control Servo error From positio...

Page 35: ...n the zero point is passed after the control circuit power supply on of the servo amplifier Once the zero point has been passed it remains on state until the Multiple CPU system has been reset However in the home position return method of proximity dog method count method dog cradle method limit switch combined method scale home position signal detection method or dogless home position signal refe...

Page 36: ...position address When not using an absolute position system This signal turns on in the following cases This signal turns off by the completion of home position return When using an absolute position system This signal turns on in the following cases This signal turns off by the completion of the home position return Multiple CPU system power supply on or reset Servo amplifier power supply on Home...

Page 37: ...Q M2414 20n This signal indicates the input state of the DOG signal set in the external signal parameter When the setting of the external signal parameter and the state of the DOG signal are as follows the proximity dog signal or the speed position switching signal is detected and the home position return operation or speed position switching control is performed St 1075 Servo ready R M32415 32n Q...

Page 38: ...ed The Rq 1159 FIN signal R M34499 32n Q M3219 20n and St 1079 M code outputting R M32419 32n Q M2419 20n are both for the FIN signal wait function The Rq 1159 FIN signal R M34499 32n Q M3219 20n and St 1079 M code outputting R M32419 32n Q M2419 20n are effective only when FIN acceleration deceleration is designated in the servo program Otherwise the FIN signal wait function is disabled and St 10...

Page 39: ...mmand signal M35088 to M35119 M3580 to M3599 Axis 20 command signal M35120 to M35151 M3600 to M3619 Axis 21 command signal M35152 to M35183 M3620 to M3639 Axis 22 command signal M35184 to M35215 M3640 to M3659 Axis 23 command signal M35216 to M35247 M3660 to M3679 Axis 24 command signal M35248 to M35279 M3680 to M3699 Axis 25 command signal M35280 to M35311 M3700 to M3719 Axis 26 command signal M3...

Page 40: ...5 command signal M36240 to M36271 Axis 56 command signal M36272 to M36303 Axis 57 command signal M36304 to M36335 Axis 58 command signal M36336 to M36367 Axis 59 command signal M36368 to M36399 Axis 60 command signal M36400 to M36431 Axis 61 command signal M36432 to M36463 Axis 62 command signal M36464 to M36495 Axis 63 command signal M36496 to M36527 Axis 64 command signal Device No Signal name M...

Page 41: ...se rotation JOG start command M34484 32n M3204 20n Rq 1144 Complete signal OFF command M34485 32n M3205 20n Rq 1145 Speed position switching enable command Operation cycle M34486 32n M3206 20n Unusable M34487 32n M3207 20n Rq 1147 Error reset command Main cycle Command signal M34488 32n M3208 20n Rq 1148 Servo error reset command M34489 32n M3209 20n Rq 1149 External stop input disable at start co...

Page 42: ...uring execution Processing at the turning stop command on During control During deceleration stop processing Positioning control The axis decelerates to a stop in the deceleration time set in the parameter block or servo program The deceleration stop processing is continued Speed control Speed control JOG operation Speed control with fixed position stop Manual pulse generator operation An immediat...

Page 43: ...n interlock so that the Rq 1142 Forward rotation JOG start command R M34482 32n Q M3202 20n and Rq 1143 Reverse rotation JOG start command R M34483 32n Q M3203 20n may not turn on simultaneously Control details during execution Processing at the turning rapid stop command on During control During deceleration stop processing Position control The axis decelerates to a rapid stop deceleration time s...

Page 44: ...itioning start complete R M32400 32n Q M2400 20n and St 1061 Positioning complete R M32401 32n Q M2401 20n are OFF Rq 1145 Speed position switching enable command R M34485 32n Q M3205 20n This command is used to make the CHANGE signal speed position switching signal effective from an external source Setting value Description ON Control switches from speed control to position control when the CHANG...

Page 45: ... R Motion controller Programming Manual Common Rq 1149 External stop input disable at start command R M34489 32n Q M3209 20n This signal is used to set the external stop signal input valid or invalid This is ignored during G code control When Rq 1149 External stop input disable at start command R M34489 32n Q M3209 20n is turned ON axes with STOP input turned ON cannot be started When it stops an ...

Page 46: ...of servo amplifier in the Motion controller by the gain changing command ON OFF Refer to the following for details of gain changing function Servo amplifier Instruction Manual Rq 1157 PI PID switching command R M34497 32n Q M3217 20n This signal is used to change the PI PID switching of servo amplifier in the Motion controller by the PI PID switching command ON OFF Refer to the following for detai...

Page 47: ...g R M32419 32n Q M2419 20n are both signal for the FIN signal wait function The Rq 1159 FIN signal R M34499 32n Q M3219 20n and St 1079 M code outputting R M32419 32n Q M2419 20n are valid only when FIN acceleration deceleration is designated in the servo program Otherwise the FIN signal wait function is disabled and the St 1079 M code outputting R M32419 32n Q M2419 20n does not turn on Setting v...

Page 48: ...7200 to M37231 M10200 to M10219 Axis 21 command generation axis status M37232 to M37263 M10220 to M10239 Axis 22 command generation axis status M37264 to M37295 M10240 to M10259 Axis 23 command generation axis status M37296 to M37327 M10260 to M10279 Axis 24 command generation axis status M37328 to M37359 M10280 to M10299 Axis 25 command generation axis status M37360 to M37391 M10300 to M10319 Axi...

Page 49: ... to M38351 Axis 56 command generation axis status M38352 to M38383 Axis 57 command generation axis status M38384 to M38415 Axis 58 command generation axis status M38416 to M38447 Axis 59 command generation axis status M38448 to M38479 Axis 60 command generation axis status M38480 to M38511 Axis 61 command generation axis status M38512 to M38543 Axis 62 command generation axis status M38544 to M385...

Page 50: ...omplete M36562 32n M9802 20n Unusable M36563 32n M9803 20n St 342 Command generation axis command in position Operation cycle Status signal M36564 32n M9804 20n St 343 Command generation axis speed controlling M36565 32n M9805 20n Unusable M36566 32n M9806 20n M36567 32n M9807 20n St 344 Command generation axis error detection Immediate Status signal M36568 32n M9808 20n Unusable M36569 32n M9809 ...

Page 51: ... to M11379 Axis 21 command generation axis command signal M40832 to M40863 M11380 to M11399 Axis 22 command generation axis command signal M40864 to M40895 M11400 to M11419 Axis 23 command generation axis command signal M40896 to M40927 M11420 to M11439 Axis 24 command generation axis command signal M40928 to M40959 M11440 to M11459 Axis 25 command generation axis command signal M40960 to M40991 M...

Page 52: ...is 56 command generation axis command signal M41952 to M41983 Axis 57 command generation axis command signal M41984 to M42015 Axis 58 command generation axis command signal M42016 to M42047 Axis 59 command generation axis command signal M42048 to M42079 Axis 60 command generation axis command signal M42080 to M42111 Axis 61 command generation axis command signal M42112 to M42143 Axis 62 command ge...

Page 53: ...961 20n Rq 342 Command generation axis rapid stop command M40162 32n M10962 20n Rq 343 Command generation axis forward rotation JOG start command Main cycle M40163 32n M10963 20n Rq 344 Command generation axis reverse rotation JOG start command M40164 32n M10964 20n Rq 345 Command generation axis complete signal OFF command M40165 32n M10965 20n Unusable M40166 32n M10966 20n M40167 32n M10967 20n...

Page 54: ...68 to M38783 M10520 to M10529 Axis 9 synchronous encoder axis status M38784 to M38799 M10530 to M10539 Axis 10 synchronous encoder axis status M38800 to M38815 M10540 to M10549 Axis 11 synchronous encoder axis status M38816 to M38831 M10550 to M10559 Axis 12 synchronous encoder axis status Device No Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assignment Q ser...

Page 55: ...6 synchronous encoder axis command signal M42288 to M42295 M11624 to M11627 Axis 7 synchronous encoder axis command signal M42296 to M42303 M11628 to M11631 Axis 8 synchronous encoder axis command signal M42304 to M42311 M11632 to M11635 Axis 9 synchronous encoder axis command signal M42312 to M42319 M11636 to M11639 Axis 10 synchronous encoder axis command signal M42320 to M42327 M11640 to M11643...

Page 56: ...4 to M39279 M10750 to M10759 Axis 20 output axis status M39280 to M39295 M10760 to M10769 Axis 21 output axis status M39296 to M39311 M10770 to M10779 Axis 22 output axis status M39312 to M39327 M10780 to M10789 Axis 23 output axis status M39328 to M39343 M10790 to M10799 Axis 24 output axis status M39344 to M39359 M10800 to M10809 Axis 25 output axis status M39360 to M39375 M10810 to M10819 Axis ...

Page 57: ...72 to M39887 Axis 58 output axis status M39888 to M39903 Axis 59 output axis status M39904 to M39919 Axis 60 output axis status M39920 to M39935 Axis 61 output axis status M39936 to M39951 Axis 62 output axis status M39952 to M39967 Axis 63 output axis status M39968 to M39983 Axis 64 output axis status Device No Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device ass...

Page 58: ...put axis command signal M42720 to M42735 M11880 to M11889 Axis 21 output axis command signal M42736 to M42751 M11890 to M11899 Axis 22 output axis command signal M42752 to M42767 M11900 to M11909 Axis 23 output axis command signal M42768 to M42783 M11910 to M11919 Axis 24 output axis command signal M42784 to M42799 M11920 to M11929 Axis 25 output axis command signal M42800 to M42815 M11930 to M119...

Page 59: ... Axis 59 output axis command signal M43344 to M43359 Axis 60 output axis command signal M43360 to M43375 Axis 61 output axis command signal M43376 to M43391 Axis 62 output axis command signal M43392 to M43407 Axis 63 output axis command signal M43408 to M43423 Axis 64 output axis command signal Device No Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assignment ...

Page 60: ...85 7 M40006 M10886 8 M40007 M10887 9 M40008 M10888 10 M40009 M10889 11 M40010 M10890 12 M40011 M10891 13 M40012 M10892 14 M40013 M10893 15 M40014 M10894 16 M40015 M10895 17 M40016 M10896 18 M40017 M10897 19 M40018 M10898 20 M40019 M10899 21 M40020 M10900 22 M40021 M10901 23 M40022 M10902 24 M40023 M10903 25 M40024 M10904 26 M40025 M10905 27 M40026 M10906 28 M40027 M10907 29 M40028 M10908 30 M40029...

Page 61: ...this area cannot be used as a user device Refer to the following for details of synchronous control signal MELSEC iQ R Motion Controller Programming Manual Advanced Synchronous Control 48 M40047 St 380 Synchronous control Operation cycle Status signal 49 M40048 50 M40049 51 M40050 52 M40051 53 M40052 54 M40053 55 M40054 56 M40055 57 M40056 58 M40057 59 M40058 60 M40059 61 M40060 62 M40061 63 M4006...

Page 62: ...40085 M10917 7 M40086 M10918 8 M40087 M10919 9 M40088 M10920 10 M40089 M10921 11 M40090 M10922 12 M40091 M10923 13 M40092 M10924 14 M40093 M10925 15 M40094 M10926 16 M40095 M10927 17 M40096 M10928 18 M40097 M10929 19 M40098 M10930 20 M40099 M10931 21 M40100 M10932 22 M40101 M10933 23 M40102 M10934 24 M40103 M10935 25 M40104 M10936 26 M40105 M10937 27 M40106 M10938 28 M40107 M10939 29 M40108 M10940...

Page 63: ...cannot be used as a user device Refer to the following for details of synchronous analysis complete signal MELSEC iQ R Motion Controller Programming Manual Advanced Synchronous Control 48 M40127 St 381 Synchronous analysis complete Operation cycle Status signal 49 M40128 50 M40129 51 M40130 52 M40131 53 M40132 54 M40133 55 M40134 56 M40135 57 M40136 58 M40137 59 M40138 60 M40139 61 M40140 62 M4014...

Page 64: ...5 M12005 7 M43446 M12006 8 M43447 M12007 9 M43448 M12008 10 M43449 M12009 11 M43450 M12010 12 M43451 M12011 13 M43452 M12012 14 M43453 M12013 15 M43454 M12014 16 M43455 M12015 17 M43456 M12016 18 M43457 M12017 19 M43458 M12018 20 M43459 M12019 21 M43460 M12020 22 M43461 M12021 23 M43462 M12022 24 M43463 M12023 25 M43464 M12024 26 M43465 M12025 27 M43466 M12026 28 M43467 M12027 29 M43468 M12028 30 ...

Page 65: ...ea cannot be used as a user device Refer to the following for details of synchronous control start signal MELSEC iQ R Motion Controller Programming Manual Advanced Synchronous Control 48 M43487 Rq 380 Synchronous control start Operation cycle Command signal 49 M43488 50 M43489 51 M43490 52 M43491 53 M43492 54 M43493 55 M43494 56 M43495 57 M43496 58 M43497 59 M43498 60 M43499 61 M43500 62 M43501 63...

Page 66: ...036 6 M43525 M12037 7 M43526 M12038 8 M43527 M12039 9 M43528 M12040 10 M43529 M12041 11 M43530 M12042 12 M43531 M12043 13 M43532 M12044 14 M43533 M12045 15 M43534 M12046 16 M43535 M12047 17 M43536 M12048 18 M43537 M12049 19 M43538 M12050 20 M43539 M12051 21 M43540 M12052 22 M43541 M12053 23 M43542 M12054 24 M43543 M12055 25 M43544 M12056 26 M43545 M12057 27 M43546 M12058 28 M43547 M12059 29 M43548...

Page 67: ...e used as a user device Refer to the following for details of synchronous analysis request signal MELSEC iQ R Motion Controller Programming Manual Advanced Synchronous Control 48 M43567 Rq 381 Synchronous analysis request At start of synchronous control Command signal 49 M43568 50 M43569 51 M43570 52 M43571 53 M43572 54 M43573 55 M43574 56 M43575 57 M43576 58 M43577 59 M43578 60 M43579 61 M43580 6...

Page 68: ...gnal name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assignment Q series Motion compatible device assignment M43584 Rq 2200 Real current value monitor enable flag Operation cycle Command signal M43585 Unusable M43586 M43587 M43588 M43589 M43590 M43591 M43592 M43593 M43594 M43595 M43596 M43597 M43598 M43599 M43600 M43601 M43602 M43603 M43604 M43605 M43606 M43607 M43608 M43609 M...

Page 69: ...t M43616 32m Rq 2240 Machine error reset command Main cycle Command signal M43617 32m Unusable M43618 32m M43619 32m Rq 2243 Machine XYZ stroke limit disable command At machine JOG start Command signal M43620 32m Rq 2244 Base tool translation change command Operation cycle M43621 32m Rq 2245 Machine stop command M43622 32m Rq 2246 Machine rapid stop command M43623 32m Rq 2247 Execute point switchi...

Page 70: ...68 2 POSITIONING DEDICATED SIGNALS 2 1 Internal Relays Refer to the following for details of machine command signal MELSEC iQ R Motion Controller Programming Manual Machine Control ...

Page 71: ...efresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assignment Q series Motion compatible device assignment M43904 32m St 2120 Machine error detection Immediate Status signal M43905 32m Unusable M43906 32m M43907 32m St 2123 Joint interpolation velocity limiting Operation cycle Status signal M43908 32m St 2124 Base tool translation change complete M43909 32m Unusable M43910 32m M43911 3...

Page 72: ...70 2 POSITIONING DEDICATED SIGNALS 2 1 Internal Relays Refer to the following for details of machine status MELSEC iQ R Motion Controller Programming Manual Machine Control ...

Page 73: ...004 M30005 M30006 M30007 M30008 M30009 M30010 M30011 M30012 M30013 M30014 M30015 M30016 M30017 M30018 M30019 M30020 M30021 M30022 M30023 M30024 M30025 M30026 M30027 M30028 M30029 M30030 M30031 M30032 M30033 M30034 M30035 M30036 M30037 M30038 M2038 St 1041 Motion SFC debugging flag At debugging mode transition Status signal M30039 M2039 Unusable M30040 M2040 Rq 1122 Speed switching point specified ...

Page 74: ... 3 enable flag M30054 M2054 St 1046 Operation cycle over flag Operation cycle Status signal M30055 Unusable 25 points M30056 M30057 M30058 M30059 M30060 M30061 M30062 M30063 M30064 M30065 M30066 M30067 M30068 M30069 M30070 M30071 M30072 M30073 M30074 M30075 M30076 M30077 M30078 M30079 M30080 M2001 St 1040 Axis 1 Start accept flag Operation cycle Status signal 1 2 M30081 M2002 Axis 2 M30082 M2003 A...

Page 75: ...028 Axis 28 M30108 M2029 Axis 29 M30109 M2030 Axis 30 M30110 M2031 Axis 31 M30111 M2032 Axis 32 M30112 Axis 33 M30113 Axis 34 M30114 Axis 35 M30115 Axis 36 M30116 Axis 37 M30117 Axis 38 M30118 Axis 39 M30119 Axis 40 M30120 Axis 41 M30121 Axis 42 M30122 Axis 43 M30123 Axis 44 M30124 Axis 45 M30125 Axis 46 M30126 Axis 47 M30127 Axis 48 M30128 Axis 49 M30129 Axis 50 M30130 Axis 51 M30131 Axis 52 M301...

Page 76: ...s 14 M30158 M2075 Axis 15 M30159 M2076 Axis 16 M30160 M2077 Axis 17 M30161 M2078 Axis 18 M30162 M2079 Axis 19 M30163 M2080 Axis 20 M30164 M2081 Axis 21 M30165 M2082 Axis 22 M30166 M2083 Axis 23 M30167 M2084 Axis 24 M30168 M2085 Axis 25 M30169 M2086 Axis 26 M30170 M2087 Axis 27 M30171 M2088 Axis 28 M30172 M2089 Axis 29 M30173 M2090 Axis 30 M30174 M2091 Axis 31 M30175 M2092 Axis 32 M30176 Axis 33 M3...

Page 77: ...210 M2130 Axis 3 M30211 M2131 Axis 4 M30212 M2132 Axis 5 M30213 M2133 Axis 6 M30214 M2134 Axis 7 M30215 M2135 Axis 8 M30216 M2136 Axis 9 M30217 M2137 Axis 10 M30218 M2138 Axis 11 M30219 M2139 Axis 12 M30220 M2140 Axis 13 M30221 M2141 Axis 14 M30222 M2142 Axis 15 M30223 M2143 Axis 16 M30224 M2144 Axis 17 M30225 M2145 Axis 18 M30226 M2146 Axis 19 M30227 M2147 Axis 20 M30228 M2148 Axis 21 M30229 M214...

Page 78: ...0260 Axis 53 M30261 Axis 54 M30262 Axis 55 M30263 Axis 56 M30264 Axis 57 M30265 Axis 58 M30266 Axis 59 M30267 Axis 60 M30268 Axis 61 M30269 Axis 62 M30270 Axis 63 M30271 Axis 64 M30272 M2240 St 1049 Axis 1 Speed change 0 accepting flag M30273 M2241 Axis 2 M30274 M2242 Axis 3 M30275 M2243 Axis 4 M30276 M2244 Axis 5 M30277 M2245 Axis 6 M30278 M2246 Axis 7 M30279 M2247 Axis 8 M30280 M2248 Axis 9 M302...

Page 79: ... Axis 31 M30303 M2271 Axis 32 M30304 Axis 33 M30305 Axis 34 M30306 Axis 35 M30307 Axis 36 M30308 Axis 37 M30309 Axis 38 M30310 Axis 39 M30311 Axis 40 M30312 Axis 41 M30313 Axis 42 M30314 Axis 43 M30315 Axis 44 M30316 Axis 45 M30317 Axis 46 M30318 Axis 47 M30319 Axis 48 M30320 Axis 49 M30321 Axis 50 M30322 Axis 51 M30323 Axis 52 M30324 Axis 53 M30325 Axis 54 M30326 Axis 55 M30327 Axis 56 M30328 Axi...

Page 80: ...30354 M2290 Axis 19 M30355 M2291 Axis 20 M30356 M2292 Axis 21 M30357 M2293 Axis 22 M30358 M2294 Axis 23 M30359 M2295 Axis 24 M30360 M2296 Axis 25 M30361 M2297 Axis 26 M30362 M2298 Axis 27 M30363 M2299 Axis 28 M30364 M2300 Axis 29 M30365 M2301 Axis 30 M30366 M2302 Axis 31 M30367 M2303 Axis 32 M30368 Axis 33 M30369 Axis 34 M30370 Axis 35 M30371 Axis 36 M30372 Axis 37 M30373 Axis 38 M30374 Axis 39 M3...

Page 81: ...ons have not been set M30385 St 1050 Axis 50 Control loop monitor status Operation cycle Status signal 1 2 M30386 Axis 51 M30387 Axis 52 M30388 Axis 53 M30389 Axis 54 M30390 Axis 55 M30391 Axis 56 M30392 Axis 57 M30393 Axis 58 M30394 Axis 59 M30395 Axis 60 M30396 Axis 61 M30397 Axis 62 M30398 Axis 63 M30399 Axis 64 M30400 Unusable 240 points M30639 M2033 Unusable 5 points M2037 M2055 Unusable 6 po...

Page 82: ...00 turns ON Refer to the following for details of the processing when Rq 1120 PLC ready flag R M30000 Q M2000 turns from OFF to ON or from ON to OFF MELSEC iQ R Motion controller Programming Manual Common St 1041 Motion SFC debugging flag R M30038 Q M2038 This flag turns on when it switches to the debug mode of the Motion SFC program using MT Developer2 It turns off with release of the debug mode ...

Page 83: ...e STOP state Rq 1123 All axes servo ON command R M30042 Q M2042 turns OFF by the forced stop of Motion CPU Setting value Description ON Speed has been changed to the specified speed at the pass point of the continuous trajectory control OFF Speed is changed to the specified speed from the pass point of the continuous trajectory control Servo operation Description Enabled Rq 1123 All axes servo ON ...

Page 84: ...igh speed counter module Default value is invalid OFF Rq 1126 Manual pulse generator2 enable flag R M30052 Q M2052 This flag sets the enabled or disabled state for positioning with the pulse input from the manual pulse generator2 connected to high speed counter module Default value is invalid OFF Rq 1127 Manual pulse generator3 enable flag R M30053 Q M2053 This flag sets the enabled or disabled st...

Page 85: ...ing control by servo program is shown below The state of the start accept flag of a current value change by the CHGA instruction of servo program or by the Motion dedicated PLC instruction M P CHGA D P CHGA is shown below Servo program Direct positioning control by the Motion dedicated PLC instruction M P SVSTD D P SVSTD JOG operation Manual pulse generator operation Speed torque control Synchrono...

Page 86: ...g turns on at the start point of automatic deceleration processing after this final point CAUTION Do not turn the start accept flags ON OFF in the user side If the start accept flag is turned off using the program or user operation while this flag is on no error will occur but the positioning operation will not be reliable Depending on the type of machine it might operate in an unanticipated opera...

Page 87: ...the override ratio is set to a value other than 0 or on completion of a stop due to a stop cause Even if it has stopped when the St 1040 Start accept flag R M30080 n Q M2001 n is ON state the state where the request of speed change 0 is accepted is indicated Confirm by this St 1049 Speed change 0 accepting flag R M30272 n Q M2240 n During interpolation the flags corresponding to the interpolation ...

Page 88: ...mmand address is changed during speed change 0 accepting St 1040 Start accept flag R M30080 n Q M2001 n St 1049 Speed change 0 accepting flag R M30272 n Q M2240 n ON V V1 V2 t Speed change 0 Speed change V2 OFF OFF ON St 1040 Start accept flag R M30080 n Q M2001 n St 1049 Speed change 0 accepting flag R M30272 n Q M2240 n OFF ON V t Speed change 0 Stop cause OFF ON St 1040 Start accept flag R M300...

Page 89: ...be changed the fully closed loop control semi closed loop control of servo amplifier in the Motion controller by the Rq 1158 Control loop changing command R M34498 32n Q M3218 20n ON OFF Setting value Description ON During fully closed loop control OFF During semi closed loop control Fully closed loop control change ON OFF OFF ON Semi closed loop control change Rq 1158 Control loop changing comman...

Page 90: ... 326 Md 327 Synchronous encoder axis monitor device 32 points 12 axes Page 115 Synchronous encoder axis monitor device D38944 to Unusable 176 points D39120 to Md 400 to Md 402 Md 406 to Md 412 Md 422 Md 425 Output axis monitor device 32 points 64 axes Page 118 Output axis monitor device D41168 to Unusable 32 points D41200 to Pr 302 Servo input axis control device 8 points 64 axes Page 108 Servo in...

Page 91: ... Cd 3322 G code control line control device 32 points Page 139 G code control line control device D54310 to Unusable 128 points D54438 to St 3272 G code control common status 2 points Page 136 G code control common status D54440 to St 3208 to St 3225 G code control line status 8 points Page 140 G code control line status D54448 to St 3076 G code control axis status 32 points Page 151 G code contro...

Page 92: ...Md 348 Command generation axis monitor device 20 points 32 axes Page 110 Command generation axis monitor device D13240 to Md 320 to Md 324 Md 326 Md 327 Synchronous encoder axis monitor device 20 points 12 axes Page 115 Synchronous encoder axis monitor device D13480 to Unusable 120 points D13600 to Md 400 to Md 402 Md 406 to Md 412 Md 422 Md 425 Output axis monitor device 30 points 32 axes Page 11...

Page 93: ...o D32575 D220 to D239 Axis 12 monitor device D32576 to D32623 D240 to D259 Axis 13 monitor device D32624 to D32671 D260 to D279 Axis 14 monitor device D32672 to D32719 D280 to D299 Axis 15 monitor device D32720 to D32767 D300 to D319 Axis 16 monitor device D32768 to D32815 D320 to D339 Axis 17 monitor device D32816 to D32863 D340 to D359 Axis 18 monitor device D32864 to D32911 D360 to D379 Axis 19...

Page 94: ...48 to D34495 Axis 52 monitor device D34496 to D34543 Axis 53 monitor device D34544 to D34591 Axis 54 monitor device D34592 to D34639 Axis 55 monitor device D34640 to D34687 Axis 56 monitor device D34688 to D34735 Axis 57 monitor device D34736 to D34783 Axis 58 monitor device D34784 to D34831 Axis 59 monitor device D34832 to D34879 Axis 60 monitor device D34880 to D34927 Axis 61 monitor device D349...

Page 95: ...ectory control At start during start D32016 48n D16 20n Unusable 1 D32017 48n D17 20n D32018 48n D18 20n Md 1012 Real current value at stop input Operation cycle Monitor device D32019 48n D19 20n D32020 48n 8001 20n Md 104 Motor current 2 D32021 48n 8017 20n Unusable D32022 48n 8002 20n Md 103 Motor speed 2 Monitor device D32023 48n 8003 20n D32024 48n 8004 20n Md 28 Command speed Operation cycle ...

Page 96: ...topped state Md 102 Deviation counter value R D32004 48n D32005 48n Q D4 20n D5 20n This register stores the droop pulses read from the servo amplifier Md 1003 Warning code R D32006 48n Q D6 20n This register stores the corresponding warning code at the warning occurrence If another warning occurs after warning code storing the previous warning code is overwritten by the new warning code The servo...

Page 97: ... R M34488 32n Q M3208 20n or Error reset SM50 Md 1006 Home position return re travel value R D32009 48n Q D9 20n If the position stopped in the position specified with the travel value after proximity dog ON Page 181 Travel value after proximity dog ON using MT Developer2 is not zero point it made to travel to zero point by re travel in the Motion CPU The travel value signed of making it travel to...

Page 98: ...tput Function Md 35 Torque limit value R D32014 48n Q D14 20n This device stores the positive direction torque limit value to command the servo unit 0 1 The default value 300 0 is stored when communication with the servo amplifier is established To monitor the positive negative direction torque limit value set Positive Direction Torque Limit Value Monitor Device and Negative Direction Torque Limit...

Page 99: ...tinuous trajectory control and updated data set pointer are described below using the example servo program below The input situation of positioning data to the Motion CPU is shown the next page by executing the 2 axes continuous trajectory control using above the servo program and updating the positioning data in indirect devices D3000 to D3006 CPSTART2 Axis Axis Speed FOR TIMES ABS 2 Axis Axis A...

Page 100: ...5 D 1 6 7 8 3 9 10 4 11 12 5 13 14 2 3 4 5 6 7 6 2 C 5 D 1 6 7 8 3 9 10 4 11 12 5 13 14 7 15 16 8 17 18 7 2 A B 0 C 5 D 1 6 7 8 3 9 10 4 11 12 5 6 13 14 15 16 8 Point 0 Second positioning Data set pointer for continuous trajectory control Indicates the last positioning data input to the Motion CPU Each time the positioning at a point is completed the value increases by one Update data set pointer ...

Page 101: ...0 Hereafter whenever positioning of each point is completed the positioning data shifts one place The positioning data that can be updated is the data which has not yet been input to the Motion CPU Even if the values of the indirect devices D3008 and D3010 are updated by the Motion SFC program after the positioning completion of the point 3 the positioning data of point 2 that is input to the Moti...

Page 102: ... same as the LED of servo amplifier Refer to the following for details of the servo error codes Servo amplifier Instruction Manual The servo error code is stored several ms or to several tens of ms after the servo error or the servo warning is detected Refer to the following devices when immediate detection of the servo error or the servo warning is required Md 107 Parameter error number R D32029 ...

Page 103: ...10 Sensing SSCNET H head module 12305 3011H MR MT2010 Sensing SSCNET H head module MR MT2100 Sensing I O module Station 1 12306 3012H MR MT2010 Sensing SSCNET H head module MR MT2200 Sensing pulse I O module Station mode Station 1 12307 3013H MR MT2010 Sensing SSCNET H head module MR MT2300 Sensing analog I O module Station 1 12308 3014H MR MT2010 Sensing SSCNET H head module MR MT2400 Sensing enc...

Page 104: ...b1 Indicates the servo ON OFF Control mode b2 b3 1 Indicates the control mode of servo amplifier Gain changing b4 Turns ON when servo amplifier is gain changing Fully closed control changing b5 Turns ON when servo amplifier is fully closed control changing Servo alarm b7 Turn ON during the servo alarm In position b12 The dwell pulse turns ON within the servo parameter in position Torque limit b13 ...

Page 105: ...o amplifier is PID control Item Description Continuous operation to torque control mode b14 Turn ON when in continuous operation to torque control mode Pressure control mode b15 Turn ON when in pressure control mode Item Description Driver operation alarm b9 Turn ON when driver operation alarm occurs b14 b15 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Zero point pass Zero speed Speed limit PID c...

Page 106: ...5158 D35159 D678 D679 Axis 20 JOG speed setting register D35160 D35161 D680 D681 Axis 21 JOG speed setting register D35162 D35163 D682 D683 Axis 22 JOG speed setting register D35164 D35165 D684 D685 Axis 23 JOG speed setting register D35166 D35167 D686 D687 Axis 24 JOG speed setting register D35168 D35169 D688 D689 Axis 25 JOG speed setting register D35170 D35171 D690 D691 Axis 26 JOG speed settin...

Page 107: ... JOG speed setting register D35218 D35219 Axis 50 JOG speed setting register D35220 D35221 Axis 51 JOG speed setting register D35222 D35223 Axis 52 JOG speed setting register D35224 D35225 Axis 53 JOG speed setting register D35226 D35227 Axis 54 JOG speed setting register D35228 D35229 Axis 55 JOG speed setting register D35230 D35231 Axis 56 JOG speed setting register D35232 D35233 Axis 57 JOG spe...

Page 108: ...ice D35760 to D35775 D12480 to D12489 Axis 21 servo input axis monitor device D35776 to D35791 D12490 to D12499 Axis 22 servo input axis monitor device D35792 to D35807 D12500 to D12509 Axis 23 servo input axis monitor device D35808 to D35823 D12510 to D12519 Axis 24 servo input axis monitor device D35824 to D35839 D12520 to D12529 Axis 25 servo input axis monitor device D35840 to D35855 D12530 to...

Page 109: ...xis 57 servo input axis monitor device D36352 to D36367 Axis 58 servo input axis monitor device D36368 to D36383 Axis 59 servo input axis monitor device D36384 to D36399 Axis 60 servo input axis monitor device D36400 to D36415 Axis 61 servo input axis monitor device D36416 to D36431 Axis 62 servo input axis monitor device D36432 to D36447 Axis 63 servo input axis monitor device D36448 to D36463 Ax...

Page 110: ...o D41367 D14640 D14641 Axis 21 servo input axis control device D41368 to D41375 D14642 D14643 Axis 22 servo input axis control device D41376 to D41383 D14644 D14645 Axis 23 servo input axis control device D41384 to D41391 D14646 D14647 Axis 24 servo input axis control device D41392 to D41399 D14648 D14649 Axis 25 servo input axis control device D41400 to D41407 D14650 D14651 Axis 26 servo input ax...

Page 111: ...ut axis control device D41632 to D41639 Axis 55 servo input axis control device D41640 to D41647 Axis 56 servo input axis control device D41648 to D41655 Axis 57 servo input axis control device D41656 to D41663 Axis 58 servo input axis control device D41664 to D41671 Axis 59 servo input axis control device D41672 to D41679 Axis 60 servo input axis control device D41680 to D41687 Axis 61 servo inpu...

Page 112: ...to D13019 Axis 21 command generation axis monitor device D37152 to D37183 D13020 to D13039 Axis 22 command generation axis monitor device D37184 to D37215 D13040 to D13059 Axis 23 command generation axis monitor device D37216 to D37247 D13060 to D13079 Axis 24 command generation axis monitor device D37248 to D37279 D13080 to D13099 Axis 25 command generation axis monitor device D37280 to D37311 D1...

Page 113: ...xis 56 command generation axis monitor device D38272 to D38303 Axis 57 command generation axis monitor device D38304 to D38335 Axis 58 command generation axis monitor device D38336 to D38367 Axis 59 command generation axis monitor device D38368 to D38399 Axis 60 command generation axis monitor device D38400 to D38431 Axis 61 command generation axis monitor device D38432 to D38463 Axis 62 command g...

Page 114: ...2601 20n D36482 32n D12602 20n Md 341 Command generation axis warning code Immediate D36483 32n D12603 20n Md 342 Command generation axis error code D36484 32n D12604 20n Md 343 Command generation axis execute program No At start D36485 32n D12605 20n Md 344 Command generation axis M code Operation cycle D36486 32n D12606 20n Md 345 Command generation axis accumulative current value D36487 32n D12...

Page 115: ... to D14763 Axis 21 command generation axis control device D41928 to D41935 D14764 to D14767 Axis 22 command generation axis control device D41936 to D41943 D14768 to D14771 Axis 23 command generation axis control device D41944 to D41951 D14772 to D14775 Axis 24 command generation axis control device D41952 to D41959 D14776 to D14779 Axis 25 command generation axis control device D41960 to D41967 D...

Page 116: ...ation axis control device D42200 to D42207 Axis 56 command generation axis control device D42208 to D42215 Axis 57 command generation axis control device D42216 to D42223 Axis 58 command generation axis control device D42224 to D42231 Axis 59 command generation axis control device D42232 to D42239 Axis 60 command generation axis control device D42240 to D42247 Axis 61 command generation axis contr...

Page 117: ... D13440 to D13459 Axis 11 synchronous encoder axis monitor device D38912 to D38943 D13460 to D13479 Axis 12 synchronous encoder axis monitor device Device No Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assignment Q series Motion compatible device assignment D38560 32n D13240 20n Md 320 Synchronous encoder axis current value Operation cycle Monitor device D385...

Page 118: ...ynchronous encoder axis monitor device MELSEC iQ R Motion Controller Programming Manual Advanced Synchronous Control D38590 32n Unusable D38591 32n Device No Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assignment Q series Motion compatible device assignment ...

Page 119: ... 8 Synchronous encoder axis control device D42448 to D42463 D14900 to D14909 Axis 9 Synchronous encoder axis control device D42464 to D42479 D14910 to D14919 Axis 10 Synchronous encoder axis control device D42480 to D42495 D14920 to D14929 Axis 11 Synchronous encoder axis control device D42496 to D42511 D14930 to D14939 Axis 12 Synchronous encoder axis control device Device No Symbol Signal name R...

Page 120: ...put axis monitor device D39760 to D39791 D14200 to D14229 Axis 21 output axis monitor device D39792 to D39823 D14230 to D14259 Axis 22 output axis monitor device D39824 to D39855 D14260 to D14289 Axis 23 output axis monitor device D39856 to D39887 D14290 to D14319 Axis 24 output axis monitor device D39888 to D39919 D14320 to D14349 Axis 25 output axis monitor device D39920 to D39951 D14350 to D143...

Page 121: ...D40880 to D40911 Axis 56 output axis monitor device D40912 to D40943 Axis 57 output axis monitor device D40944 to D40975 Axis 58 output axis monitor device D40976 to D41007 Axis 59 output axis monitor device D41008 to D41039 Axis 60 output axis monitor device D41040 to D41071 Axis 61 output axis monitor device D41072 to D41103 Axis 62 output axis monitor device D41104 to D41135 Axis 63 output axis...

Page 122: ...r cycle after main shaft gear D39123 32n D13603 30n D39124 32n D13604 30n Md 402 Current value per cycle after auxiliary shaft gear D39125 32n D13605 30n D39126 32n D13606 30n Md 422 Main shaft clutch slippage accumulative D39127 32n D13607 30n D39128 32n D13608 30n Md 425 Auxiliary shaft clutch slippage accumulative D39129 32n D13609 30n D39130 32n D13610 30n Md 406 Cam axis phase compensation am...

Page 123: ...tput axis control device D45840 to D45999 D18000 to D18149 Axis 21 output axis control device D46000 to D46159 D18150 to D18299 Axis 22 output axis control device D46160 to D46319 D18300 to D18449 Axis 23 output axis control device D46320 to D46479 D18450 to D18599 Axis 24 output axis control device D46480 to D46639 D18600 to D18749 Axis 25 output axis control device D46640 to D46799 D18750 to D18...

Page 124: ...51440 to D51599 Axis 56 output axis monitor device D51600 to D51759 Axis 57 output axis monitor device D51760 to D51919 Axis 58 output axis monitor device D51920 to D52079 Axis 59 output axis monitor device D52080 to D52239 Axis 60 output axis monitor device D52240 to D52399 Axis 61 output axis monitor device D52400 to D52559 Axis 62 output axis monitor device D52560 to D52719 Axis 63 output axis ...

Page 125: ...lutch OFF condition D42657 160n D15017 150n D42658 160n D15018 150n Pr 411 Main shaft clutch smoothing method At start of synchronous control D42659 160n D15019 150n Pr 412 Main shaft clutch smoothing time constant D42660 160n D15020 150n Pr 413 Slippage amount at main shaft clutch ON At turning clutch ON D42661 160n D15021 150n D42662 160n D15022 150n Pr 414 Slippage amount at main shaft clutch O...

Page 126: ...054 150n Pr 492 Speed change ratio 2 Numerator Operation cycle D42695 160n D15055 150n D42696 160n D15056 150n Pr 493 Speed change ratio 2 Denominator D42697 160n D15057 150n D42698 160n D15058 150n Pr 438 Cam axis cycle unit setting At start of synchronous control D42699 160n D15059 150n Pr 442 Cam axis length per cycle change setting D42700 160n D15060 150n Pr 439 Cam axis length per cycle D4270...

Page 127: ... shaft gear At start of synchronous control Command device D42741 160n D15101 150n Pr 461 Setting method of current value per cycle after auxiliary shaft gear D42742 160n D15102 150n Pr 462 Cam axis position restoration object D42743 160n D15103 150n Pr 463 Setting method of cam reference position D42744 160n D15104 150n Pr 464 Setting method of cam axis current value per cycle D42745 160n D15105 ...

Page 128: ...n Cd 409 Synchronous control reflection time D42772 160n D15132 150n Cd 408 Synchronous control change value D42773 160n D15133 150n D42774 160n D15134 150n Unusable D42775 160n D15135 150n D42776 160n D15136 150n D42777 160n D15137 150n D42778 160n D15138 150n D42779 160n D15139 150n D42780 160n D15140 150n D42781 160n D15141 150n D42782 160n D15142 150n D42783 160n D15143 150n D42784 160n D15144...

Page 129: ...as a user device R16MTCPU 17 axes or more R32MTCPU 33 axes or more However when the project of R16MTCPU is replaced with R32MTCPU R64MTCPU or the project of R32MTCPU is replaced with R64MTCPU this area cannot be used as a user device Refer to the following for details of output axis monitor device MELSEC iQ R Motion Controller Programming Manual Advanced Synchronous Control ...

Page 130: ...gnal name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assignment Q series Motion compatible device assignment D52896 32m Cd 2160 Machine JOG speed setting mm At machine JOG start Command device D52897 32m D52898 32m Cd 2161 Machine JOG speed setting degree D52899 32m D52900 32m Cd 2162 Machine JOG coordinate system setting D52901 32m Cd 2163 Base tool translation change method ...

Page 131: ...2 POSITIONING DEDICATED SIGNALS 2 2 Data Registers 129 2 Refer to the following for details of machine command signal MELSEC iQ R Motion Controller Programming Manual Machine Control ...

Page 132: ...Motion compatible device assignment D53168 128m Md 2020 Machine type At power ON Monitor device D53169 128m Md 2021 Machine operating range type D53170 128m Md 2022 Machine error code Immediate D53171 128m Md 2023 Machine warning code D53172 128m Md 2024 Machine axes configuration At power ON D53173 128m D53174 128m D53175 128m D53176 128m Md 2025 Feed current value world coordinate system X Opera...

Page 133: ... Operating cycle Monitor device D53217 128m D53218 128m Md 2048 J2 D53219 128m D53220 128m Md 2049 J3 D53221 128m D53222 128m Md 2050 J4 D53223 128m D53224 128m Md 2051 J5 D53225 128m D53226 128m Md 2052 J6 D53227 128m D53228 128m Md 2053 Feed current value base coordinate system X D53229 128m D53230 128m Md 2054 Y D53231 128m D53232 128m Md 2055 Z D53233 128m D53234 128m Md 2056 A D53235 128m D53...

Page 134: ...m D53269 128m D53270 128m Md 2077 Machine execute program No At start Monitor device D53271 128m Md 2078 Machine execute point No Operation cycle D53272 128m Md 2079 Positioning point block No D53273 128m Md 2080 Machine M code D53274 128m Unusable D53275 128m D53276 128m Md 2083 Machine program operation target speed Operation cycle Monitor device D53277 128m D53278 128m Md 2084 Real current valu...

Page 135: ...ine command signal MELSEC iQ R Motion Controller Programming Manual Machine Control D53291 128m Unusable D53292 128m D53293 128m D53294 128m D53295 128m Device No Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assignment Q series Motion compatible device assignment ...

Page 136: ...tch cycle Signal type MELSEC iQ R Motion device assignment Q series Motion compatible device assignment D54224 0 Unusable D54224 1 D54224 2 D54224 3 D54224 4 D54224 5 D54224 6 D54224 7 D54224 8 D54224 9 D54224 A D54224 B D54224 C D54224 D D54224 E D54224 F D54225 0 Rq 3344 Program load request while running Main cycle Command signal D54225 1 Unusable D54225 2 D54225 3 D54225 4 D54225 5 D54225 6 D5...

Page 137: ...gramming Manual G Code Control Device No Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assignment Q series Motion compatible device assignment D54262 Unusable D54263 D54264 Cd 3305 Program No for loading while running At running program load request ON Command device D54265 Unusable D54266 D54267 D54268 D54269 D54270 D54271 D54272 D54273 D54274 D54275 D54276 D5...

Page 138: ... type MELSEC iQ R Motion device assignment Q series Motion compatible device assignment D54438 0 St 3272 G code control operation cycle over flag G code control operation cycle Status signal D54438 1 Unusable D54438 2 D54438 3 D54438 4 D54438 5 D54438 6 D54438 7 D54438 8 D54438 9 D54438 A D54438 B D54438 C D54438 D D54438 E D54438 F D54439 0 D54439 1 D54439 2 D54439 3 D54439 4 D54439 5 D54439 6 D5...

Page 139: ... R Motion device assignment Q series Motion compatible device assignment D54480 Md 3000 G code control setting operation cycle STOP RUN Monitor device D54481 Md 3001 G code control operation cycle G code control operation cycle D54482 Md 3002 G code control maximum operation cycle D54483 Unusable D54484 D54485 D54486 D54487 D54488 D54489 D54490 D54491 D54492 Md 3003 Program load status while runni...

Page 140: ...trol request Main cycle G code control operation cycle Command signal D54226 1 2s Rq 3377 Automatic operation start cycle start G code control operation cycle D54226 2 2s Rq 3378 Automatic operation hold feed hold D54226 3 2s Rq 3379 Single block D54226 4 2s Rq 3380 Reset command D54226 5 2s Unusable D54226 6 2s D54226 7 2s D54226 8 2s Rq 3381 Program operation mode memory mode G code control oper...

Page 141: ... device D54294 to D54309 Line 2 G code control line control device Device No Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assignment Q series Motion compatible device assignment D54278 16s Cd 3320 Program No setting register G code control operation cycle Command signal D54279 16s Unusable D54280 16s Cd 3321 Sequence No setting register G code control operatio...

Page 142: ...2 4s St 3210 All axes smoothing zero G code control operation cycle D54440 3 4s Unusable D54440 4 4s D54440 5 4s D54440 6 4s D54440 7 4s D54440 8 4s St 3211 During memory mode G code control operation cycle Status signal D54440 9 4s Unusable D54440 A 4s D54440 B 4s D54440 C 4s D54440 D 4s D54440 E 4s D54440 F 4s D54441 0 4s St 3212 During automatic operation G code control operation cycle Status s...

Page 143: ...ary function strobe 1 D54442 5 4s St 3223 Auxiliary function strobe 2 D54442 6 4s St 3224 Auxiliary function strobe 3 D54442 7 4s St 3225 Auxiliary function strobe 4 D54442 8 4s Unusable D54442 9 4s D54442 A 4s D54442 B 4s D54442 C 4s D54442 D 4s D54442 E 4s D54442 F 4s D54443 0 4s D54443 1 4s D54443 2 4s D54443 3 4s D54443 4 4s D54443 5 4s D54443 6 4s D54443 7 4s D54443 8 4s D54443 9 4s D54443 A ...

Page 144: ...3019 G code control error code Immediate D54505 128s Md 3020 G code control error details code 1 D54506 128s Md 3021 G code control error details code 2 D54507 128s Unusable D54508 128s Md 3022 Program No being executed At G code program start Monitor device D54509 128s Unusable D54510 128s Md 3023 Sequence No being executed G code control operation cycle Monitor device D54511 128s D54512 128s Md ...

Page 145: ...d 3047 Group 13 modal status D54544 128s Unusable D54545 128s Md 3049 Group 15 modal status G code control operation cycle Monitor device D54546 128s Md 3050 Group 16 modal status D54547 128s Unusable D54548 128s D54549 128s D54550 128s D54551 128s Md 3055 Group 21 modal status G code control operation cycle Monitor device D54552 128s Unusable D54553 128s D54554 128s Md 3058 M code data 1 G code c...

Page 146: ...77 128s D54578 128s D54579 128s D54580 128s D54581 128s D54582 128s D54583 128s D54584 128s D54585 128s D54586 128s D54587 128s D54588 128s Md 3070 Program comment being executed At G code program start Monitor device D54589 128s D54590 128s D54591 128s D54592 128s D54593 128s D54594 128s D54595 128s Device No Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assig...

Page 147: ...99 128s D54600 128s D54601 128s D54602 128s D54603 128s D54604 128s D54605 128s D54606 128s D54607 128s D54608 128s D54609 128s D54610 128s D54611 128s D54612 128s D54613 128s D54614 128s D54615 128s D54616 128s D54617 128s D54618 128s D54619 128s D54620 128s D54621 128s D54622 128s D54623 128s Device No Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assignment ...

Page 148: ... name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assignment Q series Motion compatible device assignment D55264 160s Md 3178 Program monitor being executed 1st line At block change Monitor device D55265 160s D55266 160s D55267 160s D55268 160s D55269 160s D55270 160s D55271 160s D55272 160s D55273 160s D55274 160s D55275 160s D55276 160s D55277 160s D55278 160s D55279 160s D55...

Page 149: ...55304 160s D55305 160s D55306 160s D55307 160s D55308 160s D55309 160s D55310 160s D55311 160s D55312 160s D55313 160s D55314 160s D55315 160s D55316 160s D55317 160s D55318 160s D55319 160s D55320 160s D55321 160s D55322 160s D55323 160s D55324 160s D55325 160s D55326 160s D55327 160s Device No Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assignment Q series ...

Page 150: ...55345 160s D55346 160s D55347 160s D55348 160s D55349 160s D55350 160s D55351 160s D55352 160s D55353 160s D55354 160s D55355 160s D55356 160s D55357 160s D55358 160s D55359 160s D55360 160s Unusable D55361 160s D55362 160s D55363 160s D55364 160s D55365 160s D55366 160s D55367 160s D55368 160s D55369 160s D55370 160s D55371 160s D55372 160s D55373 160s D55374 160s D55375 160s D55376 160s Device N...

Page 151: ... 160s D55396 160s D55397 160s D55398 160s D55399 160s D55400 160s D55401 160s D55402 160s D55403 160s D55404 160s D55405 160s D55406 160s D55407 160s D55408 160s D55409 160s D55410 160s D55411 160s D55412 160s D55413 160s D55414 160s D55415 160s D55416 160s D55417 160s D55418 160s D55419 160s D55420 160s D55421 160s D55422 160s D55423 160s Device No Symbol Signal name Refresh cycle Fetch cycle Sig...

Page 152: ...150 2 POSITIONING DEDICATED SIGNALS 2 2 Data Registers Refer to the following for details of G code control line monitor device expansion MELSEC iQ R Motion Controller Programming Manual G Code Control ...

Page 153: ...6 D54467 Line 2 G code control axis status of axis 2 D54468 D54469 Line 2 G code control axis status of axis 3 D54470 D54471 Line 2 G code control axis status of axis 4 D54472 D54473 Line 2 G code control axis status of axis 5 D54474 D54475 Line 2 G code control axis status of axis 6 D54476 D54477 Line 2 G code control axis status of axis 7 D54478 D54479 Line 2 G code control axis status of axis 8...

Page 154: ...LSEC iQ R Motion Controller Programming Manual G Code Control D54449 8 2sn Unusable D54449 9 2sn D54449 A 2sn D54449 B 2sn D54449 C 2sn D54449 D 2sn D54449 E 2sn D54449 F 2sn Device No Symbol Signal name Refresh cycle Fetch cycle Signal type MELSEC iQ R Motion device assignment Q series Motion compatible device assignment ...

Page 155: ... axis monitor device of axis 2 D55072 to D55103 Line 2 G code control axis monitor device of axis 3 D55104 to D55135 Line 2 G code control axis monitor device of axis 4 D55136 to D55167 Line 2 G code control axis monitor device of axis 5 D55168 to D55199 Line 2 G code control axis monitor device of axis 6 D55200 to D55231 Line 2 G code control axis monitor device of axis 7 D55232 to D55263 Line 2 ...

Page 156: ...trol operation cycle D54771 32sn D54772 32sn Md 3149 Relative position Operation cycle D54773 32sn D54774 32sn Md 3150 Relative target position G code control operation cycle D54775 32sn D54776 32sn Unusable D54777 32sn D54778 32sn Md 3152 Program target position G code control operation cycle Monitor device D54779 32sn D54780 32sn Unusable D54781 32sn D54782 32sn D54783 32sn Device No Symbol Sign...

Page 157: ...al pulse generator axis 1 No setting register At the manual pulse generator enable flag OFF ON D35295 D715 D35296 D35297 D35298 D716 Cd 1099 Manual pulse generator axis 2 No setting register D35299 D717 D35300 D35301 D35302 D718 Cd 1100 Manual pulse generator axis 3 No setting register D35303 D719 D35304 D35305 D35306 D720 Cd 1101 Axis 1 Manual pulse generators 1 pulse input magnification setting ...

Page 158: ...41 D35347 Axis 42 D35348 Axis 43 D35349 Axis 44 D35350 Axis 45 D35351 Axis 46 D35352 Axis 47 D35353 Axis 48 D35354 Axis 49 D35355 Axis 50 D35356 Axis 51 D35357 Axis 52 D35358 Axis 53 D35359 Axis 54 D35360 Axis 55 D35361 Axis 56 D35362 Axis 57 D35363 Axis 58 D35364 Axis 59 D35365 Axis 60 D35366 Axis 61 D35367 Axis 62 D35368 Axis 63 D35369 Axis 64 D35370 D752 Cd 1102 Manual pulse generator 1 smoothi...

Page 159: ...is 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17 Axis 48 Axis 47 Axis 46 Axis 45 Axis 44 Axis 43 Axis 42 Axis 41 Axis 40 Axis 39 Axis 38 Axis 37 Axis 36 Axis 35 Axis 34 Axis 33 Axis 64 R D35288 R D35289 Axis 63 Axis 62 Axis 61 Axis 60 Axis 59 Axis 58 Axis 57 Axis 56 Axis 55 Axis 54 Axis 53 Axis 52 Axis 51 Axis 50 Axis 49 Cd 1096 JOG oper...

Page 160: ... manual pulse generator setting with 1 0 1 Specified axis 0 Unspecified axis 2 The following range is valid R16MTCPU Axis No 1 to 16 R32MTCPU Axis No 1 to 32 Axis 16 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Axis 32 R D35298 Q D716 R D35299 Q D717 Axis 31 Axis 30 Axis 29 Axis ...

Page 161: ...e generators 1 P1 When the smoothing magnification is set the smoothing time constant is as indicated by the following expression Smoothing time constant t smoothing magnification 1 56 8 ms Operation Output speed V1 pulse s Number of input pulses s Manual pulse generator 1 pulse input magnification setting Travel value L Travel value per pulse Number of input pulses Manual pulse generator 1 pulse ...

Page 162: ...Q D752 Page 159 Cd 1102 Manual pulse generator 1 smoothing magnification setting registers R D35370 Q D752 Cd 1104 Manual pulse generator 3 smoothing magnification setting registers R D35372 Q D754 This register sets the smoothing time constants of manual pulse generators 3 P3 The operation details are the same as Cd 1102 Manual pulse generator 1 smoothing magnification setting registers R M35370 ...

Page 163: ...oints Q series Motion compatible device assignment The devices of axis 1 to 32 use Q series Motion compatible device assignment and the devices of axis 33 to 64 use the monitor devices of each axis D32020 48n to D32039 48n in MELSEC iQ R Motion device assignment 1 It can be used as a user device Total number of the user device points 8000 points Device No Symbol Purpose Reference 0 1 to 12287 User...

Page 164: ...18 monitor device 2 8360 to 8379 D32884 to D32903 Axis 19 monitor device 2 8380 to 8399 D32932 to D32951 Axis 20 monitor device 2 8400 to 8419 D32980 to D32999 Axis 21 monitor device 2 8420 to 8439 D33028 to D33047 Axis 22 monitor device 2 8440 to 8459 D33076 to D33095 Axis 23 monitor device 2 8460 to 8479 D33124 to D33143 Axis 24 monitor device 2 8480 to 8499 D33172 to D33191 Axis 25 monitor devi...

Page 165: ...D32020 48n Md 104 Motor current Operation cycle 1 777 ms or less Operation cycle Operation cycle 3 555 ms or more 3 555 ms 8002 20n D32022 48n Md 103 Motor speed 8003 20n D32023 48n 8004 20n D32024 48n Md 28 Command speed Operation cycle 8005 20n D32025 48n 8006 20n D32026 48n Md 100 Home position return re travel value At home position return re travel 8007 20n D32027 48n 8008 20n D32028 48n Md 1...

Page 166: ... be used as a user device R16MTCPU 17 axes or more R32MTCPU 33 axes or more However when the project of R16MTCPU is replaced with R32MTCPU R64MTCPU or the project of R32MTCPU is replaced with R64MTCPU this area cannot be used as a user device Refer to monitor device of each axis for details of monitor device 2 of each axis 8000 to 8639 Page 91 Axis monitor devices ...

Page 167: ...in the Motion CPU Refer to the following for details of special relays MELSEC iQ R Motion controller Programming Manual Common 2 5 Special Registers SD There are 4096 special register points of SD0 to SD4095 in the Motion CPU Refer to the following for details of special registers MELSEC iQ R Motion controller Programming Manual Common ...

Page 168: ...network setting Set the servo network type and the connected servo amplifiers SSCNET H head modules and sensing modules Limit output data Set the output device and watch data for limit switch output High speed input request signal Set the high precision input request signal used for synchronous control or mark detection Mark detection Set the data for mark detection Manual pulse generator connecti...

Page 169: ... suppression command filter data Set when using the vibration suppression command filter function Page211 Vibration Suppression Command Filter Data Servo parameter Parameters of the servo amplifier and sensing module are set based on the specifications of the servo amplifier servo motor and sensing module Page 214 Servo Parameters Parameter block Set the data for acceleration deceleration control ...

Page 170: ...id invalid Valid invalid Required size Fetch cycle 1 Unit setting 3 0 1 2 3 Page 169 2 Travel value per pulse A Number of pulses per rotation AP 20000 pulse 1 to 2147483647 pulse Page 169 3 Travel value per rotation AL 20000 pulse 1 to 2147483647 10 1 m 1 to 2147483647 10 5 inch 1 to 2147483647 10 5 degree 1 to 2147483647 pulse 4 Backlash compensation amount 0 pulse 0 to 65535 10 1 m 0 to 65535 10...

Page 171: ... incremented in the Motion CPU and a total incremented output is performed when the total incremented value becomes more than 1 pulse The total incremented value of less than 1 pulse that cannot be execute an output is cleared and it is referred to as 0 at the home position return completion current value change completion and fixed pitch feed control start When the total incremented value is clea...

Page 172: ...inear servo Page 171 Number of pulses travel value at linear servo use For ball screw When the ball screw pitch is 20 mm the servomotor is HG KR 4194304 pulse rev and direct connection No reduction gear is set First find how many millimeters the load machine will travel AL when the servomotor runs for one rotation AP AP Number of pulses per motor rotation 4194304 pulse AL Travel value of machine p...

Page 173: ...3 Linear encoder resolution setting Denominator Refer to the following for details Servo amplifier Instruction Manual Servo amplifier type Instruction manual name MR J4 B SSCNET H interface MR J4 _B RJ MR J4 _B4 RJ MR J4 _B1 RJ Servo amplifier Instruction Manual SH 030106 MR J4W B SSCNET H interface Multi axis AC Servo MR J4W2 _B MR J4W3 _B Servo amplifier Instruction Manual SH 030105 MR J3 B RJ00...

Page 174: ...ing the stroke limit range while executing speed control JOG operation When the current value is executed a deceleration stop from current command speed if the current value exceeds the stroke limit range a minor error occurs error code 1993H 1995H and deceleration stop is made before a stroke limit Travel from outside the stroke range to the direction that returns the axis into the stroke range i...

Page 175: ...those values are less than 2147483648 pulse 0 1 m 10 5inch it is controlled with 2147483647 pulse 0 1 m 10 5 inch The circular interpolation and helical interpolation other than linear axis including axis that the stroke limit is set to invalid cannot be executed A minor error error code 19E8H will occur and operation does not start The high speed oscillation function cannot be used in the axis th...

Page 176: ... speed limit value In the interpolation control for the axis of control unit degree and except degree if the interpolation control unit of parameter block is set as degree the positioning control is executed by the speed increased 10 multiplier command speed and speed limit value When the speed control 10 multiplier setting for degree axis is set as valid 2 figures below the decimal point of degre...

Page 177: ... 1 axis linear positioning control program Axis 2 Axis Speed control 10 multiplier setting for degree axis Axis 1 Invalid Axis 2 Valid Item Block 10 Interpolation control unit degree Axis used Axis 1 Travel value to stop position 360 00000 degree V degree min Axis 1 speed Servo program No 10 t 1 axis linear positioning control Positioning speed 18 000 degree min 18 000 INC 1 Axis Speed 1 K 10 360 ...

Page 178: ...000 360 00000 180 00 K 30 Axis 1 360 000 degree Axis 2 360 000 degree Servo program No 30 180 00 V degree min Vector speed t 127 28 V degree min t Axis 1 speed 127 28 V degree min t Axis 2 speed Axis used Axis 1 Axis 2 Travel value to stop position 2 axes linear interpolation control Positioning speed 180 00 degree min INC 2 Axis Axis Long axis speed 360 00000 20000 00000 180 00 K 50 Axis 1 360 00...

Page 179: ...g for degree axis to valid positioning control is executed at 10 the speed of the set command speed Axis used Axis 1 Axis 2 Travel value to stop position 2 axes linear interpolation control Positioning speed 180 00 degree min INC 2 Axis Axis Reference axis speed Reference axis 360 00000 20000 00000 180 00 2 K 60 Axis 1 360 00000 degree Axis 2 20000 00000 degree Servo program No 60 3 24 V degree mi...

Page 180: ... 10 5 inch 0 to 35999999 10 5 degree 2147483648 to2147483647 pulse 2 word At the home position return start Page 180 4 Home position return speed 1 to 600000000 10 2 mm min 1 to 600000000 10 3 inch min 1 to 2147483647 10 3 degree min 3 1 to 2147483647 pulse s 2 word Page 180 5 Creep speed 1 to 600000000 10 2 mm min 1 to 600000000 10 3 inch min 1 to 2147483647 10 3 degree min 3 1 to 2147483647 puls...

Page 181: ... 4 0 Home position return request ON during servo OFF 1 Home position return request not ON during servo OFF 5 15 Standby time after clear signal output in pulse conversion unit 4 1 to 1000 ms 1 word At the home position return start Home position return direction Details 0 Reverse direction Address decrease direction The operation is executed in the direction in which the address decreases Arrow ...

Page 182: ...Home position return methods Reference 0 Proximity dog method 1 Page 380 Home position return by the proximity dog method 1 4 Proximity dog method 2 Page 382 Home position return by the proximity dog method 2 1 Count method 1 Page 384 Home position return by the count method 1 5 Count method 2 Page 385 Home position return by the count method 2 6 Count method 3 Page 386 Home position return by the...

Page 183: ... the point where the home position return program is started and the deceleration stop point before re travel must be such that the servomotor is rotated more than one revolution to pass the axis through the Z phase When a data set method home position return is made in an ABS absolute position system the servomotor must also have been rotated more than one revolution by JOG operation or the like ...

Page 184: ... block setting for each home position return method is shown below Valid Invalid Home position return methods Valid invalid of the parameter block setting Proximity dog method Count method Data set method Dog cradle method Stopper method Limit switch combined method Scale home position signal detection method Dogless home position signal reference method Operation A Operation B Operation C Driver ...

Page 185: ...gless home position signal reference method Operation A Operation B Operation C Driver home position return method Home position return start External limit switch Home position Zero point Home position return direction 6 3 5 4 1 2 Proximity dog The temporary stop is made during time set in the dwell time at the home position return retry The temporary stop is made during time set in the dwell tim...

Page 186: ...et method Dog cradle method Stopper method Limit switch combined method Scale home position signal detection method Dogless home position signal reference method Driver home position return method Home position return start Home position Home position return direction Address decrease direction Address increase direction Proximity dog Travel value after proximity dog ON Home position return re tra...

Page 187: ... selecting 1 Not execute servo program Servo program cannot be executed if the St 1069 Home position return request R M32409 32n Q M2409 20n is ON However the servo program can be executed even if the St 1069 Home position return request R M32409 32n Q M2409 20n is ON in the case of only servo program of home position return instruction ZERO At the time of servo program start when 1 Not execute se...

Page 188: ...can be executed even if the St 1069 Home position return request R M32409 32n Q M2409 20n is ON CAUTION Do not execute the positioning control in St 1069 Home position return request R M32409 32n Q M2409 20n is ON for the axis which uses in the positioning control Failure to observe this could lead to an accident such as a collision ...

Page 189: ...n C Home position return data Home position return direction Home position address Home position return speed Creep speed Travel value after proximity dog ON Parameter block setting Home position return retry function Dwell time at the home position return retry Home position shift amount Speed set at the home position shift Torque limit value at the creep speed Operation setting for incompletion ...

Page 190: ...ors is controlled as default value The error code corresponding to each data for erroneous axis is stored in the data register Start to outside the range of stroke limit of fixed parameter cannot be executed However JOG operation is possible in the direction from outside the stroke limit range to back inside the stroke limit range For a degree axis depending on the stroke limit setting the directi...

Page 191: ...ing method by devices for parameters for the range of usable devices Page 168 Indirect Setting Method by Devices for Parameters Item Setting range Default value Invalid Amplifier input Bit device FLS signal Signal type 0 Invalid 1 Amplifier input 2 Bit device 0 Invalid Device Bit device Contact 0 Normal open 1 Normal close 0 Normal open 1 Normal close RLS signal Signal type 0 Invalid 1 Amplifier i...

Page 192: ... current value decrease cannot be executed STOP signal OFF The stop signal is detected and an operation stops DOG signal OFF The proximity dog speed position switching signal is detected and the home position return operation and speed position control switching is executed CAUTION For the stroke limit wiring always use negative logic normally closed contact Using the positive logic normally open ...

Page 193: ...precision is applied High precision When the input module setting is Inter module synchronization valid the stopping precision of the count method home position return or the speed position switching control can be high by setting the DOG signal precision setting to high precision Refer to the following for the input module setting method MELSEC iQ R Motion controller Programming Manual Common Whe...

Page 194: ...nit setting of the fixed parameter is degree 6 During position follow up control the values of devices that were indirectly set at the change of the positioning address are input again 7 For continuous trajectory control operation is by the settings at the start even if the settings were changed during operation No Item Default value Setting range Direct setting 1 Indirect setting 2 Refresh cycle ...

Page 195: ...ive torque limit value forward rotation CCW driving reverse rotation CW regenerative torque limit value to command the servo amplifier is stored The default value 300 0 is stored at the control circuit power supply of servo amplifier ON Negative direction torque limit value monitor device Set the device to monitor the negative torque limit value The negative torque limit value reverse rotation CW ...

Page 196: ...device is omitted change of acceleration deceleration time at a speed change request is not executed When changing acceleration deceleration time at a speed change set this parameter When the setting of new acceleration time value device and new deceleration time value device is omitted change of acceleration deceleration time of the omitted devices is not executed Setting value Details ON Speed c...

Page 197: ...re imported at the start of machine operation machine program operation machine JOG operation When the servo motor maximum speed is outside of the setting range a warning error code 0EE0H details code 00F0H occurs and the servo motor maximum speed check becomes the maximum value for the servo motor maximum speed When used in conjunction with coordinate transformation because operation stops tempor...

Page 198: ...the servo motor maximum speed is smaller than the speed limit value the motor stops before reaching the speed limit value Servo motor maximum speed check during interpolation control The servo motor maximum speed check during interpolation control is not valid for positioning speed at interpolation control Page 251 Positioning speed at the interpolation control but for the positioning speed of eac...

Page 199: ... 3 axes linear interpolation 4 axis Absolute 4 axes linear interpolation Helical interpolation control 1 Auxiliary point specified Absolute auxiliary point specified helical interpolation Radius specified Absolute radius specified helical interpolation less than CW 180 Absolute radius specified helical interpolation CW 180 or more Absolute radius specified helical interpolation less than CCW 180 A...

Page 200: ... address is changed When the value of the ABS direction in degrees device that is input again is out of range a minor error error code 19A4H occurs and a deceleration stop is made Operation 1 Operation 1 for when ABS direction in degrees device is set is shown below Positioning conditions Servo program Operation when positioning direction is set to 1 Forward direction 2 Reverse direction in ABS di...

Page 201: ...cremental system Operation 2 Operation 2 for when ABS direction in degrees device is set is shown below Positioning conditions Servo program When Movement amount from current value deceleration stop distance at positioning address change Item Setting Servo program No 11 Control axis 1 Positioning address D6000 degree Positioning speed 18 000 degree min ABS direction in degrees device 1 forward dir...

Page 202: ...ard direction to 2 Reverse direction Speed The ABS direction in degrees device value becomes valid at the time of when the positioning address was changed The ABS direction in degrees value does not become valid at the time of when it was changed Positioning address change t Feed current value Positioning address 360 0 t 350 200 ABS direction in degrees value ABS direction in degrees device change...

Page 203: ...3 Speed limit value at speed control torque 200000 Selected unit 1 to 60000 0000 10 2 mm min 1 to 60000 0000 10 3 inch min 1 to 214748 3647 10 3 degre e min 4 1 to 214748 3647 pulse s 2 words Page 203 4 Torque limit value at speed torque control 3000 10 1 1 to 10000 10 1 1 word Page 203 5 Speed command device 3 2 words Operati on cycle Page 203 6 Command speed acceleration time 1000 ms 0 to 838860...

Page 204: ...ree axis is set to valid the setting range is 1 to 2147483647 10 2 degree min 12 Torque initial value selection at control mode switching 0 0 Command torque 1 Feedback torque Page 206 13 Invalid selection during zero speed at control mode switching 0 0 Condition at control mode switching valid 1 Condition during zero speed at control mode switching invalid Page 206 No Setting item Setting necessit...

Page 205: ...mit value at speed torque control Set the torque limit value absolute value in speed control torque control or continuous operation to torque control If the command torque exceeds the torque limit value at speed torque control a warning error code 09E4H will occur and the control is executed with the torque limit value at speed torque control Speed command device Set the command speed at speed con...

Page 206: ...n C B PC29 POL reflection selection at torque control Setting range 10000 to 10000 0 1 Function selection C B PC29 POL reflection selection at torque control Rotation direction selection PA14 Torque command device Torque generation direction of servo motor 0 Valid 0 Forward rotation CCW with the increase of the positioning address Positive value Forward direction CCW direction Negative value Rever...

Page 207: ...according to the setting value of command torque time constant positive direction Function selection C B PC29 POL reflection selection at torque control Rotation direction selection PA14 Torque command device Torque generation direction of servo motor 0 Valid 0 Forward rotation CCW with the increase of the positioning address Positive value Forward direction CCW direction Negative value Reverse di...

Page 208: ...mpletion of the command to servo motor At switching to continuous operation to torque control switching of control mode is possible without stop regardless of the setting value Speed initial value selection at control mode switching Command speed to servo amplifier immediately after control mode switching 0 Command speed The speed to servo amplifier immediately after switching is the speed during ...

Page 209: ...ure control At power supply ON Page 208 2 Feed dwell startup device 1 bit Main cycle Page 208 3 Dwell forced switching device 3 1 bit Page 208 4 Pressure release startup device 3 1 bit Page 208 5 Pressure command reference 1 to 32767 At pressure control start Page 208 6 Speed limit reference 0 01 to 21474836 47 mm min 0 001 to 2147483 647 inch min 1 to 2147483647 pulse s Page 208 7 Abnormal pressu...

Page 210: ...atisfied Pressure release startup device Set the device to start pressure release operation When the pressure release startup device turns OFF to ON control switches to pressure control and drives the system with the pressure release operation When load cell pressure drops below the set pressure or when the pressure release startup device turns ON to OFF the mode is reset and control switches from...

Page 211: ...t device Set the device to store the status of the feed operation execution point The execution point is displayed in bits and shifts left by 1 bit for every step advanced For execution point 1 1 is displayed and for execution point 3 4 is displayed Dwell execution point device Set the device to store the status of the dwell operation execution point The execution point is displayed in bits and sh...

Page 212: ...ers 2 This setting can be omitted Override ratio setting device Set the device that sets the override ratio of the override function Set override ratio setting device to the override ratio values below Refer to override function for details of the override ratio setting device Page 462 Override Function No Item Default value Setting range Direct setting Indirect setting 1 Reference Section mm inch...

Page 213: ...n be omitted No Item Default value Setting range Direct setting Indirect setting 1 Reference Section mm inch degree pulse Valid invalid Valid invalid Required size Fetch cycle 1 Vibration suppression command filter 1 2 Mode selection device 1 word Operation cycle Page 212 2 Frequency 20 to 25000 10 2 Hz 1 word 3 Depth 0 40dB 1 24 1dB 2 18 1dB 3 14 5dB 4 12 0dB 5 10 1dB 6 8 5dB 7 7 2dB 8 6 0dB 9 5 ...

Page 214: ...y the mode selection device The vibration suppression command filter is invalid when operation cycle is set to 7 111 ms When the frequency is a value outside of range a warning error code 0A3BH occurs and the value is changed to the lower limit value if the input value is lower than the range and changed to the upper limit value if the input value is higher than the range Depth Set the attenuation...

Page 215: ...e range Feed current value monitor device after filter Set the device that monitors the feed current value after filter that includes the delay caused by the vibration suppression command filter Md 20 Feed current value R D32000 48n D32001 48n Q D0 20n D1 20n does not include the delay from the vibration suppression command filter In order to check the actual send value to the servo amplifier afte...

Page 216: ...interface MR J4 _B RJ MR J4 _B4 RJ MR J4 _B1 RJ Servo amplifier Instruction Manual SH 030106 MR J4W B SSCNET H interface Multi axis AC Servo MR J4W2 _B MR J4W3 _B Servo amplifier Instruction Manual SH 030105 MR J3 B SSCNET interface MR J3 B Servo amplifier Instruction Manual SH 030051 MR J3W B SSCNET interface 2 axis AC Servo Amplifier MR J3W B MR J3W 0303BN6 Servo amplifier Instruction Manual SH ...

Page 217: ...00000 10 2 mm min 1 to 600000000 10 3 inch min 1 to 2147483647 10 3 degree min 2 1 to 2147483647 pulse s Page 218 3 Acceleration time 1000 ms 1 to 8388608 ms 4 Deceleration time 1000 ms 1 to 8388608 ms 5 Rapid stop deceleration time 1000 ms 1 to 8388608 ms 6 S curve ratio 0 0 to 100 Page 220 7 Advanced S curve acceleration deceleration Acceleration deceleration system 0 Trapez oid S curve 0 Trapez...

Page 218: ...T Developer2 at the creating of the servo program If it is not set control is executed with the contents of parameter block No 1 Also it is possible to set parameter block data individually in the servo program Parameter block No setting Setting items of the parameter block Individual parameter block data setting Unit Interpolation control unit Acceleration time E Rapid stop deceleration time STOP...

Page 219: ...ge 178 Home Position Return Data Page 188 JOG Operation Data Set Trapezoid S curve as acceleration deceleration method to execute the trapezoidal acceleration deceleration or S curve acceleration deceleration Set 0 as S curve ratio to execute the trapezoidal acceleration deceleration and set 1 to 100 to execute the S curve acceleration deceleration Set Advanced S curve to execute the Advanced S cu...

Page 220: ...nosis error detection SM0 is turned ON When the rapid stop cause occurs during deceleration the axis decelerates to a stop in the deceleration time The large value than deceleration time can be set as rapid stop deceleration time by turning ON the Rapid stop deceleration time setting error invalid flag SM805 Turn ON the Rapid stop deceleration time setting error invalid flag SM805 before operation...

Page 221: ...ata of servo program a warning will occur However writing to the Motion CPU is possible Rapid stop deceleration time Deceleration time When the rapid stop cause occurs during deceleration the axis decelerates to a stop in the rapid stop time V t Real deceleration time Speed command Rq 1141 Rapid stop command R M34481 32n Q M3201 20n The deceleration distance increases by rapid stop command OFF ON ...

Page 222: ...l is executed with the S curve ratio set as 0 Trapezoidal acceleration deceleration Errors are set in the Latest self diagnosis error SD0 Setting of the S curve ratio enables acceleration deceleration processing to be executed gently The graph for S curve acceleration deceleration is a sine curve as shown below As shown below the S curve ratio setting serves to select the part of the sine curve to...

Page 223: ...acceleration section 2 ratio A2R D Constant speed section The specified control positioning speed E Deceleration section 1 At the start of acceleration deceleration continuously changes in a sinusoidal manner until reaching the maximum negative acceleration for trapezoidal acceleration deceleration Set this section in deceleration section 1 ratio D1R F Maximum negative acceleration section The sam...

Page 224: ...0000 10 2 mm min Maximum speed at positioning home position return inch 1 to 600000000 10 3 inch min degree 1 to 2147483647 10 3 degree min 2 pulse 1 to 2147483647 pulse s Acceleration time AT 1 to 8388608 ms Time to reach the speed limit value S R after positioning start During trapezoidal acceleration Deceleration time DT Time to stop from the speed limit value S R During trapezoidal deceleratio...

Page 225: ...tion and acceleration section 2 AAT AmaxA 2 Vacc Positioning speed S R Maximum acceleration section is short than pattern 1 3 Positioning speed Vacc No maximum acceleration section It accelerates with only acceleration section 1 and acceleration section 2 A1T A2T 4 Positioning speed Vacc No maximum acceleration section Maximum acceleration and acceleration increase decrease time of acceleration se...

Page 226: ...gh Low 1 Positioning speed S R It accelerates with the deceleration section 1 maximum negative acceleration section and deceleration section 2 ADT DmaxA 2 Vdac Positioning speed S R Maximum negative acceleration section is shortened than pattern 1 3 Positioning speed Vdac No maximum negative acceleration section It decelerates with only deceleration section 1 and deceleration section 2 D1T D2T 4 P...

Page 227: ...m the speed limit value S R at rapid stop deceleration Advanced S curve acceleration deceleration It can be lengthened more than trapezoidal acceleration deceleration by using D1R or D2R DT 100 0 D1R D2R 100 0 Advanced S curve rapid stop deceleration time 1 AET ET 100 0 D1R D2R 100 0 Time of acceleration section 1 A1T Time to reach acceleration peak from zero acceleration AT A1R 100 0 2 Time of ac...

Page 228: ...When executing a home position return using a proximity dog the movement amount to decelerate to creep speed is different compared to trapezoid acceleration deceleration and s curve acceleration deceleration This is to ensure smoothness of acceleration deceleration For this reason the stop position zero point upon completion of home position return is different to when trapezoid acceleration decel...

Page 229: ...tion time Advanced S curve acceleration deceleration setting screen Acceleration setting Error In the following cases warning error code 0A4EH to 0A53H will occur and controls will be executed as trapezoidal acceleration deceleration A1R A2R D1R D2R 0 0 Acceleration section 1 ratio is outside the range of 0 0 to 100 0 Acceleration section 2 ratio is outside the range of 0 0 to 100 0 Deceleration s...

Page 230: ...herefore the speed will continue to increase for a while before deceleration stop processing is executed Deceleration is smooth Speed Acceleration Section X A2R 35 0 S R A1R 20 0 D1R 20 0 D2R 35 0 Deceleration section 1 ratio D1R 20 0 Deceleration section 2 ratio D2R 35 0 Acceleration section 1 ratio A1R 20 0 Acceleration section 2 ratio A2R 35 0 ABS 1 Axis 4 Speed S R ASC System ASC Accel 1 ASC A...

Page 231: ...to zero and rapid stop deceleration processing is executed Deceleration is abrupt Rapid stop during deceleration When the rapid stop command turns ON during deceleration the negative acceleration is decreased and the rapid stop deceleration processing is executed 0 0 Setting speed Speed Acceleration AmaxA EmaxA Time Time OFF ON Control during rapid stop command OFF Control during rapid stop comman...

Page 232: ...change Operation 1 Speed change V1 Acceleration Acceleration section 1 Increasing acceleration section Length of maximum acceleration section is adjusted to reach speed V1 at acceleration end The acceleration is decreased until the acceleration reaches zero 2 Maximum acceleration section 3 Maximum acceleration section When the speed change occurs in situations where V0 will surpass V1 during the d...

Page 233: ...ixed position stop command position at servo program start is shown below Acceleration time Specified acceleration time AT 100 0 A1R A2R 100 0 Deceleration time Specified deceleration time DT 100 0 D1R D2R 100 0 Maximum acceleration Speed difference Specified acceleration deceleration time Speed change command Speed difference Acceleration deceleration time Maximum acceleration Operation 1 Servo p...

Page 234: ...reased until the acceleration becomes from acceleration to 0 at speed change This inclination of acceleration section 2 acceleration decrease section is calculated based on the acceleration deceleration time before speed change Deceleration processing is executed The acceleration time t1 is lengthened than b 100 0 D1R D2R 100 0 because the acceleration continues until the acceleration reaches zero...

Page 235: ...ration in order to maintain smoothness of acceleration the speed will continue to increase until acceleration reaches zero Torque limit value Set the torque limit value in the servo program Refer to the torque limit function for details of the torque limit value Page 428 Torque Limit Function Deceleration processing on STOP input Set the deceleration processing on the external signal STOP signal F...

Page 236: ...rt Set the bias speed minimum speed upon starting When using a stepping motor etc set it to start the motor smoothly If the motor speed at start is low the stepping motor does not start smoothly The specified bias speed at start will be valid during the following operations Positioning operation Home position return operation JOG operation For the 2 axes or more interpolation control the bias spee...

Page 237: ...and speed is bias speed at start to speed limit value When the command speed is out of range by starting a servo program or executing a speed change instruction M P CHGV D P CHGV CHGV a warning error code 0A4CH or warning error code 0A5DH occurs and speed change is not performed When bias speed at start is other than 0 a warning error code 0A5DH occurs when a speed change to 0 is performed When FI...

Page 238: ...o instructions can be set Servo program composition example Explanation of the program Program No This No is specified using the Motion SFC program Any No in the range of 0 to 8191 for operating system software version 09 or earlier 0 to 4095 can be set Servo instruction Type of positioning control is indicated Page 238 Servo Instructions Servo program contents Setting details Setting value K11 Pr...

Page 239: ...uired to execute is fixed for each servo instruction Page 242 Positioning Data The following table applies to the servo program shown above Setting condition Item Items which must be set Axis used and positioning address Command speed Items which are set when required Dwell time M code P B parameter block Controlled with the default value Parameter block 1 if not set ...

Page 240: ...ation Circular interpolation control Auxiliary point specified Absolute auxiliary point specified circular interpolation Page 283 Auxiliary Point Specified Circular Interpolation Control Incremental auxiliary point specified circular interpolation Radius specified Absolute radius specified circular interpolation less than CW 180 Page 287 Radius Specified Circular Interpolation Control Absolute rad...

Page 241: ...ed pitch feed start Page 309 Axis Fixed Pitch Feed Control 2 axes 2 axes linear interpolation fixed pitch feed start Page 312 Fixed Pitch Feed Control Using 2 Axes Linear Interpolation 3 axes 3 axes linear interpolation fixed pitch feed start Page 315 Fixed Pitch Feed Control Using 3 Axes Linear Interpolation Speed control Forward rotation Speed control forward rotation start Page 318 Speed Contro...

Page 242: ...ntinuous trajectory control Page 351 2 to 4 axes continuous trajectory control Continuous trajectory control passing point helical absolute specification Page 355 Continuous trajectory control for helical interpolation Continuous trajectory control passing point incremental specification Page 348 1 axis continuous trajectory control Page 351 2 to 4 axes continuous trajectory control Positioning co...

Page 243: ...uous trajectory control Page 351 2 to 4 axes continuous trajectory control Position follow up control Position follow up control start Page 369 Position Follow Up Control High speed oscillation High speed oscillation Page 373 High Speed Oscillation Simultaneous start Simultaneous start Page 375 Simultaneous Start Home position return Home position return start Page 378 Servo program for home posit...

Page 244: ...10 5 inch 0 to 35999999 10 5 degree 2147483648 to 2147483647 2 word 1 Incremental data method Except for speed position switching control 2 word 1 2147483647 to 2147483647 10 1 m 2147483647 to 214748647 10 5 inch 2147483647 to 214748647 10 5 degree 2147483647 to 2147483647 Speed position switching control 0 to 2147483647 10 1 m 0 to 2147483647 10 5 inch 0 to 2147483647 10 5 degree 0 to 2147483647 ...

Page 245: ...7 10 1 m 1 to 2147483647 10 5 inch 1 to 2147483647 10 5 degree 1 to 2147483647 2 word 1 Central point Absolute data method 2147483648 to 2147483647 10 1 m 2147483648 to 2147483647 10 5 inch 0 to 35999999 10 5 degree 2147483648 to 2147483647 2 word 1 Incremental data method 2147483647 to 2147483647 10 1 m 2147483647 to 214748647 10 5 inch 2147483647 to 214748647 10 5 degree 2147483647 to 2147483647...

Page 246: ...ord 2 Acceleration section 1 ratio 20 0 0 to 1000 10 1 1 word 2 Acceleration section 2 ratio 20 0 0 to 1000 10 1 1 word 2 Deceleration section 1 ratio 20 0 0 to 1000 10 1 1 word 2 Deceleration section 2 ratio 20 0 0 to 1000 10 1 1 word 2 Torque limit value 300 0 1 to 10000 10 1 1 word 2 Deceleration processing on STOP input 0 0 Deceleration stop based on the deceleration time 1 Deceleration stop b...

Page 247: ... with an absolute address Travel value Incremental data method Set the positioning address as an incremental data method with a travel value Travel direction is indicated by the sign Only positive settings can be made at the speed position switching control Command speed Sets the positioning speed Units for speed are the control units set in the parameter block It becomes the vector speed long axi...

Page 248: ...rpolation or auxiliary point specified helical interpolation Radius Absolute data method incremental data method Set at the radius specified circular interpolation or radius specified helical interpolation Central point Absolute data method incremental data method Set at the central point specified circular interpolation or central point specified helical interpolation Number of pitches Set at the...

Page 249: ...MES instruction and NEXT instruction ON OFF Set the repeat conditions between FOR ON OFF instruction and NEXT instruction Program No Set the program No for simultaneous start Command speed continuous trajectory Set the speed for points on the way in the servo program Skip Set to cancel positioning to pass point and execute the positioning to the next point by turning on the specified bit device du...

Page 250: ...ch positioning data is set by a numerical value and it becomes fixed data Data can be set and corrected using MT Developer2 only Ex Direct setting example of positioning data by numerical value Indirect setting method by devices In the indirect setting method by devices the positioning data specified with the servo program is set by devices By using the contents of specified device as data for the...

Page 251: ...starts the servo program positioning by the MP SVST instruction after the data is written to the CPU buffer memory U3E0 G10000 to U3E0 G10003 from the PLC CPU CPU No 1 Start method Setting method Notes Start by the servo program Set data in indirect setting devices Start the servo program Do not change the indirect setting device before the positioning start complete signal of the starting axis tu...

Page 252: ...ed and speed limit value using the servo program is shown below If the positioning speed setting is less than speed limit value the positioning is executed with the set positioning speed If the positioning speed setting is greater than speed limit value the positioning is executed with the speed limit value Ex Example 1 If the speed limit value is 120000 mm min and the positioning speed setting is...

Page 253: ...y specified method is shown below Vector speed specification The Motion CPU calculates the positioning speed of each axis V1 to V2 using the travel value D1 to D2 of each axis based on the positioning speed V of the setting control system Positioning speed of the control system is called the vector speed Set the vector speed and the travel value of each axis in the servo program Ex 2 axes linear i...

Page 254: ... Axis 1 positioning speed V1 D1 D4 V Axis 2 positioning speed V2 D2 D4 V Axis 3 positioning speed V3 D3 D4 V Interpolation control unit Item Description mm Travel value Convert the travel value of axis set in inch into mm using the formula inch setting value 25 4 Speed The largest travel value axis is controlled with the long axis speed and the other axes are controlled with the speed based on the...

Page 255: ...value acceleration time deceleration time and rapid stop deceleration time The real acceleration time deceleration time and rapid stop deceleration time are set by the setting long axis speed pulse pulse pulse s K 2 1 2 100 200 50 INC 2 Axis Axis Long axis speed Setting item Setting value 100 pulse 200 pulse 50 pulse s 55 pulse s Axis 1 travel value Axis 2 travel value Long axis speed Speed limit ...

Page 256: ...xis is axis 4 it is controlled with the positioning speed specified with axis 4 The Motion CPU calculates the positioning speed of other axes using the following calculation formulas Setting item Setting value Axis 1 travel value D1 10000 pulse Axis 2 travel value D2 15000 pulse Axis 3 travel value D3 5000 pulse Axis 4 travel value D4 20000 pulse Reference axis speed V 7000 pulse s Reference axis ...

Page 257: ...eceleration time and rapid stop deceleration time are set by the reference axis speed setting Circular interpolation control The angular speed is controlled with the setting speed at the circular interpolation control Control units for 1 axis positioning control It is controlled in the control units specified with the fixed parameters at the 1 axis positioning control The control unit specified wi...

Page 258: ...a inch setting value 25 4 mm setting value If interpolation control units are inch positioning is controlled by calculating position commands from the address travel value positioning speed and electronic gear which have been converted to inch using the formula mm setting value 25 4 inch setting value Interpolation control units in the parameter block Starting method mm inch degree pulse Normal st...

Page 259: ...vel range in area A is set the limit values are as follows Stroke limit is invalid Set the upper stroke limit value equal to lower stroke limit value to invalidate the stroke limit value It can be controlled regardless the stroke limit settings The electronic gear converts the travel value for the axis to pulse For axis where the units match the electronic gear converts the positioning speed to un...

Page 260: ...ing is executed in a clockwise direction to travel from the current value of 315 00000 to 0 Positioning is executed in a counter clockwise direction to travel from the current value of 0 to 315 00000 The positioning direction of absolute data method is set a clockwise counter clockwise direction by the setting method of stroke limit range positioning in the shortest direction may not be possible E...

Page 261: ...deceleration time of parameter block Immediate stop Stop without deceleration processing Deceleration stop individual Deceleration stop not using stop deceleration time of parameter block 1 During manual pulse generator operation the deceleration time is Smoothing magnification 1 56 8 ms 2 During speed torque control of speed control the deceleration time is the deceleration time specified in the ...

Page 262: ... processing After automatic deceleration start during positioning control During deceleration after JOG start signal turns off During deceleration stop processing by stop cause Stop commands and stop causes Some stop commands and stop causes affect individual axis and others affect all axes However during interpolation control stop commands and stop causes which affect individual axis also stop th...

Page 263: ... stop Rq 1141 Rapid stop command R M34481 32n Q M3201 20n ON Rapid stop Rapid stop St 1068 Servo error detection R M32408 32n Q M2408 20n 7 ON Rapid stop Immediate stop Immediate stop Deceleration stop using MT Developer2 8 All axes Deceleration stop Rapid stop of the all axes using MT Developer2 8 Rapid stop Motion CPU stop Deceleration stop Deceleration stop Other CPU stop error Multiple CPU sys...

Page 264: ... speed 0 re starting is not possible However it stopped by the STOP input of the external signal ON the Rq 1140 Stop command R M34480 32n Q M3200 20n ON or the Rq 1141 Rapid stop command R M34481 32n Q M3201 20n ON during speed position switching control re starting is possible using VPSTART instruction If it stopped by the speed change to speed 0 using CHGV instruction re starting is possible by ...

Page 265: ...pting flag R M30144 32n Q M2061 n Rq 1140 Stop command R M34480 32n Q M3200 20n Stop by the speed change to speed 0 1 The St 1040 Start accept flag R M30080 n Q M2001 n remains on after stop by the speed change to 0 2 Re starting by changing the speed again 3 However if the Rq 1040 Stop command R M30080 n Q M2001 n turns off by turning on the Rq 1140 Stop command R M34480 32n Q M3200 20n re starti...

Page 266: ...fication For INC Positioning control of the travel value from the stop address When the address 2 is moved to the same address address which calculates with start address specified travel value using the INC the following processing using the servo program and Motion SFC program is required Servo Program The travel value of servo program which executes the positioning from address is set indirectl...

Page 267: ...rting 3 Calculate the residual travel value by subtracting the stop address from the target address 4 Store the residual travel value in the servo program for travel value register 5 Perform the servo program 1 Store in registers for travel value Axis 1 Axis 2 Travel value from address 2 1 Stop position by stop command Address 2 Start address after stop Address 1 start address Travel value from ad...

Page 268: ... acceleration deceleration processing than trapezoidal acceleration deceleration processing The acceleration deceleration graph is a sine curve as shown in the diagram below Set the S curve ratio by the parameter block Page 220 S curve ratio or using the servo program S curve ratio set the part of the sine curve used to produce the acceleration and deceleration curve as shown in the diagram below ...

Page 269: ...setting range of usable devices MELSEC iQ R Motion controller Programming Manual Common INC 2 Axis Axis 2 1 250000 Vector speed 1000 S curve ratio 80 K 10 2 axes linear interpolation control Axis used Axis 1 Axis 2 Positioning speed 1000 Axis 1 100000 Axis 2 250000 Travel value to stop position S curve ratio 80 100000 Indirect specification by word devices K 10 1 axis linear positioning control Ax...

Page 270: ...dvanced S curve acceleration deceleration ASC Accel 1 0 0 to 100 0 1 ASC Accel 2 ASC Decel 1 ASC Decel 2 Acceleration Acceleration time Trapezoidal acceleration deceleration Trapezoidal acceleration deceleration Trapezoidal acceleration deceleration Advanced S curve acceleration deceleration Time Time Speed Speed limit value Acceleration section 2 ratio ASC Accel 2 Deceleration time Trapezoidal ac...

Page 271: ...t by devices Refer to the following for the setting range of usable devices MELSEC iQ R Motion controller Programming Manual Common ABS 1 Axis 1 30000 Speed 400000 ASC System D3000 ASC Accel 1 D3001 ASC Accel 2 D3002 ASC Decel 1 D3003 ASC Decel 2 D3004 K 10 1 axis linear positioning control Positioning speed 400000 Indirect specification by word devices Axis used Axis1 Positioning address 30000 ...

Page 272: ...8000 Positioning data set in servo instructions Common Servo instruction Positioning method Number of control axes Arc OSC Parameter block Others Parameter block No Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circular interpolation S curve ratio Advanced S curve acceleration deceleration Bias sp...

Page 273: ... In this example Axis 4 is used in servo program No 0 Operation timing Operation timing for the servo program No 0 is shown below Travel direction Description Positive Positioning control to forward direction Address Increase direction Negative Positioning control to reverse direction Address decrease direction Forward direction Reverse direction Current stop address Travel direction for positive ...

Page 274: ...am is started using the automatic start or sequence program SET M2042 INC 1 Axis 4 80000pulse Speed 10000pulse s X0 M2475 END X0 1 axis linear positioning control Axis used Axis 4 Travel value to 80000 pulse stop position Command speed 10000 pulse s Turn on all axes servo ON command Wait until X0 and Axis 4 servo ready turn on Wait until X0 turn OFF after linear positioning completion 1 axis linea...

Page 275: ...rameter block Others Parameter block No Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circular interpolation S curve ratio Advanced S curve acceleration deceleration Bias speed at start Repeat condition Program No Command speed Continuous trajectory Skip FIN acceleration deceleration WAIT ON OFF F...

Page 276: ...ing operation by the Axis 3 and Axis 4 servomotors is shown in the diagram below Positioning conditions Positioning conditions are shown below Positioning start command X0 Leading edge OFF ON Travel direction Description Positive Positioning control to forward direction Address increase direction Negative Positioning control to reverse direction Address decrease direction Item Servo Program No No ...

Page 277: ...o ON command M2042 St 1045 All axes servo ON accept flag M2049 Axis 3 St 1075 Servo ready M2455 Start command X0 Axis 4 St 1040 Start accept flag M2004 Axis 3 St 1040 Start accept flag M2003 Servo program No 11 SET M2042 ABS 2 Axis 3 50000 pulse Axis 4 40000 pulse Speed 30000 pulse s X0 M2455 M2475 END X0 2 axes linear interpolation control Wait until X0 turns off after linear interpolation comple...

Page 278: ... time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circular interpolation S curve ratio Advanced S curve acceleration deceleration Bias speed at start Repeat condition Program No Command speed Continuous trajectory Skip FIN acceleration deceleration WAIT ON OFF Fixed position stop Axis Address travel value Command...

Page 279: ...dress increase direction Negative Positioning control to reverse direction Address decrease direction Positioning address 4000 8000 4000 Forward direction Forward direction 8000 X axis Y axis and Z axis linear interpolation operation Current stop address 1000 2000 1000 1000 1000 4000 4000 Home position 0 2000 Forward direction Indicates setting data Reverse direction Forward direction Forward dire...

Page 280: ...tion timing for 3 axes linear interpolation control is shown below Item Servo Program No No 21 Positioning method Absolute data method Positioning speed 1000 Home position 0 0 0 Axis 1 positioning direction Forward direction Axis 2 positioning direction Forward direction Axis 3 positioning direction Forward direction Reverse direction Reverse direction Reverse direction 50000 40000 30000 Positioni...

Page 281: ...1 50000 pulse Axis 2 40000 pulse Axis 3 30000 pulse Speed 1000 pulse s X0 M2415 M2435 M2455 END X0 3 axes linear interpolation control Wait until X0 turn OFF after linear interpolation completion Turn on all axes servo ON command Wait until X0 Axis 1 servo ready Axis 2 servo ready and Axis 3 servo ready turn on 3 axes linear interpolation control Axis used Axis 1 Axis 2 Axis 3 Command positioning ...

Page 282: ...block Others Parameter block No Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circular interpolation S curve ratio Advanced S curve acceleration deceleration Bias speed at start Repeat condition Program No Command speed Continuous trajectory Skip FIN acceleration deceleration WAIT ON OFF Fixed pos...

Page 283: ... The positioning by the Axis 1 Axis 2 Axis 3 and Axis 4 servomotors is shown in the diagram below Positioning conditions Positioning conditions are shown below Positioning start command X0 Leading edge OFF ON Item Servo Program No No 22 Positioning method Incremental data method Positioning speed 10000 5000 5000 Axis 1 positioning direction Forward direction Reverse direction Reverse direction 0 A...

Page 284: ... 1075 Servo ready M2415 Start command X0 Axis 4 St 1040 Start accept flag M2004 Axis 2 St 1040 Start accept flag M2002 Axis 1 St 1040 Start accept flag M2001 Axis 3 St 1040 Start accept flag M2003 Servo program No 22 4 axes linear interpolation control Axis used Axis 1 Axis 2 Axis 3 Axis 4 Command positioning speed Vector speed 10000 pulse s SET M2042 INC 4 Axis 1 5000 pulse Axis 2 3000 pulse Axis...

Page 285: ...The setting range of the end point address and auxiliary point address is 231 to 231 1 Positioning data set in servo instructions Common Servo instruction Positioning method Number of control axes Arc OSC Parameter block Others Parameter block No Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circu...

Page 286: ... The setting range for the travel value to the end point address and auxiliary point address is 0 to 231 1 The maximum arc radius is 231 1 If the end point and auxiliary point are set more than a radius of 231 1 an error occurs at the start and minor error error code 1A2AH is stored in the data register Maximum arc Arc central point Radius R 2 31 1 2 31 1 2 31 Forward direction Positioning speed E...

Page 287: ...g edge OFF ON Operation timing Operation timing for auxiliary point specified circular interpolation control is shown below Item Servo program No No 31 Positioning method Absolute data method Positioning speed 1000 Axis 2 positioning direction Forward direction 50000 30000 20000 10000 40000 80000 Auxiliary point 40000 50000 Positioning using the servo program No 31 Axis 1 positioning direction For...

Page 288: ...until X0 turn OFF after circular interpolation completion Turn on all axes servo ON command Waits until X0 Axis 1 servo ready and Axis 2 servo ready turn on Auxiliary point specified circular interpolation control Axis used Axis 1 Axis 2 Positioning speed Axis 1 80000 pulse Axis 2 30000 pulse End point address Auxiliary point specified circular interpolation control ABS Axis 1 80000 pulse Axis 2 3...

Page 289: ...ber of control axes Arc OSC Parameter block Others Parameter block No Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circular interpolation S curve ratio Advanced S curve acceleration deceleration Bias speed at start Repeat condition Program No Command speed Continuous trajectory Skip FIN accelerat...

Page 290: ...or the radius is 1 to 231 1 The maximum arc radius is 232 1 Instruction Rotation direction of the servomotors Maximum controllable angle of arc Positioning path ABS Clockwise 0 180 INC ABS Counter clockwise INC ABS Clockwise 180 360 INC ABS Counter clockwise INC Start point Positioning path End point Radius R Central point θ 180 Central point Radius R Start point End point Positioning path θ 180 P...

Page 291: ...s an example This program example is explained in the Q series Motion compatible device assignment device assignment method Positioning operation details The positioning uses the Axis 1 and Axis 2 servomotors The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram below Forward direction Reverse direction Reverse direction 0 Start point Radius R Arc central point Circular inte...

Page 292: ... 1075 Servo ready M2435 Servo program start t V Vector speed Rq 1120 PLC ready flag M2000 Rq 1123 All axes servo ON command M2042 St 1045 All axes servo ON accept flag M2049 Axis 1 St 1075 Servo ready M2415 Start command X0 Axis 2 St 1040 Start accept flag M2002 Axis 1 St 1040 Start accept flag M2001 Servo Program No 41 SET M2042 X0 M2415 M2435 END X0 Wait until X0 turn OFF after circular interpol...

Page 293: ...n servo instructions Common Servo instruction Positioning method Number of control axes Arc OSC Parameter block Others Parameter block No Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circular interpolation S curve ratio Advanced S curve acceleration deceleration Bias speed at start Repeat conditi...

Page 294: ...NC INC Incremental method Circular interpolation from the current stop address 0 0 with a radius equivalent to the distance between the start point 0 0 and central point Forward direction Forward direction Reverse direction Reverse direction Positioning speed End address X1 Y1 Arc central point Radius R Operation by circular interpolation Start point address X0 Y0 Indicates setting data Forward di...

Page 295: ...on compatible device assignment device assignment method Positioning operation details The positioning uses the Axis 1 and Axis 2 servomotors The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram below Positioning conditions Positioning conditions are shown below Positioning start command X0 Leading edge OFF ON Item Servo Program No No 51 Positioning method Absolute data met...

Page 296: ...l axes servo ON accept flag M2049 Axis 1 St 1075 Servo ready M2415 Start command X0 Axis 2 St 1040 Start accept flag M2002 Axis 1 St 1040 Start accept flag M2001 Servo Program No 51 SET M2042 X0 M2415 M2435 END X0 Wait until X0 turn OFF after circular interpolation completion Turn on all axes servo ON command Wait until X0 Axis 1 servo ready and Axis 2 servo ready turn on Central point specified c...

Page 297: ... Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circular interpolation S curve ratio Advanced S curve acceleration deceleration Bias speed at start Repeat condition Program No Command speed Continuous trajectory Skip FIN acceleration deceleration WAIT ON OFF Fixed position stop Axis Address travel ...

Page 298: ...helical interpolation a minor error error code 1A2BH occurs at the start and cannot be start When the control unit is degree and the stroke limit is invalid if the helical interpolation control is executed using absolute data method positioning in near direction to specified address based on the current value Allowable error range for circular interpolation can be set Servo instruction Positioning...

Page 299: ...rpolation are shown below Control details for the servo instructions are shown below Instruction Rotation direction of servomotor Controllable angle of arc Positioning path ABH Radius specified helical interpolation less than CW 180 Clockwise CW 0 180 ABH Radius specified helical interpolation less than CCW 180 Counter clockwise CCW ABH Radius specified helical interpolation CW 180 or more Clockwi...

Page 300: ...n SFC program The Motion SFC program for executing the servo program No 52 for absolute radius specified helical interpolation control is shown below 1 Example of the above Motion SFC program is started using the automatic start or sequence program Maximum arc 2 31 1 2 31 2 31 1 0 Radius R Arc central point SET M2042 X0 M2415 M2435 M2455 X0 Wait until X0 turn OFF after circular interpolation compl...

Page 301: ... linear interpolation axis is 0 to 231 1 The travel direction is set by the sign of the travel value as follows Instruction Rotation direction of servomotor Controllable angle of arc Positioning path INH Radius specified helical interpolation less than CW 180 Clockwise CW 0 180 INH Radius specified helical interpolation less than CCW 180 Counter clockwise CCW INH Radius specified helical interpola...

Page 302: ...o 53 for incremental radius specified helical interpolation control is shown below 1 Example of the above Motion SFC program is started using the automatic start or sequence program 2 31 1 Maximum arc Arc central point 2 31 1 2 31 0 Radius R Number of pitches 100 Radius on a circular interpolation plane 60000 pulse Incremental radius specified helical interpolation control SET M2042 F10 X0 M2415 M...

Page 303: ...ails for the servo instructions are shown below The setting range of end point address for the both of circular interpolation axis and linear interpolation axis is 231 to 231 1 The setting range of central point address is 231 to 231 1 The maximum arc radius on the circular interpolation plane is 231 1 For example the maximum arc radius for electronic gear 1 1 of unit mm is 214748364 7 m Instructi...

Page 304: ...ervo program No 55 for absolute central point specified helical interpolation control is shown below 1 Example of the above Motion SFC program is started using the automatic start or sequence program Number of pitches 500 Central point address of the arc Absolute central point specified helical interpolation control SET M2042 F10 X0 M2415 M2435 M2455 G10 ABH Axis 1 88541 pulse Axis 2 30000 pulse L...

Page 305: ...trol details for the servo instructions are shown below The setting range of end point relative address for the both of circular interpolation axis and linear interpolation axis is 0 to 231 1 The setting range of central point relative is 0 to 231 1 The maximum arc radius on the circular interpolation plane is 231 1 For example the maximum arc radius for electronic gear 1 1 of unit mm is 214748364...

Page 306: ...56 for incremental central point specified helical interpolation control is shown below 1 Example of the above Motion SFC program is started using the automatic start or sequence program SET M2042 X0 M2415 M2435 M2455 X0 Wait until X0 turn OFF after circular interpolation completion Turn on all axes servo ON command Wait until X0 Axis 1 servo ready Axis 2 servo ready and Axis 3 servo ready turn on...

Page 307: ...ation axis is 231 to 231 1 The setting range of auxiliary point address is 231 to 231 1 The maximum arc radius on the circular interpolation plane is 231 1 For example the maximum arc radius for electronic gear 1 1 of unit mm is 214748364 7 m Set the command speed with the vector speed for 2 axes circular interpolation axis The command speed unit is specified in the parameter block Set the number ...

Page 308: ...T M2042 F10 X0 M2415 M2435 M2455 G10 ABH Axis 1 88541 pulse Axis 2 30000 pulse Str Ax 3 20000 pulse Speed 1000 pulse s Number of pitches 500 Aux P 1 45000 pulse Aux P 2 20000 pulse K60 Wait until X0 Axis 1 servo ready Axis 2 servo ready and Axis 3 servo ready turn on Turn on all axes servo ON command X0 G20 END Wait until X0 turn OFF after circular interpolation completion Axis for the circular Ax...

Page 309: ...xis and linear interpolation axis is 0 to 231 1 The setting range of auxiliary point relative is 0 to 231 1 The maximum arc radius on the circular interpolation plane is 231 1 For example the maximum arc radius for electronic gear 1 1 of unit mm is 214748364 7 m Set the command speed with the vector speed for 2 axes circular interpolation axis The command speed unit is specified in the parameter b...

Page 310: ...42 F10 X0 M2415 M2435 M2455 G10 INH Axis 1 88541 pulse Axis 2 30000 pulse Linear axis 3 20000 pulse Speed 1000 pulse s Number of pitches 500 Aux P 1 45000 pulse Aux P 2 20000 pulse K61 Wait until X0 Axis 1 servo ready Axis 2 servo ready and Axis 3 servo ready turn on Turn on all axes servo ON command X0 G20 END Wait until X0 turn OFF after circular interpolation completion Axis for the circular Ax...

Page 311: ...ons Common Servo instruction Positioning method Number of control axes Arc OSC Parameter block Others Parameter block No Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circular interpolation S curve ratio Advanced S curve acceleration deceleration Bias speed at start Repeat condition Program No Com...

Page 312: ...ple is explained in the Q series Motion compatible device assignment device assignment method Fixed pitch feed control conditions Positioning conditions are shown below Fixed pitch feed control start command X0 Leading edge OFF ON Fixed pitch feed control end command X1 Leading edge OFF ON Operation timing Operation timing for fixed pitch feed control is shown below Item Setting Servo program No N...

Page 313: ...is 4 Travel value 80000 pulse 1 axis fixed pitch feed control SET M2042 P0 F10 X0 M2475 G10 FEED 1 Axis 4 80000 pulse Speed 10000 pulse s Dwell 1000 ms K300 Wait until X0 and Axis 4 servo ready turn on Turn on all axes servo ON command X0 X1 G30 END Wait until X0 and X1 turn OFF after fixed pitch feed completion X1 G20 After fixed pitch feed completion PX001 is OFF Fixed pitch feed starts PX001 is...

Page 314: ...ncrease direction Negative Positioning control to reverse direction Address decrease direction Positioning data set in servo instructions Common Servo instruction Positioning method Number of control axes Arc OSC Parameter block Others Parameter block No Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range f...

Page 315: ...d as an example This program example is explained in the Q series Motion compatible device assignment device assignment method Fixed pitch feed control Fixed pitch feed control conditions are shown below Fixed pitch feed control start command X0 Leading edge OFF ON Operation timing Operation timing for fixed pitch feed control using 2 axes linear interpolation is shown below Item Setting Servo pro...

Page 316: ...rogram Fixed pitch feed using 2 axes linear interpolation SET M2042 P0 F10 X0 M2435 M2455 G10 FEED 2 Axis 2 500000 pulse Axis 3 300000 pulse Speed 10000 pulse s K310 Wait until X0 Axis 2 servo ready and Axis 3 servo ready turn on Turn on all axes servo ON command END X0 G20 After fixed pitch feed completion X0 is ON Fixed pitch feed start again X0 is OFF Motion SFC program end Fixed pitch feed usi...

Page 317: ...ction Negative travel value Positioning control to reverse direction Address decrease direction Positioning data set in servo instructions Common Servo instruction Positioning method Number of control axes Arc OSC Parameter block Others Parameter block No Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range ...

Page 318: ...s explained in the Q series Motion compatible device assignment device assignment method Fixed pitch feed control Fixed pitch feed control conditions are shown below Fixed pitch feed control start command X0 Leading edge OFF ON Operation timing Operation timing for fixed pitch feed control using 3 axes linear interpolation is shown below Item Setting Servo program No No 320 Positioning speed 1000 ...

Page 319: ...5 M2435 M2455 G10 FEED 3 Axis 1 50000pulse Axis 2 40000pulse Axis 3 30000pulse Speed 1000pulse s K320 END X0 G20 P0 Fixed pitch feed using 3 axes linear interpolation Positioning speed 10000 pulse s Travel value Axis 1 500000 pulse Axis 2 400000 pulse Axis 3 300000 pulse Turn on all axes servo ON command Wait until X0 Axis 1 servo ready Axis 2 servo ready and Axis 3 servo ready turn on Fixed pitch...

Page 320: ...ting after stop Servo instruction Description VF Forward direction start VR Reverse direction start Setting value Description ON The feed current value is updated The software stroke limit is valid OFF 0 is stored in the feed current value Positioning data set in servo instructions Common Servo instruction Positioning method Number of control axes Arc OSC Parameter block Others Parameter block No ...

Page 321: ...xis 1 is explained as an example This program example is explained in the Q series Motion compatible device assignment device assignment method Speed control I conditions Speed control conditions are shown below Speed control start command X0 Leading edge OFF ON Stop command X0 Trailing edge ON OFF Operation timing Operation timing for speed control is shown below Item Setting Servo program No No ...

Page 322: ...quence program SET M2042 F10 X0 M2415 G10 VF Axis 1 Speed 3000pulse s K91 RST M3200 F30 END M2001 G30 SET M3200 F20 X0 G20 Turn on all axes servo ON command Wait until X0 and Axis 1 servo ready turn on Wait until X0 turns OFF after speed control start Turn on Axis 1 stop command Turn OFF Axis 1 stop command Wait until Axis 1 start accept flag turn OFF Speed control Speed control Forward rotation A...

Page 323: ...rrent value is changed to 0 at the start When speed control is executed in the absolute position system the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power supply is turned ON again may be different from the feed current value before the power supply was turned ON again The dwell time cannot be set Servo instruction ...

Page 324: ...and X0 Leading edge OFF ON Stop command X0 Trailing edge ON OFF Operation timing Operation timing for speed control is shown below Item Setting Servo program No No 55 Control axis Axis 3 Control speed 4000 Rotation direction Forward t V 4000 Servo program start Rq 1120 PLC ready flag M2000 Rq 1123 All axes servo ON command M2042 St 1045 All axes servo ON accept flag M2049 Axis 3 St 1075 Servo read...

Page 325: ...equence program SET M2042 F10 X0 M2455 G10 VVF Axis 3 Speed 4000pulse s K55 RST M3240 F30 END M2003 G30 SET M3240 F20 X0 G20 Turn on Axis 3 stop command Turn OFF Axis 3 stop command Turn on all axes servo ON command Wait until X0 and Axis 3 servo ready turn on Speed control Forward rotation Axis used Axis 3 Positioning speed 4000 pulse s Wait until X0 turn OFF after speed control start Wait until ...

Page 326: ...ation direction Address increase direction start VPR Reverse rotation direction Address decrease direction start Positioning data set in servo instructions Common Servo instruction Positioning method Number of control axes Arc OSC Parameter block Others Parameter block No Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allow...

Page 327: ...is cleared to 0 at the start The feed current value is updated from the start speed control The feed current value after stop is as follows Feed current value after stop Travel value during speed control Travel value for position control ON The feed current value is not cleared at the start The feed current value is updated from the start speed control The feed current value after stop is as follo...

Page 328: ...alue is stored in the data register for travel value change during speed control in the Motion SFC program When the CHANGE signal turns on the contents of the data register for travel value change are set as the travel value Travel value area after proximity dog ON The travel value since the position mode was selected by the CHANGE signal input from external source is stored in the travel value Md...

Page 329: ...eceleration stop When Rq 1152 Feed current value update command R M34492 32n Q M3212 20n is OFF When Rq 1152 Feed current value update command R M34492 32n Q M3212 20n is OFF the feed current value is changed to 0 at the start When speed position switching control is executed in the absolute position system the feed current value that is restored when the control circuit power supply of the servo ...

Page 330: ...ation timing for speed position switching control is shown below Item Positioning conditions Servo program No 101 Control axis Axis 4 Travel value for positioning control 40000 Command speed 1000 Rq 1145 Speed position switching enable command M3265 t Position control Speed control Servo program No 101 V St 1065 Speed position switching latch M2465 Rq 1120 PLC ready flag M2000 Rq 1123 All axes ser...

Page 331: ...75 RST M3265 X0 M2461 SET M3265 M2465 Shift transition is used to transit into the next processing during the positioning END Speed position switching control Turn on all axes servo ON command Wait until X0 and Axis 4 servo ready turn on Speed position switching control Axis used Axis 4 Travel value 40000 pulse Command speed Dwell Axis 4 speed position switching latch Axis 4 speed position switchi...

Page 332: ...ta set in servo instructions Common Servo instruction Positioning method Number of control axes Arc OSC Parameter block Others Parameter block No Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circular interpolation S curve ratio Advanced S curve acceleration deceleration Bias speed at start Repeat...

Page 333: ... ON If the stop occurred during position control re start with position and the positioning control of setting travel value The travel value after the re start is calculated as follows Travel value after re start P2 Setting travel value P Travel value before stop P1 Item Positioning conditions Speed position switching control Restart Servo program No 101 102 Control axis Axis 4 Axis 4 Travel value...

Page 334: ...on control t Rq 1145 Speed position switching enable command M3265 St 1065 Speed position switching latch M2465 Rq 1120 PLC ready flag M2000 Rq 1123 All axes servo ON command M2042 St 1045 All axes servo ON accept flag M2049 Axis 4 St 1075 Servo ready M2475 Start command X0 Servo program start Axis 4 St 1040 Start accept flag M2004 Restart command X1 Stop command X2 Rq 1140 M3260 CHANGE signal inp...

Page 335: ...T M3260 X0 X1 X2 Axis 4 stop command OFF SET M3260 X2 RST M3265 M2465 M2004 SET M3265 X1 VPSTART Axis 4 Re start END M3260 Turn on all axes servo ON command Wait until X0 and Axis 4 servo ready turn on Command speed Travel value 40000 pulse Axis used Axis 4 Axis 4 speed position switching enable command ON Wait until X1 turn on Re starting after stop during control Wait until X0 X1 and X2 turn off...

Page 336: ...ting range a minor error error code 1A31H occurs and it does not start Positioning address is input at the program start Servo instruction Description PVF Forward rotation direction Address increase direction start PVR Reverse rotation direction Address decrease direction start Positioning data set in servo instructions Common Servo instruction Positioning method Number of control axes Arc OSC Par...

Page 337: ...ng start Speed change can be executed any number of times by the speed change request CHGV instruction during operation Deceleration speed by the Rq 1140 Stop command R M34480 32n Q M3200 20n Rq 1141 Rapid stop command R M34481 32n Q M3201 20n is controlled with fixed inclination deceleration speed Deceleration processing is executed using the speed limit value or deceleration rapid stop decelerat...

Page 338: ...hod Positioning conditions Speed control with fixed position stop conditions are shown below Speed control with fixed position stop start command X0 Leading edge OFF ON Speed control with fixed position stop command X0 Trailing edge ON OFF Operation timing Operation timing for speed control with fixed position stop is shown below Item Setting Servo program No 55 Start direction Forward Control axi...

Page 339: ... min 20 ms M100 PVF Axis Speed Fixed position stop Accel decel time F10 G10 K55 G20 F20 G30 F30 Speed control with fixed position stop X0 M2415 Turn on all axes servo ON command Wait until X0 Axis 1 servo ready turn on Fixed position stop with speed control start Axis used Stop position 120 00000 degree Axis 1 Speed 30000 000 degree min Accel decel time 20 ms Fixed position stop command M100 Wait ...

Page 340: ...e to write servo programs The method to write the servo programs for continuous trajectory control is shown below Example servo program for 2 axes continuous trajectory control Pass point Positioning method from any pass point to the next pass point Positioning speed from any pass point to the next pass point Set the continuous trajectory control axis and speed YES End continuous trajectory contro...

Page 341: ... trajectory control is shown below Example operation timing for 2 axes continuous trajectory control Change speed after speed switching Axis 3 positioning direction P1 80000 60000 Axis2 positioning direction P2 P3 15000 Positioning speed for 2 axes linear interpolation V 10000 t Set speed 40000 60000 0 0 100000 ...

Page 342: ...cle 20 ms Command speed 600 mm min If the command speed 600 mm min is divided by 60 the command speed per second is 10 mm s and the main cycle is 0 02 s Therefore the travel distance is as follow 10 mm s 0 02 s 0 2 mm Set the travel distance to more than 0 2 mm The central point specified circular interpolation is included the continuous trajectory control When the arc path calculated from the sta...

Page 343: ...tting range of usable devices MELSEC iQ R Motion controller Programming Manual Common FOR OFF loop out trigger condition setting The repetition range set until the specified bit device turns off is executed repeatedly A bit device or a specified bit in a word device can be used for the loop out trigger condition Refer to the following for the setting range of usable devices MELSEC iQ R Motion cont...

Page 344: ...below Travel value of one operation cycle control unit Command speed per second control unit s Operation cycle s Ex Command speed 100 00 mm min Operation cycle 0 444 ms If the travel value of the pass point exceeds 0 74 m it will loop out normally 1 2 Condition 1 Condition 2 Condition 3 FOR TIMES K1 K2 K3 FOR ON X010 ON during first positioning 3 X010 ON during second positioning 3 X010 ON during ...

Page 345: ...t occur Program example The program for repeating continuous trajectory control of Axis 2 and Axis 3 is explained as an example This program example is explained in the Q series Motion compatible device assignment device assignment method Positioning conditions Continuous trajectory control conditions are shown below Continuous trajectory control start command X0 Leading edge OFF ON Operation timi...

Page 346: ... K 4 INC 2 Axis 2 30000 pulse Axis 3 0 pulse INC Axis 2 20000 pulse Axis 3 20000 pulse Radius 20000 pulse NEXT CPEND X0 M2435 M2455 END X0 Continuous trajectory control Turn on all axes servo ON command Wait until X0 Axis 2 servo ready and Axis 3 servo ready turn on Start continuous trajectory control 2 axes linear interpolation control Absolute data method Axis used Axis 2 Axis 3 End address Axis...

Page 347: ...d command can be set for point By turning on the Rq 1122 Speed switching point specified flag R M30040 Q M2040 before the start the point which completes speed change can be specified The speed change timing at the flag ON OFF Rq 1122 Speed switching point specified flag R M30040 Q M2040 Details OFF The speed change starts with the specified speed switching point ON The speed change ends with the ...

Page 348: ... and positions for speed switching are shown below Item Setting Servo program No 310 Positioning speed 10000 15000 Positioning method 2 axes linear interpolation Central point specified circular interpolation 2 axes linear interpolation 2 axes linear interpolation Pass point Axis 1 20000 30000 40000 50000 Axis 2 10000 20000 25000 40000 Axis 1 St 1075 Servo ready M2415 Axis 2 St 1075 Servo ready M2...

Page 349: ...s 2 20000 pulse Center 1 30000 pulse Center 2 10000 pulse ABS 2 Axis 1 40000 pulse Axis 2 25000 pulse Speed 15000 pulse s ABS 2 Axis 1 50000 pulse Axis 2 40000 pulse CPEND X0 M2415 M2435 END Set P1 X0 Speed change Speed switching during instruction execution Turn on all axes servo ON command Wait until X0 Axis 1 servo ready and Axis 2 servo ready turn ON Set P4 Set P2 Set P3 Wait until X0 turn OFF...

Page 350: ...re identical to 1 axis linear positioning control Page 270 1 Axis Linear Positioning Control Positioning data set in servo instructions Common Servo instruction Positioning method Number of control axes Arc OSC Parameter block Others Parameter block No Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for...

Page 351: ...ge OFF ON Details of positioning operation Operation timing Operation timing for servo program No 500 is shown below Item Setting Servo program No 500 Control axis Axis 4 Positioning speed 10000 Number of repetitions 100 Pass point travel value P1 1000 P2 2000 P3 2000 P4 1000 Number of repetitions 100 3 Return 1 1000 2 0 1000 Address Out Return Return Return Out Out Out Axis 4 St 1075 Servo ready ...

Page 352: ...nt 1000 pulse X0 G20 END Wait until X0 turn OFF after continuous trajectory control completion 1 axis continuous trajectory control SET M2042 F10 X0 M2475 G10 CPSTART1 Axis 4 Speed 10000 pulse s INC 1 Axis 4 1000 pulse FOR TIMES K 100 INC 1 Axis 4 2000 pulse INC 1 Axis 4 2000 pulse NEXT INC 1 Axis 4 1000 pulse CPEND K500 Wait until X0 and Axis 4 servo ready turn ON Turn on all axes servo ON comman...

Page 353: ...e error range for circular interpolation S curve ratio Advanced S curve acceleration deceleration Bias speed at start Repeat condition Program No Command speed Continuous trajectory Skip FIN acceleration deceleration WAIT ON OFF Fixed position stop Axis Address travel value Command speed Dwell time M code Torque limit value Auxiliary point Radius Central point Number of pitches Starting angle Ampl...

Page 354: ... 2 INC 2 Sets 2 axes linear interpolation control Control details are identical to 2 axes linear interpolation control Page 273 2 Axes Linear Interpolation Control ABS 3 INC 3 Sets 3 axes linear interpolation control Control details are identical to 3 axes linear interpolation control Page 276 3 Axes Linear Interpolation Control ABS 4 INC 4 Sets 4 axes linear interpolation control Control details ...

Page 355: ...rajectory control completion 2 axes continuous trajectory control SET M2042 F10 X0 M2435 M2455 G10 CPSTART2 Axis 2 Axis 3 Speed 10000 pulse s ABS 2 Axis 2 30000 pulse Axis 3 30000 pulse ABS Axis 2 50000 pulse Axis 3 50000 pulse Radius 20000 pulse ABS 2 Axis 2 90000 pulse Axis 3 100000 pulse CPEND K505 Wait until X0 Axis 2 servo ready and Axis 3 servo ready turn on Turn on all axes servo ON command...

Page 356: ...rajectory control completion 4 axes continuous trajectory control SET M2042 F10 X0 M2415 M2435 M2455 M2475 G10 CPSTART4 Axis 1 Axis 2 Axis 3 Axis 4 Speed 10000 pulse s INC 4 Axis 1 3000 pulse Axis 2 4000 pulse Axis 3 4000 pulse Axis 4 4000 pulse INC 4 Axis 1 5000 pulse Axis 2 3500 pulse Axis 3 4000 pulse Axis 4 6000 pulse INC 4 Axis 1 5000 pulse Axis 2 3500 pulse Axis 3 3000 pulse Axis 4 6000 puls...

Page 357: ...mmon Servo instruction Positioning method Number of control axes Arc OSC Parameter block Others Parameter block No Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error range for circular interpolation S curve ratio Advanced S curve acceleration deceleration Bias speed at start Repeat condition Program No Command s...

Page 358: ... interpolation between them If it does not set it may occur an error and stop FIN signal wait function toward the helical interpolation specified each pass point for continuous trajectory control is possible M code outputting signal is outputted to all circular interpolation axes and linear axes Fin signal can be operated with the both of circular interpolation axes and linear axes If negative spe...

Page 359: ...M2435 M2455 G10 K510 Wait until X0 Axis 1 servo ready Axis 2 servo ready and Axis 3 servo ready turn ON Turn ON all axes servo ON command M2001 M2002 M2003 G12 END Wait until Axis 1 Axis 2 and Axis 3 start accept flag turn OFF Continuous trajectory control End continuous trajectory control Positioning address Positioning address 3 axes linear interpolation control P3 3 axes helical interpolation c...

Page 360: ...n Control axis Positioning address Central point Axis 1 m Axis 2 m Axis 3 degree Axis 1 m Axis 2 m Pass point Start point 0 0 150000 0 0 00000 P1 50000 0 150000 0 0 00000 P2 150000 0 50000 0 90 00000 50000 0 50000 0 P3 150000 0 50000 0 90 00000 P4 50000 0 150000 0 180 00000 50000 0 50000 0 P5 50000 0 150000 0 180 00000 P6 150000 0 50000 0 270 00000 50000 0 50000 0 P7 150000 0 50000 0 270 00000 P8 ...

Page 361: ...l P7 3 axes helical interpolation control P8 3 axes linear interpolation control Start point Positioning address Positioning address Axis 1 150000 0 m Axis 2 50000 0 m Axis 3 90 00000 degree Axis 1 50000 0 m Axis 2 150000 0 m Axis 3 0 00000 degree Axis used Axis 1 Axis 2 Axis 3 Positioning address Axis 1 0 0 m Axis 2 150000 0 m Axis 3 0 00000 degree Positioning address Axis 1 50000 0 m Axis 2 1500...

Page 362: ...ing Manual Common Precautions When an absolute circular interpolation or absolute helical interpolation is specified to since point since the skip signal specified point set the absolute linear interpolation between them If it does not set it may occur an error and stop If a skip signal is inputted at the end point a deceleration stop occurs at that point and the program is ended Program example K...

Page 363: ...ee 280 100 0 Program example 2 Instruction immediately after the skip is ABS instruction Program example Skip ABS 1 Speed Axis 1 CPSTART1 INC 1 270 00000 CPEND Axis 1 Axis 1 INC 1 Axis 1 10 000 180 00000 350 00000 M100 The end positioning point is same regardless of whether the skip is executed or not 0 When skip is not executed 180 260 degree 350 When skip is executed The end positioning point is...

Page 364: ...ion control In this case turn on the FIN signal for one of the interpolation axes When M code is set at the end point positioning ends after the FIN signal has turn OFF to ON to OFF When the FIN acceleration deceleration Fixed acceleration deceleration time method is set in the continuous trajectory the setting for advanced S curve acceleration deceleration is invalid Processing details Servo prog...

Page 365: ...CPU device END Continuous trajectory control SET M2042 F10 M2415 M2435 G10 CPSTART2 Axis 1 Axis 2 Speed 10000 FIN 100 ABS 2 Axis 1 200000 Axis 1 200000 M code 10 ABS 2 Axis 1 300000 Axis 2 250000 M code 11 ABS 2 Axis 1 350000 Axis 2 300000 M code 12 ABS 2 Axis 1 400000 Axis 2 400000 CPEND K0 Wait until Axis 1 servo ready and Axis 2 servo ready turn on Turn on all axes servo ON command Start contin...

Page 366: ...unction is shown below 0 Motion SFC program start request Substitutes 1 for D51 after program start Reads data of D13 for Multiple CPU system No 2 by turning M2419 on and stores in the data area D1 of self M3219 is set Resets M3219 by turning M2419 OFF Details of D1 is used as control 11 14 26 28 X0 DP SFCS H3E1 K110 M0 D0 M0 MOVP K1 D51 M2419 DP DDRD H3E1 D50 D13 D1 M2 SET M3219 M2419 RST M3219 E...

Page 367: ...s allocated as Motion dedicated devices to the PLC CPU CPU No 1 PLC CPU GX Works3 Set the device transmitted to CPU No 2 M3200 to M3295 Set the device received from CPU No 2 M2400 to M2495 CPU No 2 Motion CPU MT Developer2 Set the device received from CPU No 1 M3200 to M3295 Set the device transmitted to CPU No 1 M2400 to M2495 Q Compatibility high speed refresh setting MT Developer2 only ...

Page 368: ...0 M2415 M2435 G10 CPSTART2 Axis 1 Axis 2 Speed 10000 FIN 100 ABS 2 Axis 1 200000 Axis 1 200000 M code 10 ABS 2 Axis 1 300000 Axis 2 250000 M code 11 ABS 2 Axis 1 350000 Axis 2 300000 M code 12 ABS 2 Axis 1 400000 Axis 2 400000 CPEND K0 Wait until X0 Axis 1 servo ready and Axis 2 servo ready turn on Turn on all axes servo ON command Start continuous trajectory control 2 axes linear interpolation co...

Page 369: ...FIN signal wait P0 M2419 M2439 G50 0 BCD D13 DOUT Y20 0 SET M3219 F20 Output Axis 1 M code Turn ON FIN signal Turn ON Axis 1 Axis 2 M code outputting signal Details of 0 is used as control M2419 M2439 M2403 M2423 G60 Turn OFF Axis 1 Axis 2 M code outputting signal and turn ON Axis 1 Axis 2 command in position signal RST M3219 F30 Turn OFF FIN signal D13 K12 G70 Repeat until M code value become 12 ...

Page 370: ...id stop deceleration time during continuous trajectory control the point data currently executed in the middle of deceleration and the positioning may be completed suddenly as a speed 0 In the case of deceleration time rapid stop deceleration time the above operation is not executed For the following condition note that the speed may become 0 in the middle of deceleration Travel value by the point...

Page 371: ...oning address in the servo program Positioning speeds can be set in the servo program using indirect setting with the word devices However this data is effective only at the position follow up control start servo program start and the speed does not change if the indirect setting are changed during the start Positioning data set in servo instructions Common Servo instruction Positioning method Num...

Page 372: ...FF ON PLC CPU device Operation timing Operation timing for position follow up control is shown below Item Setting Servo program No 100 Control axis Axis 3 Positioning address D4000 Positioning speed 20000 Axis 3 St 1075 servo ready M2455 Servo program start Axis 3 St 1060 Positioning start complete M2440 Axis 3 St 1061 Positioning complete M2441 Axis 3 St 1063 Command in position M2443 t V Rq 1120...

Page 373: ...is 3 start accept flag turn OFF after position follow up control completion Position follow up control Positioning speed 2000 pulse s 0 Substitute 2 for D1 after program start Starts by turning X0 on Substitute 150000 for D1000 Substitute 0 for D1300 Reads data of D1000 of self CPU for Multiple CPU system by turning M10 on and writes to D4000 of CPU No 2 Starts the Motion SFC program No 150 Substi...

Page 374: ...he Motion dedicated device to the PLC CPU CPU No 1 PLC CPU GX Works3 Set the device transmitted to CPU No 2 M3200 to M3295 Set the device received from CPU No 2 M2400 to M2495 D40 to D59 CPU No 2 Motion CPU MT Developer2 Set the device received from CPU No 1 M3200 to M3295 Set the device transmitted to CPU No 1 M2400 to M2495 D40 to D59 Q Compatibility high speed refresh setting MT Developer2 only...

Page 375: ...t performed you should set the starting angle to 90 or 270 degree in order to avoid an abrupt start Positioning data set in servo instructions Common Servo instruction Positioning method Number of control axes Arc OSC Parameter block Others Parameter block No Acceleration time Deceleration time Rapid Stop deceleration time Torque limit value Deceleration processing on stop input Allowable error ra...

Page 376: ...de the range the minor error error code 1A54H occurs and operation does not start Operation is continually repeated until a stop signal is input after the start Speed changes during operation are not possible Attempted speed changes will cause warning error code 09EEH Do not use the high speed oscillation in the axis that invalidates a stroke limit of control unit degree Program example An example...

Page 377: ...t start the program 1 For operating system software version 09 or earlier 0 to 4095 Each axis is controlled using the specified servo program after the simultaneous start Setting value Description 1 Servo program number not specified 0 to 8191 1 Program number to start Positioning data set in servo instructions Common Servo instruction Positioning method Number of control axes Arc OSC Parameter bl...

Page 378: ...assignment method Number of specified servo programs and program No Number of specified servo programs 3 Specified servo program No Start conditions Simultaneous start servo program No No 121 Simultaneous start execute command X0 Leading edge OFF ON Motion SFC program The Motion SFC program for executing the servo program No 121 for simultaneous start control is shown below 1 Example of the above ...

Page 379: ...This method is valid when the stroke range is short and count method 1 cannot be used Data set method Data set method 1 Command position It is used in a system where external input signals such as dog signal are not set in the absolute position system This method is valid for the data set independent of a deviation counter value Data set method 2 Motor actual position It is used in a system where ...

Page 380: ...Home position return by the stopper method 1 Stopper method 2 Page 395 Home position return by the stopper method 2 Limit switch combined method Page 396 Home position return by the limit switch combined method Scale home position signal detection method Page 398 Home position return by the scale home position signal detection method Dogless home position signal reference method Page 400 Home posi...

Page 381: ...t or sequence program Precautions If the home position is not within the in position range of servo parameter it does not mean having reached the home position and the home position return does not end in the proximity dog method count method data set method 1 dog cradle method limit switch combined method scale home position signal detection method dogless home position signal reference method or...

Page 382: ...ON to OFF is shown below Home position return execution Home position return by the proximity dog method 1 is executed using the servo program Page 378 Servo program for home position return Cautions Keep the proximity dog ON during deceleration from the home position return speed to the creep speed If the proximity dog turns OFF before deceleration to the creep speed a deceleration stop is made a...

Page 383: ...ro point from home position return start to deceleration stop by proximity dog ON to OFF a minor error error code 197AH will occur a deceleration stop is made and home position return does not end normally When a distance between home position return start position and home position is near and a zero point is not passed select the proximity dog method 2 If home position return is executed in the ...

Page 384: ...tion return V 1 revolution Zero point Creep speed Home position return speed 3 2 4 1 5 Home position return direction Home position Zero point no passing 1 2 3 4 5 It travels to preset direction of home position return with the home position return speed A deceleration is made to the creep speed by the proximity dog ON after that it travels with the creep speed If the proximity dog turns OFF durin...

Page 385: ...the home position If home position return is executed in the proximity dog ON it starts with the creep speed When home position return retry function is not set if home position return is executed again after home position return completion a minor error error code 197BH will occur the home position return is not executed When 1 Not need to pass motor Z phase after the power supply is switched on ...

Page 386: ...turn are also possible in the proximity dog ON in the count method 1 When the home position return or continuously start of home position return are executed in the proximity dog ON the home position return is executed after return the axis once to position of the proximity dog OFF When the zero point is not passed St 1066 Zero pass R M32406 32n Q M2406 20n ON until it travels the distance set in ...

Page 387: ...Home position return and continuously start of home position return are also possible in the proximity dog ON in the count method 2 When the home position return and continuously start of home position return are executed in the proximity dog ON the home position return is executed after return the axis once to position of the proximity dog OFF When the travel value after proximity dog ON is less ...

Page 388: ...ution Home position return by the count method 3 is executed using the servo program Page 378 Servo program for home position return V 1 revolution Home position return direction Zero point Creep speed Home position return speed 3 2 4 1 5 Home position Home position return speed Home position return start Zero point no passing 1 2 3 4 5 The travel value in this range is stored in the monitor regis...

Page 389: ...are executed in the proximity dog ON the home position return is executed after return the axis once to position of the proximity dog OFF When the travel value after proximity dog ON is less than the deceleration distance from home position return speed to creep speed a minor error error code 1A57H will occur and deceleration stop is made When 1 Not need to pass motor Z phase after the power suppl...

Page 390: ... least one revolution by the JOG operation The zero point passing can be confirmed with the St 1066 Zero pass R M32406 32n Q M2406 20n However when 1 Not need to pass motor Z phase after the power supply is switched on is selected in the function selection C 4 PC17 of servo parameter expansion setting parameter even if it does not pass zero point at the servo amplifier power ON the home position r...

Page 391: ...red perform the home position return again after reset the error and turn the servo motor at least one revolution by the JOG operation The zero point passing can be confirmed with the St 1066 Zero pass R M32406 32n Q M2406 20n However when 1 Not need to pass motor Z phase after the power supply is switched on is selected in the function selection C 4 PC17 of servo parameter expansion setting param...

Page 392: ...20n However when 1 Not need to pass motor Z phase after the power supply is switched on is selected in the function selection C 4 PC17 of servo parameter expansion setting parameter even if it does not pass zero point at the servo amplifier power ON the home position return is possible because the St 1066 Zero pass R M32406 32n Q M2406 20n turns ON When executing home position return during servo ...

Page 393: ...executed using the servo program Page 378 Servo program for home position return V 1 2 3 4 Zero point ON Proximity dog 3 2 4 1 It travels to preset direction of home position return with the home position return speed and a deceleration stop is made by the proximity dog ON After a deceleration stop it travels to reverse direction of home position return with the home position return speed A decele...

Page 394: ...time of the proximity dog OFF V Zero point Proximity dog ON 1 2 3 1 2 3 Acceleration time º Deceleration time Home position return direction Creep speed Home position return start It travels to preset reverse direction of home position return with the home position return speed A deceleration stop is made when proximity dog turns OFF and zero point is passed After a deceleration stop it travels to...

Page 395: ...ade when zero point is passed After a deceleration stop it travels to direction of home position return with the creep speed and the home position return ends with first zero point after the proximity dog ON Zero point Proximity dog Acceleration time º Deceleration time V Zero point ON 3 2 4 1 1 2 3 4 Creep speed Home position return direction Home position return speed Home position return start ...

Page 396: ...2406 32n Q M2406 20n ON between turning on the power supply and executing home position return Home position return retry function cannot be used in the stopper method 1 Set the torque limit value after reaching the creep speed for system When the torque limit value is too large servomotors or machines may be damaged after pressing the stopper Also when the torque limit value is too small it becom...

Page 397: ...or home position return Cautions A zero point does not must be passed St 1066 Zero pass R M32406 32n Q M2406 20n ON between turning on the power supply and executing home position return Home position return retry function cannot be used in the stopper method 2 Set the torque limit value at the reaching creep speed for system When the torque limit value is too large servomotors or machines may be ...

Page 398: ...ion return direction is shown below Home position return execution Home position return by the limit switch combined method is executed using the servo program Page 378 Servo program for home position return V Home position Zero point 1 2 3 1 2 3 Acceleration time º Deceleration time Home position return direction Home position return speed Home position return start Creep speed It travels to pres...

Page 399: ...pass R M32406 32n Q M2406 20n ON the zero point from home position return start to deceleration stop by limit switch OFF a minor error error code 197AH will occur a deceleration stop is made and home position return does not end normally However when 1 Not need to pass motor Z phase after the power supply is switched on is selected in the function selection C 4 PC17 of servo parameter expansion se...

Page 400: ...ng parameter When 1 Not need to pass motor Z phase after the power supply is switched on is set a minor error error code 1978H will occur at home position return by the scale home position signal detection method starting the home position return is not executed When St 1066 Zero pass R M32406 32n Q M2406 20n turns on by passing zero point at home position return start this signal turns off once a...

Page 401: ...e ended if zero point is in the proximity dog Set zero point before the proximity dog If the St 1062 In position R M32402 32n Q M2402 20n is not turned ON home position return is not ended V Home position 2 3 1 Creep speed Home position return direction It travels to preset reverse direction of home position return with the home position return speed External limit switch Home position return star...

Page 402: ...B RJ MR J4 B LL Standard Home position signal zero point Operation B Invalid 1 Not need to pass motor Z phase after the power supply is switched on Direct drive motor Operation A Valid 0 Need to pass motor Z phase after the power supply is switched on Linear servo Absolute position type Position where address of absolute linear encoder becomes 0 Operation C Invalid Both Incremental type Reference ...

Page 403: ... with the position of home position signal zero point 1 2 3 Servo amplifier model Operation MR J4 B MR J4W B MR J4 B RJ MR J4 B LL Direct drive motor Home position return ends at the position of the last home position signal zero point passed Home position return ends at the position of the last home position signal zero point passed Linear servo Home position return ends at the position of the fi...

Page 404: ...ition where address of absolute linear encoder becomes 0 is in the home position return direction If an external limit switch is detected during home position return operation an error occurs and stops Home position return retry function cannot be used 1 2 V Home position 1 2 Creep speed Home position return direction Home position return start Zero point It travels to preset direction of home pos...

Page 405: ... MR J3 B RJ006 MR J4 B execute home position return in a semi closed loop control state The home position return operation becomes that of Operation B If a home position return is performed in a fully closed loop control state the home position return is at the position of encoder current value of multiple revolution position 0 and single revolution position 0 The home position return operation be...

Page 406: ...unction selection C 4 PC17 to 0 Need to pass motor Z phase after the power supply is switched on If set to 1 Not need to pass motor Z phase after the power supply is switched on when home position return by dogless home position signal reference method operation A is started a minor error error code 1978H will occur and the home position return is not executed If the St 1066 Zero pass R M32406 32n...

Page 407: ... home position return method is executed using a servo program Page 378 Servo program for home position return Cautions If a home position return is started for an axis that is not connected to a stepping driver a minor error error code 1979H will occur and the home position return is not executed When a stop cause is detected during driver home position return home position return operation is st...

Page 408: ...n return data Processing details Operation for the home position return retry function is shown below Home position return retry operation setting a current value within the range of external limit switch Items Setting details Setting value Initial value Home position return retry function 0 Invalid Do not execute the home position return retry by limit switch 1 Valid Execute the home position ret...

Page 409: ...of home position return Direction of current value home position and home position return is same Home position return start Home position return direction Proximity dog FLS Zero point Travel range Home position RLS Direction of current value home position and home position return is reverse Home position return direction Home position return start RLS Proximity dog FLS Zero point Travel range Hom...

Page 410: ... method Stopper method Limit switch combined method Scale home position signal detection method Dogless home position signal reference method Operation A Operation B Operation C Driver home position return method CAUTION Be sure to set the external limit switch FLS RLS in the upper lower position of machines If the home position return retry function is used without external limit switch servomoto...

Page 411: ... 2147483647 10 1 m 10 5 inch 10 5 degree pulse 0 Speed set at the home position shift The speed at the home position shift is set 0 Home position return speed 1 Creep speed 0 Set the operation speed at the home position shift with speed set at the home position shift Select one of home position return speed or creep speed Home position return direction Home position return speed Zero point Proximi...

Page 412: ...hift The travel speed at the home position shift for the home position return by proximity dog method is shown below Home position shift operation with the home position return speed Home position shift operation with the creep speed Setting range of negative home position shift amount FLS Zero point RLS Home position return direction Address decrease direction Address increase direction Proximity...

Page 413: ...ximity dog method set the travel value after proximity dog ON and home position shift amount within the range of 2147483648 to 2147483647 10 1 m 10 5inch 10 5degree pulse Home position return methods Possible not possible of home position return retry function Proximity dog method Count method Data set method Dog cradle method Stopper method Limit switch combined method Scale home position signal ...

Page 414: ...wer supply is switched on is selected in the function selection C 4 PC17 of servo parameter expansion setting parameter if it does not pass zero point at the servo amplifier power ON the St 1066 Zero pass R M32406 32n Q M2406 20n turns ON When the above parameter is changed control circuit power supply of the servo amplifier is turned OFF to ON after resetting or turning power OFF to ON of Multipl...

Page 415: ... change control conditions The current value change control conditions are shown below Start command of current value change control Leading edge of X0 OFF ON The current value of the specified servo motor axis is changed The address which made the current value change by CHGA instruction is valid on the power supply turning on The feed current value that is restored after the Multiple CPU system ...

Page 416: ...e is not made If the servo of the corresponding axis is not servo on a minor error error code 1901H occurs and the current value change is not made If the corresponding axis is in a servo error a minor error error code 1927H occurs and the current value change is not made Set the current value change program of the command generation axis within the command generation axis program No range set in ...

Page 417: ...eed setting R D35120 2n D35121 2n Q D640 2n D641 2n value while the JOG start command turns on and a deceleration stop is made by the JOG start command OFF Control of acceleration deceleration is based on the data set in JOG operation data JOG operation for axis for which JOG start command is turning on is executed The setting range for Cd 1110 JOG speed setting R D35120 2n D35121 2n Q D640 2n D64...

Page 418: ...celeration by the JOG start command OFF after deceleration stop JOG operation is not executed After that the JOG operation is executed by the JOG start command OFF to ON JOG operation by the JOG start command Rq 1142 Forward JOG start command R M34482 32n Q M3202 20n Rq 1143 Reverse JOG start command R M34483 32n Q M3203 20n is not executed during the test mode using MT Developer2 After release of...

Page 419: ...tart speed 100000 1000 00 mm min JOG start commands Forward JOG start Axis 1 X3 ON Axis 2 X5 ON Reverse JOG start Axis 1 X4 ON Axis 2 X6 ON JOG operation individual start SET M2042 F10 M2415 M2435 G10 D640L K100000 D642L K100000 F20 SET M3202 X3 M3203 RST M3202 X3 SET M3203 X4 M3202 RST M3203 X4 SET M3222 X5 M3223 RST M3222 X5 SET M3223 X6 M3222 RST M3223 X6 F30 P1 P1 Turn on all axes servo ON com...

Page 420: ...eration simultaneous start axis setting register reverse JOG R D35290 to D35293 Q D712 D713 JOG operation by data on JOG operation simultaneous start axis setting register Axis 16 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Axis 32 R D35286 Q D710 R D35287 Q D711 Axis 31 Axis 30...

Page 421: ... of JOG operation is shown below 1 Example of the above Motion SFC program is started using the automatic start or sequence program Item JOG operation conditions Axis No Axis 1 Axis 2 JOG operation speed 150000 150000 JOG operation is executed with the speed of 150000 mm min as the following when the 2 axes simultaneous start switch X0 turns on Simultaneous start SET M2042 F10 RST M2048 F30 G10 M2...

Page 422: ...he high speed counter module for connecting the manual pulse generator is as follows Setting of GX Works3 Set the self Motion CPU as the control CPU in control CPU setting System Parameter I O Assignment Setting Control CPU Setting Setting of MT Developer2 Set the following in the detailed settings of the module R Series Common Parameter Module Configuration List Setting item Detail button If a fa...

Page 423: ...is operated by the manual pulse generator is set in the following manual pulse generator axis setting register The bit corresponding to the axis controlled 1 to 64 is set Cd 1098 Manual pulse generator 1 axis No setting register R D35294 to D35297 Q D714 D715 Cd 1099 Manual pulse generator 2 axis No setting register R D35298 to D35301 Q D716 D717 Cd 1100 Manual pulse generator 3 axis No setting re...

Page 424: ...ula Smoothing time constant t Smoothing magnification 1 56 8 ms The smoothing time constant is within the range of 56 8 to 3408 ms Errors when setting manual pulse operation data Errors details at the data setting for manual pulse generator operation are shown below Manual pulse generator smoothing magnification setting register Setting range Manual pulse generator 1 P1 Cd 1102 Manual pulse genera...

Page 425: ...t and the same manual pulse generator enable flag turns on again during smoothing deceleration after manual pulse generator enable flag turns off a minor error error code 198EH occurs and the manual pulse generator input is not enabled At this time include the start accept flag OFF for specified axis as an interlock condition for turning ON the manual pulse generator enable flag Operating procedur...

Page 426: ...052 Axis 2 OFF P2 R32MT CPU R04 CPU RX40 C7 RY40 NT5P RD62 P2 R61P M AMP M AMP M AMP M AMP Axis 1 Axis 2 Axis 3 Axis 4 Motion CPU control module Manual pulse generator P1 Manual pulse generator P2 Rq 1125 Manual pulse generator1 enable flag M2051 P1 Rq 1126 Manual pulse generator2 enable flag M2052 P2 Manual pulse generator enable flag X0 G20 Manual pulse generator END SET M2042 F10 X0 M2415 M2435...

Page 427: ...n all axes which perform interpolation control When the M code is read at the positioning start completion use the St 1060 Positioning start complete R M32400 32n Q M2400 20n as the reading command When the M code is read at positioning completion use the St 1061 Positioning complete R M32401 32n Q M2401 20n as the read command At the position control or speed control Resetting of M codes M codes ...

Page 428: ...T M2042 0 BCD D53 DOUT Y10 0 SET Y20 After M code storage area for axis 3 is changed into BCD code it is output to Y10 and Y20 turns on M Speed 1000 pulse s M code output 3 Positioning address 200000 pulse 1 2 BCD D53 DOUT Y10 2 SET D53 3 D53 5 D53 5 M2003 END 0 0 1 0 2 0 1 BCD D53 DOUT Y10 1 SET Y21 All axes servo ON command turns on 1 axis continuous trajectory control Stand by until X0 and Axis...

Page 429: ...ompensation amount are added to the position command value but are not added to feed current value When the backlash compensation amount is changed the home position return is required When the home position return is not executed the original backlash compensation amount is not changed Units Setting range mm 0 to 65535 10 1 m inch 0 to 65535 10 5 inch degree 0 to 65535 10 5 degree pulse 0 to 6553...

Page 430: ...ted PLC instruction When the torque limit value is set individually for positive direction and negative direction in the Motion SFC program or Motion dedicated PLC instruction only either one of the positive direction or negative direction may become valid depending on the setting value of servo program Setting method Setting details Setting range Setting units Reference Parameter block Set the to...

Page 431: ... direction torque limit value changed by CHGT 2 The torque limit value is not changed so that 1 is set as the positive direction torque limit value of CHGT Positive direction torque limit value Forward rotation CCW driving torque and reverse rotation CW regenerative torque 0 300 0 300 0 300 0 40 0 30 0 30 0 20 0 40 0 10 0 20 0 40 0 60 0 Torque limit value t 1 2 St 1040 Start accept flag R M30080 n...

Page 432: ...Turn on the Rq 1149 External stop input disable at start command R M34489 32n Q M3209 20n Start the positioning using the next servo program after deceleration stop End Positioning does not start if the STOP signal Rq 1140 Stop command R M34480 32n Q M3200 20n or Rq 1141 Rapid stop command R M34481 32n Q M3201 20n turns on Turn Rq 1149 External stop input disable at start command R M34489 32n Q M3...

Page 433: ...ion selection C B PC29 POL reflection selection at torque control Page 204 Torque command device In the servo amplifier that does not support continuous operation to torque control the operation is the same as when 0 Valid is set in Function selection C B PC29 POL reflection selection at torque control Control mode Control Remark Position control mode Positioning control 1 home position return con...

Page 434: ...peed at control mode switching invalid to switch the control mode without waiting for stop of servo motor Confirm the control mode with control mode b2 b3 of Md 108 Servo status 1 R D32032 48n Q 8010 20n Control mode b2 b3 of Md 108 Servo status 1 R D32032 48n Q 8010 20n Precautions at control mode switching The St 1060 Positioning start complete R M32400 32n Q M2400 20n and St 1061 Positioning co...

Page 435: ...nd speed to servo amplifier immediately after switching from position control mode to speed control mode 0 Command speed The speed to servo amplifier immediately after switching is 0 1 Feedback speed Motor speed received from servo amplifier at switching 2 Automatic selection At control mode switching operation is the same as 0 Command speed t V 0 20000 30000 Position control mode Position control...

Page 436: ...tion control mode the command position immediately after switching is the current feed value at switching The following chart shows the operation timing Torque initial value selection at control mode switching Command torque to servo amplifier immediately after switching from position control mode to torque control mode 0 Command torque Immediately after switching the control mode the value of tor...

Page 437: ... control mode the command speed immediately after switching is the motor speed at switching The following chart shows the operation timing Torque initial value selection at control mode switching Command torque to servo amplifier immediately after switching from speed control mode to torque control mode 0 Command torque Immediately after switching the control mode the value of torque command devic...

Page 438: ...5 Servo status3 R D32034 48n Q 8012 20n When the mode is switched to continuous operation to torque control mode the value in control mode b2 b3 of Md 108 Servo status1 R D32032 48n Q 8010 20n will stay the same before control mode switching Continuous operation to torque control mode b14 of Md 125 Servo status3 R D32034 48n Q 8012 20n Switching operation Switching condition 1 Position control mod...

Page 439: ...ation for Position control mode Continuous operation to torque control mode switching When the mode is switched from position control mode to continuous operation to torque control mode the command torque and command speed immediately after switching are the values set in Torque initial value selection at control mode switching and Speed initial value selection at control mode switching Command to...

Page 440: ...plifier at switching is the torque to servo amplifier Speed initial value selection at control mode switching Command speed to servo amplifier immediately after switching from speed control mode to continuous operation to torque control mode 0 Command speed The speed to servo amplifier immediately after switching is the speed during command 1 Feedback speed Motor speed received from servo amplifie...

Page 441: ...ontrol direction in the speed command device before switching to the speed control mode Change the torque limit value to the lower value by torque limit value change request CHGT before switching to the speed control mode 10000 10000 10 V 1 0 300 0 1000 10000 10000 0 1 0 30 0 Torque 0 Continuous operation to torque control mode Speed control mode Speed control mode 30 Continuous operation to torqu...

Page 442: ... operation is switched to position control mode Invalidate the software stroke limit to execute one way feed Stop cause during speed control mode The operation for stop cause during speed control mode is shown below Item Operation during speed control mode The Rq 1140 Stop command R M34480 32n Q M3200 20n turned ON The motor decelerates to speed 0 by setting value of command speed deceleration tim...

Page 443: ... at torque control mode switching after the torque limit value is changed If the change outside the range of Torque limit value at speed torque control is requested by torque limit value change request a warning error code 0A5EH will occur and the torque limit value is not changed Speed during torque control mode The speed during torque control mode is controlled with the absolute value of value s...

Page 444: ...tus2 R D32033 48n Q 8011 20n turns ON and the operation stops immediately Deceleration processing is not executed The value of command torque is not changed It might take time to reach at the speed 0 depending on the current torque command value The Rq 1141 Rapid stop command R M34481 32n Q M3201 20n turned ON The external stop input turned ON The Rq 1123 All axis servo ON command R M30042 Q M2042...

Page 445: ...ation time toward Speed limit value at speed torque control in Command speed acceleration time and Command speed deceleration time The value when the control mode switching request device turns OFF to ON is valid Command speed during continuous operation to torque control mode is limited with Speed limit value at speed torque control If the speed exceeds speed limit value is commanded a warning er...

Page 446: ...ng torque control mode The Rq 1140 Stop command R M34480 32n Q M3200 20n turned ON The speed limit command value commanded to servo amplifier is 0 regardless of the setting value of Speed command device The mode is switched to position control mode when ZERO speed b3 of Md 1022 Servo status2 R D32033 48n Q 8011 20n turns ON and the operation stops immediately Deceleration processing is not execute...

Page 447: ...ange instructions for acceleration deceleration time change are shown below Control details After setting the acceleration deceleration time change parameter if speed change command is executed the acceleration deceleration time changes The acceleration deceleration time change parameter is set for every axis in Motion Control Parameter Axis Setting Parameter Expansion Parameter of MT Developer2 R...

Page 448: ...lue device Change speed Speed change request CHGV Acceleration time set by servo instruction Deceleration time set by servo instruction When acceleration deceleration time change enable is invalid When acceleration deceleration time change enable is valid Acceleration time set by new acceleration deceleration time value Acceleration deceleration time change enable device New acceleration time valu...

Page 449: ...ation time change function becomes invalid When setting of the acceleration deceleration time change enable device was omitted When setting of new acceleration time value device or new deceleration time value device was omitted When the device set by new acceleration time value device or new deceleration time value device is set to 0 Circular interpolation control including point during CPSTART He...

Page 450: ...deceleration time is changed during speed control in speed position switching VPF VPR control continues at the acceleration deceleration times changed during speed control even after switching from speed to position control To control with the acceleration deceleration time of the start after switching to position control execute speed change again If acceleration deceleration time is changed duri...

Page 451: ... function during automatic deceleration positioning to the set address is completed instantly This can cause vibrations or collisions and depending on the remaining movement amount servo errors such as AL 35 can occur Add St 1048 Automatic decelerating flag R M30208 n Q M2128 n to an interlock condition to so that acceleration deceleration time change is not performed during automatic deceleration...

Page 452: ...ssure control compatible servo amplifiers are shown in the table below Pressure control is not supported when control unit is degree If the control unit is set to degree and the pressure control parameters are enabled a moderate error error code 30F7H occurs Up to 8 axes can be controlled with pressure control When the number of axes set for pressure control exceeds 8 axes a moderate error error c...

Page 453: ...ed 2 Wire the load cell servo amplifier output to the analog input For more details about MR J4 B LL please consult your local Mitsubishi representative R64MTCPU 2 lines Up to 64 axes up to 32 axes per line R32MTCPU 2 lines Up to 32 axes up to 16 axes per line R16MTCPU 1 line Up to 16 axes Of the axes being used up to 8 axes may be MR J4 B LL SSCNET cable MR J3BUS M A B Servo amplifier MR J4 W B S...

Page 454: ...peed zero setting When in feed dwell operation and a switching point is set to speed 0 a deceleration stop from that point is made Ex When V4 0 a deceleration stop from S4 is made Precautions for when backlash compensation is conducted on a pressure control axis Determining rotation direction at the command level is difficult Therefore the real current value and the feed current value at the time ...

Page 455: ...to the devices on or after the pressure profile start device set in the pressure control data Setting with MT Developer2 Write the devices in the pressure profile test of MT Developer2 Refer to the following for details of operation method Help of MT Developer2 Online Pressure profile test The profile data set in the pressure profile test is not saved to the project In order to enable profile data...

Page 456: ...d time constant Set the pressurization depressurization time for the pressure command Set the time taken for pressure command to reach the pressure command reference from 0 0 to 8388608 ms 11 12 Step No 1 Switching address S1 Set the switching address of the speed setting pressure for feed operation Cannot be changed while running 2147483648 to 2147483647 13 14 Switching speed V1 Set the speed lim...

Page 457: ...of steps Set the number of steps for dwell data Set the data for the set number of steps 1 to 16 173 Mode selection Set the dwell operation mode The time constant is valid for the speed limit value 0 The time constant is valid for the second step and after 1 The time constant is invalid and pressure command points for the second step and after are connected with a straight line 174 Step No 1 Set t...

Page 458: ...ot necessary 0 to 999999 ms 325 326 Set speed V16 mm 0 to 600000000 inch 0 to 600000000 pulse 0 to 2147483647 327 328 Set pressure PR16 0 to 32767 329 330 Unusable 0 331 332 333 334 Pressure release data End address SE2 Set the final intended position in pressure release operation Cannot be changed during pressure release operation 2147483648 to 2147483647 335 336 Start speed V0 Set the start spee...

Page 459: ...time constant can be made invalid for the pressure command of the second step of dwell data and after and the operation can connect steps with a straight line When the Pressure increasing direction selection for positioning address of the servo parameter Pressure control function selection 1 PT12 is set to 0 Increase pressure with the decrease of positioning address or for servo amplifiers that do...

Page 460: ...d dwell b0 does not turn ON and a minor error error code 19E1H occurs When the required setting values are changed to values outside the range during pressure control the setting values are ignored operation continues with the present setting values and a warning error code 09E3H occurs Abnormal pressure switching forcibly switches from feed mode to dwell mode when the time in an abnormal state ex...

Page 461: ...during pressure release operation Feed dwell operation cannot be executed during pressure release operation When the required setting values at the startup of pressure release operation are outside the range the pressure control status device pressure release b3 does not turn ON and a minor error error code 19E1H occurs When the required setting values are changed to values outside the range durin...

Page 462: ...it value therefore it is not true pressure control When the load cell pressure overshoots at the switching point make the feed to dwell switching speed limit value time constant longer To make operation smooth make the speed limit value time constant and pressure command time constant longer When the motor speed at the start of operation does not reach the set speed make the first step of pressure...

Page 463: ...n Q M3200 20n turned ON The speed limit command value commanded to servo amplifier is 0 regardless of the setting value of speed limit value The mode is switched to position control mode when ZERO speed b3 of Md 1022 Servo status2 R D32033 48n Q 8011 20n turns ON and the operation stops immediately Deceleration processing is not executed The Rq 1141 Rapid stop command R M34481 32n Q M3201 20n turn...

Page 464: ...0 Override Data Refer to the following for details of the command generation axis parameter MELSEC iQ R Motion Controller Programming Manual Advanced Synchronous Control Set the value of the override ratio to the device set as the override ratio setting device Control mode Servo instruction Usable unusable Servo axis Command generation axis Linear control Circular interpolation control Helical int...

Page 465: ...9812 20n turn ON In this case an event history is recorded When the speed after program command speed override ratio exceeds the speed limit value the feed speed is clamped at the speed limit value and a warning error code 0991H occurs For machine control a warning error code 0EE0H details code 00F3H occurs When the speed after program command speed override ratio is less than bias speed at start ...

Page 466: ...n the speed after speed change request CHGV speed override ratio is less than bias speed at start a warning error code 0A5DH occurs and speed is not changed For continuous trajectory control speed change request CHGV speed command speed in servo program is permitted For continuous trajectory control where override is not used the command speed in servo program cannot not be exceeded For continuous...

Page 467: ...lse 10000 pulse s K 3 INC 1 Axis Travel value Speed 1 100000 pulse 10000 pulse s OFF ON St 1049 Speed change 0 accepting flag R M30272 n Q M2240 n Servo program No 2 Servo program No 3 Servo program No 1 3000 250 0 1500 500 1 When running speed change starts from the position where override ratio was changed 2 When override ratio is set to 0 just as when speed is changed to 0 a deceleration stop i...

Page 468: ...INC 1 Axis Travel value INC 1 Axis Travel value Speed CPEND 1 20000 pulse s 1 50000 pulse 1 80000 pulse 40000 pulse s Servo program Operation timing 1st point 2nd point 500 1 When speed change request CHGV is executed speed is changed to speed change request CHGV override ratio During continuous trajectory control speed can be changed to a speed that exceeds the command speed of each point 2 Speed...

Page 469: ...ession command filter 1 and vibration suppression command filter 2 and change mode selection device in vibration suppression command filter 1 and Vibration suppression command filter 2 from 0 Invalid to the filter method to be set 1 Smoothing filter 2 FIR filter 3 IIR filter Smoothing filter and FIR filter can be set to vibration suppression command filter 1 When changing settings such as the filt...

Page 470: ...e effect of the filter is too small make the depth larger IIR filter The IIR filter removes only the specified frequencies for position control Although the delay time changes depending on the pattern acceleration deceleration times are extended 1 frequency s to approximately 1 1 5 frequency For the IIR filter the frequency value can also be changed during positioning operation However if the freq...

Page 471: ...en stop signal turns ON during acceleration Measuring vibration With the filter invalid measure the vibration cycle with the vibration of the deviation counter occurring after command stop after command speed 0 or the value of the external acceleration sensor signal with a graph function MR Configurator2 etc and set that frequency The frequency can be analyzed by using the FFT analyzer function of...

Page 472: ...tion device of vibration suppression command filter 1 Md 20 Feed current value R D32000 48n D32001 48n Q D0 20n D1 20n is updated with the value before filter and St 1040 Start accept flag R M30080 n Q M2001 n St 1061 Positioning complete R M32401 32n Q M2401 20n and St 1063 Command in position R M32403 32n Q M2403 20n operate based on Md 20 Feed current value R D32000 48n D32001 48n Q D0 20n D1 2...

Page 473: ...d 1 Smoothing filter 0 Invalid OFF ON OFF ON St 1040 Start accept flag R M30080 n Q M2001 n St 1061 Positioning complete R M32401 32n Q M2401 20n OFF ON OFF ON St 1063 Command in position R M32403 32n Q M2403 20n Command output complete signal after filter 0 20 0Hz Vibration suppression command filter frequency Vibration suppression command filter mode selection device Command in position set valu...

Page 474: ...s mode selection device frequency depth are changed with the filter operation not settled the values are discontinued in the middle of operation which causes the feed current value and feed current value after filter to misalign When changing the setting values for vibration suppression command filter 1 after checking that the operation pattern before filter is complete with St 1061 Positioning co...

Page 475: ...ioning control in the Multiple CPU system is shown below Motion operation cycle ms Default The following shows the operation cycles of the Motion CPU Motion CPU No of set axes Operation cycle ms R64MTCPU 1 to 2 0 222 3 to 8 0 444 9 to 20 0 888 21 to 38 1 777 39 to 64 3 555 R32MTCPU 1 to 2 0 222 3 to 8 0 444 9 to 20 0 888 21 to 32 1 777 R16MTCPU 1 to 2 0 222 3 to 8 0 444 9 to 16 0 888 ...

Page 476: ... 3 109 to 4 886 4 887 to 8 442 11 998 to 19 109 Dedicated instruction M P CHGV from the PLC CPU 0 666 to 0 888 1 110 to 1 554 1 998 to 2 886 2 887 to 4 664 4 665 to 8 220 11 776 to 18 887 Command generation axis speed change processing time Instruction CHGVS from the Motion SFC 0 444 to 0 888 0 888 to 1 332 1 776 to 2 664 2 665 to 4 442 4 443 to 7 998 7 999 to 15 110 Dedicated instruction D P CHGV...

Page 477: ...APPENDICES Appendix 1 Processing Times of the Motion CPU 475 A MEMO ...

Page 478: ...AFETY PRECAUTIONS INTRODUCTION RELEVANT MANUALS TERMS MANUAL PAGE ORGANIZATION Section 1 1 2 2 1 2 2 2 3 3 1 3 3 3 4 3 6 3 7 3 11 3 13 4 3 4 4 5 1 5 15 5 16 5 17 5 21 5 22 6 1 6 2 7 1 7 3 7 4 7 5 7 6 7 7 7 8 7 9 Appendix 1 WARRANTY June 2016 IB NA 0300241 E Added functions Home position return by data set method 3 Added or modified parts SAFETY PRECAUTIONS INTRODUCTION Section 2 1 2 2 3 4 5 1 5 21...

Page 479: ...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 480: ...Server Windows Vista and Windows XP are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries 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 IB NA 0300241 H ...

Page 481: ......

Page 482: ...thout 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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