Mitsubishi Electric MELSEC-L LD75D User Manual Download Page 549

Page: 549 / 818

547

CHAPTER 12 CONTROL SUB FUNCTIONS

12.
5

unct

ions
t

o C
hange t

he C

ont
rol
Det
ails

(c) Add the following program to the control program, and write it to the CPU module.

—

Example

No.14 Speed change program

Summary of Contents for MELSEC-L LD75D

Page 1: ...MELSEC L LD75P LD75D Positioning Module User s Manual LD75P1 LD75P2 LD75P4 LD75D1 LD75D2 LD75D4 ...

Page 2: ......

Page 3: ...ck circuits for conflicting operations such as forward reverse rotations or upper lower limit positioning must be configured external to the programmable controller 2 Machine OPR Original Point Return is controlled by two kinds of data an OPR direction and an OPR speed Deceleration starts when the near point dog signal turns on If an incorrect OPR direction is set motion control may continue witho...

Page 4: ...mmunication cables together with the main circuit lines or power cables Keep a distance of 100mm or more between them Failure to do so may result in malfunction due to noise WARNING Shut off the external power supply all phases used in the system before mounting or removing a module Failure to do so may result in electric shock or cause the module to fail or malfunction CAUTION Use the programmabl...

Page 5: ... a duct or clamp them If not dangling cable may swing or inadvertently be pulled resulting in damage to the module or cables or malfunction due to poor contact When disconnecting the cable from the module do not pull the cable by the cable part For the cable with connector hold the connector part of the cable Pulling the cable connected to the module may result in malfunction or damage to the modu...

Page 6: ...sting the operation set a low speed value for the speed limit parameter so that the operation can be stopped immediately upon occurrence of a hazardous condition Before handling the module touch a conducting object such as a grounded metal to discharge the static electricity from the human body Failure to do so may cause the module to fail or malfunction CAUTION When changing data and operating st...

Page 7: ...e of the PRODUCT in Nuclear Power Plants and any other power plants operated by Power companies and or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT Railway companies or Public service purposes and or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User Aircraft or Aerospace Medic...

Page 8: ...s manual to an actual system ensure the applicability and confirm that it will not cause system control problems Please make sure that the end users read this manual Unless otherwise specified this manual describes the program examples in which the I O numbers of X Y00 to X Y1F are assigned for an L series positioning module I O numbers must be assigned to apply the program examples introduced in ...

Page 9: ...r to one of the following manuals MELSEC L CPU Module User s Manual Hardware Design Maintenance and Inspection MELSEC L CC Link IE Field Network Head Module User s Manual Safety Guidelines This manual is included with the CPU module or head module The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives 2 For the product To ensure that this pr...

Page 10: ...ubleshooting of the head module Sold separately MELSEC Q CC Link IE Field Network Master Local Module User s Manual SH 080917ENG 13JZ47 Overview of the CC Link IE Field Network and specifications procedures before operation system configuration installation settings functions programming and troubleshooting of the CC Link IE Field Network master local module Sold separately Manual name manual numb...

Page 11: ...9 Memo ...

Page 12: ...estrictions on Using a Stepping Motor 43 CHAPTER 2 SYSTEM CONFIGURATION 44 2 1 General Image of System 44 2 2 Configuration List 47 2 3 Applicable System 48 2 4 Checking Serial Number and Function Version 48 2 5 Restrictions When the LD75 Is Connected to Head Module 48 CHAPTER 3 SPECIFICATIONS AND FUNCTIONS 49 3 1 Performance Specifications 49 3 2 List of Functions 51 3 2 1 LD75 control functions ...

Page 13: ...intenance precautions 92 4 5 2 Disposal precautions 92 CHAPTER 5 DATA USED FOR POSITIONING CONTROL 93 5 1 Types of Data 93 5 1 1 Parameters and data required for control 93 5 1 2 Setting items for positioning parameters 96 5 1 3 Setting items for OPR parameters 108 5 1 4 Setting items for positioning data 109 5 1 5 Setting items for block start data 112 5 1 6 Setting items for condition data 113 5...

Page 14: ... 5 5 Restart program 298 6 5 6 Stop program 301 CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS 305 7 1 Configuration and Roles of LD75 Memory 305 7 1 1 Configuration and roles of LD75 memory 305 7 1 2 Buffer memory area configuration 307 7 2 Data Transmission Process 308 PART 2 CONTROL DETAILS AND SETTING CHAPTER 8 OPR CONTROL 316 8 1 Outline of OPR Control 316 8 1 1 Two types of OPR control 316 ...

Page 15: ...lar interpolation control with center point designation 395 9 2 12 3 axis helical interpolation control with sub point designation 402 9 2 13 3 axis helical interpolation control with center point designation 408 9 2 14 1 axis speed control 416 9 2 15 2 axis speed control 419 9 2 16 3 axis speed control 422 9 2 17 4 axis speed control 425 9 2 18 Speed position switching control INC mode 428 9 2 19...

Page 16: ...of inching operation 491 11 3 2 Inching operation execution procedure 494 11 3 3 Setting the required parameters for inching operation 495 11 3 4 Creating a program to enable disable the inching operation 496 11 3 5 Inching operation example 498 11 4 Manual Pulse Generator Operation 499 11 4 1 Outline of manual pulse generator operation 499 11 4 2 Manual pulse generator operation execution procedu...

Page 17: ...7 9 Stop command processing for deceleration stop function 606 CHAPTER 13 COMMON FUNCTIONS 609 13 1 Outline of Common Functions 609 13 2 Parameter Initialization Function 610 13 3 Execution Data Backup Function 612 13 4 External I O Signal Logic Switching Function 614 13 5 External I O Signal Monitor Function 615 13 6 History Monitor Function 616 13 7 Module Error Collection Function 618 CHAPTER 1...

Page 18: ...tured by Panasonic Corporation 731 Appendix 4 4 Connection examples with servo amplifiers manufactured by SANYO DENKI Co Ltd 733 Appendix 4 5 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation 734 Appendix 5 Differences with Q Series 735 Appendix 6 When Using GX Works2 737 Appendix 6 1 Adding a module 738 Appendix 6 2 Parameter setting 739 Appendix 6 3 Setting a...

Page 19: ...ing codes are represented in decimal X Y devices are represented in hexadecimal Setting data and monitor data are represented in decimal or hexadecimal Data ended by H are represented in hexadecimal Ex 10 Decimal 10H Hexadecimal Symbol Description Reference Pr Symbol indicating positioning parameter and OPR parameter item Page 93 CHAPTER 5 Da Symbol indicating positioning data block start data and...

Page 20: ...itioning module LD75P1 LD75P2 LD75P4 Intelligent function module A MELSEC Q L series module that has functions other than input or output such as A D converter module and D A converter module Drive unit servo amplifier A unit used to amplify the power and control the motor in the operation by the positioning function since the signals such as pulses that are output from the positioning function of...

Page 21: ...wing items are included in the package of this product Before use check that all the items are included 1 LD75P1 2 LD75P2 3 LD75P4 LD75P1 Before Using the Product LD75P2 Before Using the Product LD75P4 Before Using the Product ...

Page 22: ...20 4 LD75D1 5 LD75D2 6 LD75D4 LD75D1 Before Using the Product LD75D2 Before Using the Product LD75D4 Before Using the Product ...

Page 23: ...ODUCT OUTLINE 22 CHAPTER 2 SYSTEM CONFIGURATION 44 CHAPTER 3 SPECIFICATIONS AND FUNCTIONS 49 CHAPTER 4 INSTALLATION WIRING AND MAINTENANCE OF PRODUCT 79 CHAPTER 5 DATA USED FOR POSITIONING CONTROL 93 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 235 CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS 305 ...

Page 24: ...hich are required for any positioning system and the sub functions which limit and add functions to those controls are supported a Enhanced OPR control Additional features of OPR control OPR retry function b Wide variety of control methods Twenty kinds of positioning controls such as position control speed control speed position switching control position speed switching control and other controls...

Page 25: ...hanced in the LD75 a Data retention without battery Data such as the positioning data and parameters can be stored in the flash ROM inside the LD75 This feature allows the module to retain the data without a battery b Module error collection function Like the QD75 the LD75 stores 16 error logs Also the LD75 notifies error details to the CPU module when an error occurs Storing the error information...

Page 26: ...ositioned with the Y axis servo and is then punched with the press When the material type or shape changes the press head die is changed and the positioning pattern is changed 2 Palletizer Using the servo for one axis the palletizer is positioned at a high accuracy The amount to lower the palletizer according to the material thickness is saved LD75 15m min 1875r min Press punching 12s 15m min 2000...

Page 27: ...wn positioning of the lifter is carried out with the 1 axis servo and the horizontal position of the aging rack is positioned with the 2 axis servo Servomotor Servo amplifier Coupling Reduction gears Positioning pin ATC tool magazine Tool 12 pcs 20 pcs Rotation direction for calling 11 12 1 2 or 3 No of tools 20 No of tools 12 LD75 Current value retrieval position Current value retrieval position ...

Page 28: ...and the rotation of the grinding stone is controlled with the 2 axis inverter The workpiece is fed and ground with the 3 axis servo LD75 Digital switch Index table Worm gears Detector Servomotor Servo amplifier LD75 Servomotor Motor Workpiece Grinding stone Motor Inverter Inverter Servo amplifier 220VAC 60Hz Operation panel Fix the grinding stone feed the workpiece and grind a Total feed amount m ...

Page 29: ... detected Creates control order and conditions as a program Sets the parameters and positioning data for control Outputs the start command for JOG operation etc during test operation with the test function Monitors the positioning operation Outputs signals such as the start signal stop signal limit signal and control changeover signal to the LD75 External signal Manual pulse generator Issues comma...

Page 30: ...or positioning or speed control the speed must be controlled as well The speed is determined by the frequency of pulses sent from the LD75 to the drive unit The LD75 controls the position with the total No of pulses and the speed with the pulse frequency Total No of pulses required to move designated distance Designated distance Movement amount of machine load side when motor rotates once No of pu...

Page 31: ...es are fed back to the drive unit and decrements the pulse droop the pulse count maintained by the deviation counter The motor keeps on rotating as the pulse droop is maintained at a certain level 3 When the LD75 terminates the output of a pulse train the motor decelerates as the pulse droop decreases and stops when the count drops to zero Thus the motor rotation speed is proportionate to the puls...

Page 32: ...equency and the actual deceleration and stopping of the motor This difference called the stop settling time is required for gaining a stopping accuracy 2 Movement amount and speed in a system using worm gears A Movement amount per pulse mm pulse Vs Command pulse frequency pulse s n Pulse encoder resolution pulse rev L Worm gear lead mm rev R Deceleration ratio V Movable section speed mm s N Motor ...

Page 33: ...leration time positioning speed and positioning address are correctly set in consideration of the chosen unit the LD75 can calculate the number of pulses required for a movement amount to the target positioning address and execute the positioning by outputting a pulse train that includes the calculated number of pulses Movement amount per pulse The movement amount per pulse is determined by the wo...

Page 34: ...on prohibition flag PLC CPU PLC READY signal LD75 READY signal Syncronization flag Forward run JOG start signal Reverse run JOG start signal Positioning start signal Positioning complete signal BUSY signal Start complete signal Axis stop signal M code ON signal Error detection signal Data write read Positioning data write read Block start data write read OPR operation test JOG Inching operation te...

Page 35: ...tart signals Stop signal Data read write Parameter Positioning data Block start data Control data Monitor data Parameter Positioning data Block start data Control data Communication Direction LD75 GX Works2 GX Works2 LD75 Data read write Parameter Positioning data Block start data Parameter Positioning data Block start data Test operation OPR control start command Positioning control start command...

Page 36: ...e LD75 and external signal communicate the following data via the external device connection connector Communication Direction LD75 Manual pulse generator Manual pulse generator LD75 Pulse signal Manual pulse generator A phase Manual pulse generator B phase Communication Direction LD75 External signal External signal LD75 Control signal Signals from detector Near point dog signal Upper lower limit...

Page 37: ...stand the functions and performance and determine the positioning operation method system design Installation wiring Creation of program for operation Writing of setting data Monitoring and debugging of operation program Writing of program Actual operation Design Preparation Operation Setting of the Parameters Positioning data Block start data Condition data GX Works2 GX Configurator QP GX Works2 ...

Page 38: ...GX Works2 Version 1 Operating Manual Common 6 Using GX Works2 write the created program into the CPU module When not setting using GX Works2 also write in the program for setting data Page 305 CHAPTER 7 GX Works2 Version 1 Operating Manual Common 7 Carry out test operation and adjustments in the test function to check the connection with the LD75 and external connection device and to confirm that ...

Page 39: ... manual pulse generator enable flag to 1 Operation Stop Da 1 Da 10 to Da 11 Da 19 to Major positioning control High level posicontrol Fast OPR control Inching operation Positioning parameters OPR parameters Positioning data Block start data Pr 150 Set the JOG speed Set the inching movement amount to other than 0 Cd 16 Cd 16 Cd 21 Cd 20 Set the inching movement amount to 0 Set the manual pulse gene...

Page 40: ...ng main function and the sub functions that need to be set beforehand Create a program for setting data Create a program for executing main function Create a program for outputting control signals such as start signal to LD75 Speed change Current value changing Torque limit Restart etc Create a program for the sub functions Set with GX Works2 When set with GX Works2 this does not need to be create...

Page 41: ...is operation status Md 26 after stopping Stop process Machine OPR control Fast OPR control Forced stop Drive unit READY signal OFF Each axis No change Error Immediate stop Fatal stop Stop group 1 Hardware stroke limit upper lower limit error occurrence Each axis No change Error Deceleration stop sudden stop Select with Pr 37 Stop group 1 sudden stop selection Emergency stop Stop group 2 CPU module...

Page 42: ...p using a stop button on the positioning test dialog box when using the positioning test function of GX Works2 Stop cause Stop axis M code ON signal after stop Axis operation status Md 26 after stopping Stop process Major positioning control High level positioning control Forced stop Drive unit READY signal OFF Each axis No change Error Immediate stop Fatal stop Stop group 1 Hardware stroke limit ...

Page 43: ...e Each axis No change Error Deceleration stop sudden stop Select with Pr 37 Stop group 1 sudden stop selection Deceleration stop Emergency stop Stop group 2 CPU module error occurrence All axes No change Error Deceleration stop sudden stop Select with Pr 38 Stop group 2 sudden stop selection Deceleration stop PLC READY signal OFF Turns OFF Error in test function No change Relatively safe stop Stop...

Page 44: ...start operation when the axis 1 movement amount is 300 and the axis 2 movement amount is 600 is shown below 2 Reference If the positioning start signal Y10 to Y13 external command signal 1 is turned ON while the Md 26 Axis operation status is Standby or Stopped positioning will be restarted from the start of the positioning start data regardless of the absolute system or incremental system Same as...

Page 45: ...and 3 axis helical interpolation control cannot be used for an axis where a stepping motor is connected Although setting the bias speed at start is required by the characteristics of the stepping motor the setting of the bias speed at start is disabled for circular interpolation control Ensure to use a servomotor for all axes where interpolation controls are carried out when the circular interpola...

Page 46: ...IGURATION 2 1 General Image of System The general image of the system including the LD75 CPU module and peripheral devices is shown below Refer to Page 47 Section 2 2 and Page 48 Section 2 3 for the devices in the illustration ...

Page 47: ...45 CHAPTER 2 SYSTEM CONFIGURATION 2 2 1 General Image of System 1 When connected to a CPU module ...

Page 48: ...onnected to a head module Power supply module Head module LD75P4 END cover Manual pulse generator Drive unit GX Works2 Machine system inputs switches Near point dog Limit switch External command signal Stop signal ...

Page 49: ...5 Ethernet cable Prepared by user An Ethernet cable is needed for connecting the CPU module with a personal computer 6 Drive unit Prepared by user 7 Manual pulse generator Prepared by user Recommended MR HDP01 Mitsubishi Electric Item Specifications Model name MR HDP01 Pulse resolution 25pulse rev 100 pulse rev after magnification by 4 Output method Voltage output power supply voltage 1V or more O...

Page 50: ...r refer to the following MELSEC L CC Link IE Field Network Head Module User s Manual 2 Applicable software versions For the applicable software versions refer to the following MELSEC L CPU Module User s Manual Hardware Design Maintenance and Inspection MELSEC L CC Link IE Field Network Head Module User s Manual 2 4 Checking Serial Number and Function Version For how to check the serial number and ...

Page 51: ...osition switching control Incremental system absolute system 2 Position speed switching control Incremental system Path control Incremental system absolute system Positioning range In absolute system 214748364 8 to 214748364 7 m 21474 83648 to 21474 83647 inch 0 to 359 99999 degree 2147483648 to 2147483647 pulse In incremental system 214748364 8 to 214748364 7 m 21474 83648 to 21474 83647 inch 214...

Page 52: ...peed 1 7ms 3 axis helical interpolation control 2 6ms 3 axis speed control 1 7ms 4 axis linear interpolation control 1 8ms 4 axis speed control 1 8ms Factors in starting time extension The following times will be added to the starting time in the described conditions S curve acceleration deceleration is selected 0 1ms Other axis is in operation 0 5ms During continuous positioning control 0 3ms Dur...

Page 53: ... and with this whether to carry out control with continuous positioning data ex positioning data No 1 No 2 No 3 can be set Page 339 CHAPTER 9 c High level positioning control This control executes the positioning data stored in the LD75 using the block start data The following types of applied positioning control can be carried out Random blocks handling several continuing positioning data items a...

Page 54: ...on Stop command processing for deceleration stop function Output timing selection of near pass control Major positioning control Control using Positioning data Control system Operation pattern High level positioning control Block start data Block start Normal start Condition start Wait start Simultaneous start Repeated start FOR loop Repeated start FOR condition Multiple axes simultaneous start co...

Page 55: ...r point Page 391 Section 9 2 10 Page 395 Section 9 2 11 3 axis helical interpolation control Positions a target using a helical path to a position specified with the address movement amount sub point or center point set in the positioning data Page 402 Section 9 2 12 Page 408 Section 9 2 13 Speed control Speed control 1 axis speed control 2 axis speed control 3 axis speed control 4 axis speed cont...

Page 56: ...h the FOR condition to the block start data set in NEXT until the conditions set in the condition data are established Page 468 Section 10 3 7 Multiple axes simultaneous start control Starts the operation of multiple axes simultaneously according to the pulse output level Positioning start No 9004 same as the simultaneous start above Page 473 Section 10 5 Manual control JOG operation Outputs a pul...

Page 57: ...ring the execution of the next positioning data Page 527 Section 12 3 4 Functions that limit control Speed limit function If the command speed exceeds Pr 8 Speed limit value during control this function limits the commanded speed to within the Pr 8 Speed limit value setting range Page 530 Section 12 4 1 Torque limit function 2 If the torque generated by the servomotor exceeds Pr 17 Torque limit se...

Page 58: ...s function stores the address positioned with manual control into the positioning address having the designated positioning data No Cd 39 Page 586 Section 12 7 4 Command in position function At each automatic deceleration this function calculates the remaining distance for the LD75 to reach the positioning stop position When the value is less than the set value the command in position flag is set ...

Page 59: ...al logic switching function This function switches I O signal logic according to externally connected devices This function enables the use of the system that does not use b N C contact signals such as Drive unit READY or Upper lower limit signal by setting parameters to positive logic Page 614 Section 13 4 External I O signal monitor function This function monitors the external I O signal monitor...

Page 60: ...ition control 1 axis linear control 2 3 or 4 axis linear interpolation control 1 axis fixed feed control Continuous path control cannot be set 2 3 or 4 axis fixed feed control interpolation Continuous path control cannot be set 2 axis circular interpolation control 3 axis helical interpolation control Speed control 1 to 4 axis Only independent positioning control can be set Speed position switchin...

Page 61: ...PR retry function OPR retry function OP shift function OPR control Machine OPR control Fast OPR control Major positioning control Position control 1 axis linear control 2 3 or 4 axis linear interpolation control 1 axis fixed feed control 2 3 or 4 axis fixed feed control interpolation 2 axis circular interpolation control 3 axis helical interpolation control Speed control 1 to 4 axis Speed position...

Page 62: ...near pass control OPR control Machine OPR control 1 Fast OPR control Major positioning control Position control 1 axis linear control 2 3 or 4 axis linear interpolation control 1 axis fixed feed control 2 3 or 4 axis fixed feed control interpolation 2 axis circular interpolation control 3 axis helical interpolation control Speed control 1 to 4 axis Speed position switching control Position speed s...

Page 63: ...ine OPR control Fast OPR control Major positioning control Position control 1 axis linear control 2 3 or 4 axis linear interpolation control 1 axis fixed feed control 2 3 or 4 axis fixed feed control interpolation 2 axis circular interpolation control 3 axis helical interpolation control Speed control 1 to 4 axis Speed position switching control Position speed switching control Other control Curre...

Page 64: ...change function Torque change function OPR control Machine OPR control 1 1 1 Fast OPR control Major positioning control Position control 1 axis linear control 2 3 or 4 axis linear interpolation control 1 axis fixed feed control 2 3 or 4 axis fixed feed control interpolation 2 axis circular interpolation control 3 axis helical interpolation control Speed control 1 to 4 axis Speed position switching...

Page 65: ...e output function Teaching function OPR control Machine OPR control Fast OPR control Major positioning control Position control 1 axis linear control 2 3 or 4 axis linear interpolation control 1 axis fixed feed control 2 3 or 4 axis fixed feed control interpolation 2 axis circular interpolation control 3 axis helical interpolation control Speed control 1 to 4 axis Speed position switching control ...

Page 66: ...unction Acceleration dece leration process function Pre reading start function OPR control Machine OPR control Fast OPR control Major positioning control Position control 1 axis linear control 1 2 3 or 4 axis linear interpolation control 1 axis fixed feed control 2 3 or 4 axis fixed feed control interpolation 2 axis circular interpolation control 3 axis helical interpolation control Speed control ...

Page 67: ...ommand processing for deceleration stop function OPR control Machine OPR control Fast OPR control Major positioning control Position control 1 axis linear control 2 3 or 4 axis linear interpolation control 1 1 axis fixed feed control 2 3 or 4 axis fixed feed control interpolation 1 2 axis circular interpolation control 3 axis helical interpolation control Speed control 1 to 4 axis Speed position s...

Page 68: ...l name Device No Signal name X0 LD75 READY Y0 PLC READY X1 Synchronization flag Y1 Use prohibited X2 Use prohibited Y2 X3 Y3 X4 Axis 1 M code ON Y4 Axis 1 Axis stop X5 Axis 2 Y5 Axis 2 X6 Axis 3 Y6 Axis 3 X7 Axis 4 Y7 Axis 4 X8 Axis 1 Error detection Y8 Axis 1 Forward run JOG start X9 Axis 2 Y9 Axis 1 Reverse run JOG start XA Axis 3 YA Axis 2 Forward run JOG start XB Axis 4 YB Axis 2 Reverse run J...

Page 69: ... the M code is ON the error M CODE ON SIGNAL START error code 536 will occur X8 X9 XA XB Axis 1 Axis 2 Axis 3 Axis 4 Error detection OFF No error ON Error occurrence This signal turns ON when an error listed in Page 647 Section 15 4 and turns OFF when the error is reset on Cd 5 Axis error rest XC XD XE XF Axis 1 Axis 2 Axis 3 Axis 4 BUSY 1 OFF Not BUSY ON BUSY This signal turns ON at the start of ...

Page 70: ... When the axis stop signal turns ON the OPR control positioning control JOG operation inching operation and manual pulse generator operation will stop By turning the axis stop signal ON during positioning operation the positioning operation will be stopped Whether to decelerate or suddenly stop can be selected with Pr 39 Stop group 3 sudden stop selection During interpolation control of the positi...

Page 71: ...ox 620 1ms or less 24VDC 5mA 12 to 26 4VDC 10VDC or more 3mA or more 3VDC or less 0 2mA or less Approx 4 7k 1ms or less Differential receiver equivalent to AM26LS32 ON OFF level ON 1 8V or more OFF 0 6V or less Manual pulse generator A phase PULSER A Manual pulse generator B phase PULSER B 5VDC 5mA 4 5 to 6 1VDC 2 5VDC or more 2mA or more 1VDC or less 0 1mA or less Approx 1 1k 1ms or less Pulse wi...

Page 72: ...nt inrush current Max voltage drop at ON Leakage current at OFF Response time Deviation counter clear CLEAR 5 to 24VDC 4 75 to 30VDC 0 1A 1 point 0 4A 10ms or less 1VDC TYP 2 5VDC MAX 0 1mA or less 2ms or less resistance load LD75P Pulse output F PULSE F Pulse output R PULSE R 5 to 24VDC 4 75 to 30VDC 50mA 1 point 200mA 10ms or less 0 5VDC TYP 0 1mA or less LD75D Pulse output F PULSE F Pulse outpu...

Page 73: ...o Low The voltage of a terminal having the differential driver common terminal as a reference is shown Page 78 Section 3 4 4 3 For the differential driver common terminal refer to Page 89 Section 4 3 2 Pr 5 Pulse output mode 1 Terminal name Pr 23 Output signal logic selection bit0 Positive logic Negative logic Forward run Reverse run Forward run Reverse run PULSE SIGN PULSE F CW CCW A phase B phas...

Page 74: ...PULSE SIGN Negative logic Negative logic Positive logic Positive logic A phase B phase Negative logic Negative logic Negative logic Positive logic Positive logic Negative logic Positive logic Positive logic Pr 5 Pulse output mode LD75D Pr 23 Output signal logic selection bit0 Servo amplifier Logic of MR J3 A servo amplifier CW CCW Negative logic Positive logic Positive logic Negative logic PULSE S...

Page 75: ...3 PULSE R PULSE R 2A17 3 PULSE R PULSE R 1B17 3 PULSE R PULSE R 1A17 3 PULSE R PULSE R 2B16 3 PULSE COM PULSE F 2A16 3 PULSE COM PULSE F 1B16 3 PULSE COM PULSE F 1A16 3 PULSE COM PULSE F 2B15 3 PULSE F PULSE F 2A15 3 PULSE F PULSE F 1B15 3 PULSE F PULSE F 1A15 3 PULSE F PULSE F 2B14 CLRCOM 2A14 CLRCOM 1B14 CLRCOM 1A14 CLRCOM 2B13 CLEAR 2A13 CLEAR 1B13 CLEAR 1A13 CLEAR 2B12 RDYCOM 2A12 RDYCOM 1B12 ...

Page 76: ...he positioning pulses and pulse sign for the open collector output system compatible drive unit LD75P only Pulse output R PULSE R Pulse output R common PULSE COM 1A17 1A18 1B17 1B18 2A17 2A18 2B17 2B18 Upper limit signal FLS 1A1 1B1 2A1 2B1 This signal is input from the limit switch installed at the upper limit position of the stroke Positioning will stop when this signal turns OFF When OPR retry ...

Page 77: ... Deviation counter clear CLEAR 1A13 1B13 2A13 2B13 This signal is output during machine OPR Note that it is not output during the count method 2 Example When machine OPR is carried out in the stopper 2 method The output time of the deviation counter clear signal is set in Pr 55 Deviation counter clear signal output time Use the drive unit that can reset the droop pulse amount in the internal devia...

Page 78: ...mmon COM External wiring Pin No Internal circuit Signal name Need for wiring 1 1A3 Near point dog signal DOG S L F l a n g i s t i m i l r e p p U 1 A 1 1A2 Lower limit signal RLS P O T S l a n g i s p o t S 4 A 1 1A5 External command signal CHG 1A6 Common COM 1A7 1A19 Manual pulse generator A phase PULSER A 1B19 PULSER A 1A20 Manual pulse generator B phase PULSER B 1B20 PULSER B Y D A E R Y D A E...

Page 79: ...ays wire it as a b normally closed contact in the negative logic setting The signal will turn OFF to stop positioning b About logic setting and internal circuit In the LD75 the case where the internal circuit photocoupler is OFF in the negative logic setting is defined as input signal OFF Reversely the case where the internal circuit photocoupler is OFF in the positive logic setting is defined as ...

Page 80: ... of the module Refer to Section 4 1 2 Page 80 Section 4 1 2 Load Load Load 5 to 24VDC 5 to 24VDC External wiring Pin No 1A13 1A14 1A15 1A16 1A17 1A18 CLEAR CLEAR COM PULSE F PULSE COM PULSE R PULSE COM Deviation counter clear Common CW A phase PULSE CCW B phase SIGN Internal circuit Signal name Need for wiring 1 External wiring Pin No 1A13 1A14 1A15 1A16 1A17 1A18 CLEAR CLEAR COM Deviation counter...

Page 81: ...nce are shown below 1 Page 83 Section 4 2 2 Page 84 Section 4 3 3 Page 91 Section 4 4 4 Page 739 Appendix 6 2 Page 745 Appendix 6 3 5 Page 235 CHAPTER 6 6 Page 92 Section 4 5 1 2 3 5 4 6 YES NO Start Start operation Maintenance End Perform parameter and data setting with GX Works2 Module mounting Mount the LD75 to CPU module Wiring Connect external devices to the LD75 Checking wiring Check wiring ...

Page 82: ...ith the drive unit mechanical system input or manual pulse generator 40 pin connector AX1 Axis 1 AX2 Axis 2 AX3 Axis 3 AX4 Axis 4 For details refer to Page 73 Section 3 4 2 4 Differential driver common terminal Differential driver output system the LD75D only Terminal connected to the differential receiver common of the drive unit For details refer to Page 89 Section 4 3 2 5 Serial number plate In...

Page 83: ... Attention point Description RUN ERR AX1 AX2 AX3 AX4 RUN Off Hardware failure watch dog timer error RUN ERR AX1 AX2 AX3 AX4 RUN On ERR Off The module operates normally RUN ERR AX1 AX2 AX3 AX4 ERR On System error RUN ERR AX1 AX2 AX3 AX4 AX1 to AX4 are off The axes are stopped or on standby RUN ERR AX1 AX2 AX3 AX4 AX1 On or other axis illuminates The corresponding axis is in operation RUN ERR AX1 AX...

Page 84: ... where dew condenses Where there is corrosive gas or flammable gas Where there are high levels of dust conductive powder such as iron chips oil mist salt or organic solvents Where the module will be subject to direct sunlight Where there are strong electric fields or magnetic fields Where vibration or impact could be directly applied onto the main body CAUTION Use the programmable controller in an...

Page 85: ...ff the external power supply for the system in all phases before mounting or removing a module Failure to do so may cause the module to fail or malfunction After the first use of the module the number of connections disconnections is limited to 50 times in accordance with IEC 61131 2 Exceeding the limit may cause malfunction Use the programmable controller in an environment that meets the general ...

Page 86: ...m entering the module during wiring Do not remove the film during wiring Remove it for heat dissipation before system operation 5 Tighten the connector screws within the specified torque range Undertightening can cause short circuit fire or malfunction Overtightening can damage the screw and or module resulting in drop short circuit fire or malfunction 6 When disconnecting the cable from the LD75 ...

Page 87: ...ng use applicable wires and an appropriate tightening torque Wiring example of shielded cable The following shows a wiring example for noise reduction in the case where the connector A6CON1 is used Mitsubishi Electric 40 pin connector Wire Model Tightening torque Wire diameter Type Material Temperature rating A6CON1 0 20 to 0 29Nm 0 3 AWG22 Stranded Copper 75 or more A6CON2 0 088 to 0 24 28 to 24A...

Page 88: ...bles as shown below Assembling of connector A6CON1 Coat the wire with insulaing tape Remove the covering from all shielded cables and bind the appeared shield with a conductive tape Solder the shield of any one of the shielded cables to the FG wire Wrap the coated parts with a heat contractile tube ...

Page 89: ...5P 10m or shorter Use shielded twisted pair cables and an AD75CK type cable clamp manufactured by Mitsubishi Electric to ground the cables to the control box Even when compliance with the EMC Directive is not required attaching an AD75CK type cable clamp to the cable connected to the LD75 may reduce the influence of external noise For details on AD75CK refer to the following AD75CK type Cable Clam...

Page 90: ...ogrammable controller Relay Relay Relay Programmable controller Changed Wiring duct Wiring duct Control panel Control panel Drive unit Drive unit Drive unit Drive unit Noise source power system etc Noise source power system etc LD 75 LD 75 The drive units are placed near the noise source The connection cable between the LD75 and drive units is too long The LD75 and drive units are placed closely T...

Page 91: ... common terminal use the wire applied to the following table The following table shows the recommended applicable solderless terminals and crimp contact tools The following shows an example of wiring to the differential driver common terminal of the LD75D For the precautions for bar solderless terminals refer to the following MELSEC L CPU Module User s Manual Hardware Design Maintenance and Inspec...

Page 92: ...rless terminal into the slot so that the crimp side faces to the external device connector faces to the left when viewed from the insertion direction Open the slot using a flathead screwdriver and disconnect the cable from the slot When two cables are connected disconnect the cable of the upper slot first Open the slot using a flathead screwdriver and insert a cable to the slot When two cables are...

Page 93: ...e direction that the LD75 recognizes as forward run matches the address increment direction in the actual positioning work and whether the LD75 recognizes the external input output signals such as the near point dog signal and stop signal can be checked For details on the positioning test refer to Page 756 Appendix 6 5 If the LD75 is faulty or when the required signals such as the near point dog s...

Page 94: ...system in all phases before cleaning the module or retightening the connector screws Failure to do so may result in electric shock CAUTION Do not disassemble or modify the modules Doing so may cause failure malfunction injury or a fire Shut off the external power supply for the system in all phases before mounting or removing a module Failure to do so may cause the module to fail or malfunction CA...

Page 95: ...ng to the machine and application and stored in the flash ROM Positioning parameters Basic parameters 1 Basic parameters 2 Detailed parameters 1 Detailed parameters 2 OPR parameters OPR detailed parameters Set according to the machine and applicable motor when system is started up Note If the setting of the basic parameters 1 is incorrect the rotation direction may be reversed or no operation may ...

Page 96: ...OFF to ON for the first time after the power is switched ON or the CPU module is reset Once the PLC READY signal Y0 has been turned ON the value will not be reset even if another value is set to the parameter and the PLC READY signal Y0 is turned from OFF to ON c Changing data Even when the PLC READY signal Y0 is ON the values or contents of the following can be changed basic parameters 2 detailed...

Page 97: ... from OFF to ON to to to Monitor data Data that indicates the control state Stored in the buffer memory and monitors as necessary Md 1 Md 48 to Md 50 Md 52 System monitor data Monitors the LD75 specifications and the operation history Md 1 Md 19 Axis monitor data Md 20 Md 48 Monitors the data related to the operating axis such as the current position and speed to Md 50 Md 52 to to to to Control da...

Page 98: ...nit magnification Am Pr 5 Pulse output mode Pr 6 Rotation direction setting Pr 7 Bias speed at start Basic parameters 2 Pr 8 Speed limit value Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 Detailed parameters 1 Pr 11 Backlash compensation amount Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value Pr 14 Software stroke limit selection Pr 15 Software stro...

Page 99: ...time 2 Pr 30 Deceleration time 3 Pr 31 JOG speed limit value Pr 32 JOG operation acceleration time selection Pr 33 JOG operation deceleration time selection Pr 34 Acceleration deceleration process selection Pr 35 S curve ratio Pr 36 Sudden stop deceleration time Pr 37 Stop group 1 sudden stop selection Pr 38 Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Position...

Page 100: ...tion Am Pr 5 Pulse output mode Pr 6 Rotation direction setting Pr 7 Bias speed at start Basic parameters 2 Pr 8 Speed limit value Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 Detailed parameters 1 Pr 11 Backlash compensation amount Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value Pr 14 Software stroke limit selection Pr 15 Software stroke limit vali...

Page 101: ...Pr 34 Acceleration deceleration process selection Pr 35 S curve ratio Pr 36 Sudden stop deceleration time Pr 37 Stop group 1 sudden stop selection Pr 38 Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning complete signal output time Pr 41 Allowable circular interpolation error width Pr 42 External command function selection Positioning parameter Position c...

Page 102: ...eters 2 Pr 8 Speed limit value Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 Detailed parameters 1 Pr 11 Backlash compensation amount Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value Pr 14 Software stroke limit selection Pr 15 Software stroke limit valid invalid setting Pr 16 Command in position width Pr 17 Torque limit setting value Pr 18 M code ON ...

Page 103: ...OG speed limit value Pr 32 JOG operation acceleration time selection Pr 33 JOG operation deceleration time selection Pr 34 Acceleration deceleration process selection Pr 35 S curve ratio Pr 36 Sudden stop deceleration time Pr 37 Stop group 1 sudden stop selection Pr 38 Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning complete signal output time Pr 41 Al...

Page 104: ...tion time 0 Pr 10 Deceleration time 0 Detailed parameters 1 Pr 11 Backlash compensation amount Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value Pr 14 Software stroke limit selection Pr 15 Software stroke limit valid invalid setting Pr 16 Command in position width Pr 17 Torque limit setting value Pr 18 M code ON signal output timing Pr 19 Speed switching m...

Page 105: ...me 3 Pr 31 JOG speed limit value Pr 32 JOG operation acceleration time selection Pr 33 JOG operation deceleration time selection Pr 34 Acceleration deceleration process selection Pr 35 S curve ratio Pr 36 Sudden stop deceleration time Pr 37 Stop group 1 sudden stop selection Pr 38 Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning complete signal output t...

Page 106: ...on time 0 Pr 10 Deceleration time 0 Detailed parameters 1 Pr 11 Backlash compensation amount Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value Pr 14 Software stroke limit selection Pr 15 Software stroke limit valid invalid setting Pr 16 Command in position width Pr 17 Torque limit setting value Pr 18 M code ON signal output timing Pr 19 Speed switching mod...

Page 107: ...time 3 Pr 31 JOG speed limit value Pr 32 JOG operation acceleration time selection Pr 33 JOG operation deceleration time selection Pr 34 Acceleration deceleration process selection Pr 35 S curve ratio Pr 36 Sudden stop deceleration time Pr 37 Stop group 1 sudden stop selection Pr 38 Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning complete signal output...

Page 108: ... 7 3 Pr 19 Speed switching mode Pr 20 Interpolation speed designation method Pr 21 Current feed value during speed control Pr 22 Input signal logic selection Pr 23 Output signal logic selection Pr 24 Manual pulse generator input selection Pr 150 Speed position function selection Pr 70 Positioning option valid invalid setting Detailed parameters 2 Pr 25 Acceleration time 1 Page 598 Section 12 7 7 P...

Page 109: ...al Y0 output from the CPU module to the LD75 changes from OFF to ON When the test operation button is turned ON in the test function using GX Works2 Remark High level positioning control is carried out in combination with the major positioning control Refer to the major positioning control parameter settings for details on the parameters required for high level positioning control ...

Page 110: ...ere is no problem 1 Checking the OPR parameters Pr 43 to Pr 57 are checked with the following timings When the PLC READY signal Y0 output from the CPU module to the LD75 changes from OFF to ON When the test operation button is turned ON in the test function using GX Works2 OPR parameters Machine OPR control Fast OPR control OPR basic parameters Pr 43 OPR method Near point dog method Stopper method...

Page 111: ...n control 1 axis linear control 2 axis linear interpolation control 3 axis linear interpolation control 4 axis linear interpolation control 1 axis fixed feed control 2 axis fixed feed control 3 axis fixed feed control 4 axis fixed feed control 2 axis circular interpolation control 3 axis helical interpolation control Da 1 Operation pattern Independent positioning control Continuous positioning con...

Page 112: ...Reverse run speed 1 Forward run speed 2 Reverse run speed 2 Forward run speed 3 Reverse run speed 3 Forward run speed 4 Reverse run speed 4 Forward run speed position Reverse run speed position Forward run position speed Reverse run position speed Da 3 Acceleration time No Da 4 Deceleration time No Da 5 Axis to be interpolated 2 axis interpolation control 3 axis helical interpolation control 1 axi...

Page 113: ...ontrol NOP instruction Current value changing JUMP instruction LOOP LEND Da 1 Operation pattern Independent positioning control Continuous positioning control Continuous path control Da 2 Control system NOP instruction Current value changing JUMP instruction LOOP LEND Da 3 Acceleration time No Da 4 Deceleration time No Da 5 Axis to be interpolated 2 axis 1 3 4 axes Da 6 Positioning address movemen...

Page 114: ...to List of Block Start Data Page 171 Section 5 4 Set according to requirements Setting not required 1 1 This is an irrelevant item so the set value will be ignored If the value is the default value or within the setting range there is no problem 1 Checking the block start data Da 11 to Da 14 are checked with the following timing When the Block start data starts Block start data Block start Normal ...

Page 115: ...ion 9 2 23 Setting items Page 176 Section 5 5 Set according to requirements Setting restrictions exist Setting not required 1 1 This is an irrelevant item so the set value will be ignored If the value is the default value or within the setting range there is no problem 1 Checking the condition data Da 15 to Da 19 are checked with the following timings When the Block start data starts When JUMP ins...

Page 116: ...art No Start Year month Md 50 Start Year month Day hour Md 5 Start Day hour Minute second Md 6 Start Minute second Error upon starting Md 7 Error judgment Pointer No next to the pointer No where the latest history is stored Md 8 Start history pointer History of all errors Axis in which the error occurred Md 9 Axis in which the error occurred Axis error No Md 10 Axis error No Axis error occurrence ...

Page 117: ... speed limit flag Monitor whether the speed is being changed Md 40 In speed change processing flag Monitor the start data point currently being executed Md 43 Start data pointer being executed Monitor the positioning data No currently being executed Md 44 Positioning data No being executed Monitor the remaining No of repetitions special start Md 41 Special start repetition counter Monitor the rema...

Page 118: ...t Control details Corresponding item Set which positioning to execute start No Cd 3 Positioning start No Clear reset the axis error Md 23 and warning Md 24 Cd 5 Axis error reset Issue instruction to restart When axis operation is stopped Cd 6 Restart command End current positioning deceleration stop and start next positioning Cd 37 Skip command Set start point No for executing block start Cd 4 Pos...

Page 119: ...g speed position switching control INC mode Cd 23 Speed position switching control movement amount change register Validate external position speed switching signal Cd 26 Position speed switching enable flag Change speed for speed control during position speed switching control Cd 25 Position speed switching control speed change register Set up a flag when target position is changed during positio...

Page 120: ...e that the values of other parameters and data will not be changed automatically After changing the unit check if the parameter and data values are within the allowable range Set degree to exercise speed position switching control ABS mode Item Setting value setting range Default value Setting value buffer memory address Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 P...

Page 121: ...cause machine vibration If the movement amount per pulse becomes less than 1 also use the electronic gear function of the drive unit and make setting so that the movement amount per pulse is 1 or greater a Setting range 1 1 to 32767 Set as a decimal 32768 to 65535 Convert into hexadecimal and set 3 Pr 2 No of pulses per rotation Ap Set the number of pulses required for a complete rotation of the m...

Page 122: ... Unit magnification Am 1 1 The unit magnification Am is a value of 1 10 100 or 1000 If the PB 1 n value exceeds 6553 5 m adjust with the unit magnification so that the movement amount per rotation Al does not exceed 6553 5 m Ex When movement amount per rotation Al PB 1 n 6000 0 m 6mm Movement amount per rotation Al Movement amount per rotation Al Unit magnification Am 6000 0 m 1 times Ex When move...

Page 123: ...alue Setting value buffer memory address Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 Pr 5 Pulse output mode 0 PULSE SIGN mode 0 1 4 154 304 454 1 CW CCW mode 1 2 A phase B phase multiple of 4 2 3 A phase B phase multiple of 1 3 Pr 6 Rotation direction setting 0 Current value increment with forward run pulse output 0 0 5 155 305 455 1 Current value increment with rev...

Page 124: ... and falls by one times per second Positive logic Negative logic Positive logic Negative logic Positive logic Negative logic Forward run CW CCW Reverse run Forward run Reverse run CW CCW A phase Aφ B phase Bφ Forward run When B phase is 90 behind A phase When B phase is 90 ahead of A phase Command 1 pulse output Reverse run Command 1 pulse output A phase Aφ B phase Bφ Forward run When B phase is 9...

Page 125: ...e and the positioning with current feed value increment direction decrement direction is executed When Pr 6 has been changed from 0 to 1 check if the upper lower limit switches operate properly by JOG operation If any malfunction is identified check and correct the wiring 0 1 2 3 4 4 3 2 1 0 4 0 Current feed value cw ccw cw ccw 0 Md 20 When 0 Current value increment with forward run pulse output i...

Page 126: ...pping motor the circular interpolation control cannot be carried out Although setting the bias speed at start is required by the characteristics of the stepping motor the setting of the bias speed at start is disabled for circular interpolation control Ensure to use a servomotor for both 2 axes when the circular interpolation control is carried out Item Setting value setting range Default value Se...

Page 127: ...n deceleration time will be relatively short Thus set the maximum positioning speed equal to or only a little lower than the parameter defined speed limit value These settings are valid for OPR positioning and JOG operations When the positioning involves interpolation the acceleration deceleration time defined for the reference axis is valid Item Setting value setting range Default value Setting v...

Page 128: ...on amount The setting value range differs depending on the Pr 1 Unit setting Page 127 Section 5 2 3 1 a 0 17 167 317 467 Pr 12 Software stroke limit upper limit value The setting value range differs depending on the Pr 1 Unit setting Page 127 Section 5 2 3 3 a 2147483647 18 19 168 169 318 319 468 469 Pr 13 Software stroke limit lower limit value 2147483648 20 21 170 171 320 321 470 471 Pr 14 Softw...

Page 129: ...trol position speed switching control or during manual control a Setting range 4 Pr 14 Software stroke limit selection Set whether to apply the software stroke limit on the current feed value or the machine feed value The software stroke limit will be validated according to the set value 5 Pr 15 Software stroke limit valid invalid setting Set whether to validate the software stroke limit during JO...

Page 130: ...and the D A conversion module and drive unit must be wired The set Pr 17 Torque limit setting value is set in the buffer memory Md 35 Torque limit stored value so transmit that Md 35 Torque limit stored value to the D A conversion module with the program Item Setting value setting range Default value Setting value buffer memory address Value set with GX Works2 Value set with program Axis 1 Axis 2 ...

Page 131: ...he M code can be issued The M code ON signal output timing can be set for each positioning data with the positioning option Da 27 M code ON signal output timing of the positioning data WITH mode AFTER mode An M code is output and the M code ON signal is turned ON when a positioning operation starts An M code is output and the M code ON signal is turned ON when a positioning operation completes m1 ...

Page 132: ...READY b3 Stop signal b4 External command b5 Zero signal b6 Near point dog signal b7 Not used b8 Manualpulse generator input b9 to b15 Not used Pr 23 Output signal logic selection b0 Command pulse signal 0 Negative logic 1 Positive logic 0 32 182 332 482 b1 Not used b2 Not used b3 Not used b4 Deviation counter clear b5 to b15 Not used Pr 24 Manual pulse generator input selection 0 A phase B phase m...

Page 133: ...alculated by the LD75 For standard switching For front loading switching When Composite speed is set When Reference axis speed is set Note Always specify the reference axis speed if the 4 axis linear interpolation or 2 to 4 axis speed control has to be performed If the composite speed is specified instead the error Interpolation mode error error code 523 will be output when the positioning operati...

Page 134: ...ontrol 0 INC mode 2 ABS mode 15 Pr 70 Positioning option valid invalid setting Enable or disable the data set in the positioning option Da 27 M code ON signal output timing Da 28 ABS direction in degrees and Da 29 Interpolation speed designation method of the positioning data Setting this parameter to 1 Valid carries out a positioning control according to the data set in the positioning option 0 I...

Page 135: ...4 Pr 25 Acceleration time 1 1 to 8388608 ms 1 to 8388608 ms 1000 36 37 186 187 336 337 486 487 Pr 26 Acceleration time 2 38 39 188 189 338 339 488 489 Pr 27 Acceleration time 3 40 41 190 191 340 341 490 491 Pr 28 Deceleration time 1 42 43 192 193 342 343 492 493 Pr 29 Deceleration time 2 44 45 194 195 344 345 494 495 Pr 30 Deceleration time 3 46 47 196 197 346 347 496 497 Pr 31 JOG speed limit val...

Page 136: ...me 1 2 Use the value set in Pr 26 Acceleration time 2 3 Use the value set in Pr 27 Acceleration time 3 5 Pr 33 JOG operation deceleration time selection Set which of deceleration time 0 to 3 to use for the deceleration time during JOG operation 0 Use the value set in Pr 10 Deceleration time 0 1 Use the value set in Pr 28 Deceleration time 1 2 Use the value set in Pr 29 Deceleration time 2 3 Use th...

Page 137: ...2 Axis 3 Axis 4 Pr 34 Acceleration deceleration process selection 0 Trapezoidal acceleration deceleration processing 0 0 52 202 352 502 1 S curve acceleration deceleration processing 1 Pr 35 S curve ratio 1 to 100 1 to 100 100 53 203 353 503 Pr 36 Sudden stop deceleration time 1 to 8388608 ms 1 to 8388608 ms 1000 54 55 204 205 354 355 504 505 Pr 37 Stop group 1 sudden stop selection 0 Normal decel...

Page 138: ...on deceleration process The S curve ratio indicates where to draw the acceleration deceleration curve using the sine curve as shown below A B B 2 B 2 V t V t b a 0 7 b a sine curve S curve ratio B A 100 Example Positioning speed Positioning speed When S curve ratio is 100 When S curve ratio is 70 ...

Page 139: ...peed control speed position switching control and position speed switching control The methods of stopping include 0 Normal deceleration stop and 1 Sudden stop If 1 Sudden stop is selected the axis will suddenly decelerate to a stop when the stop cause occurs When positioning is started the acceleration starts following the acceleration time 1 Positioning start 2 Sudden stop cause occurrence When ...

Page 140: ...h program Axis 1 Axis 2 Axis 3 Axis 4 Pr 40 Positioning complete signal output time 0 to 65535 ms 0 to 65535 ms 1 300 59 209 359 509 Pr 41 Allowable circular interpolation error width The setting range differs depending on the Pr 1 Unit setting Page 139 Section 5 2 4 11 a 100 60 61 210 211 360 361 510 511 Pr 42 External command function selection 0 External positioning start 0 0 62 212 362 512 1 E...

Page 141: ...ated To enable the external command signal set the Cd 8 External command enable to 1 Pr 1 setting value Value set with GX Works2 unit Value set with program unit 0 mm 0 to 10000 0 m 0 to 100000 10 1 m 1 inch 0 to 1 00000 inch 0 to 100000 10 5inch 2 degree 0 to 1 00000 degree 0 to 100000 10 5degree 3 pulse 0 to 100000 pulse 0 to 100000 pulse Pr 42 External command function selection Description 0 E...

Page 142: ...is 4 Pr 43 OPR method 0 Near point dog method 0 0 70 220 370 520 1 Stopper method 1 1 2 Stopper method 2 2 3 Stopper method 3 3 4 Count method 1 4 5 Count method 2 5 Selection of Pr 43 OPR method OPR operation 0 Near point dog method After decelerating at the near point dog ON stop at the zero signal and complete the machine OPR 1 Stopper method 1 After decelerating at the near point dog ON stop w...

Page 143: ... 2 1 Start machine OPR Start movement at the Pr 46 OPR speed in the Pr 44 OPR direction 2 The machine begins decelerating when the near point dog ON is detected 3 The machine decelerates to the Pr 47 Creep speed and subsequently moves at that speed At this time Pr 54 OPR torque limit value is required If the torque is not limited the servomotor could be damaged in step 4 4 The machine contacts aga...

Page 144: ...ins decelerating when the near point dog ON is detected 3 The machine decelerates to the Pr 47 Creep speed and subsequently moves at that speed 4 After the near point dog turns ON and the movement amount set in Pr 50 Setting for the movement amount after near point dog ON has passed the pulse output from the LD75 stops with the first zero signal one pulse output at one motor revolution and the mac...

Page 145: ...s to the Pr 47 Creep speed and subsequently moves at that speed 4 After the near point dog turns ON and the movement amount set in Pr 50 Setting for the movement amount after near point dog ON has passed the pulse output from the LD75 stops with the first zero signal and the machine OPR is completed t V ON 1 2 3 4 OFF Near point dog Movement amount after near point dog ON Md 34 OPR speed Pr 46 Pr ...

Page 146: ...372 373 522 523 Pr 46 OPR speed The setting range differs depending on the Pr 1 Unit setting Page 145 Section 5 2 5 5 a 1 74 75 224 225 374 375 524 525 Selection of Pr 44 OPR direction Operation description 0 Positive direction address increment direction Moves in the direction that the address increments Arrow 2 1 Negative direction address decrement direction Moves in the direction that the addr...

Page 147: ...nch 21474 83648 to 21474 83647 inch 2147483648 to 2147483647 10 5inch 2 degree 0 to 359 99999 degree 0 to 35999999 10 5 degree 3 pulse 2147483648 to 2147483647 pulse 2147483648 to 2147483647 pulse Note Set the OPR speed to less than Pr 8 Speed limit value If the speed limit value is exceeded the error Outside speed limit value range error code 910 occurs and OPR is not performed The OPR speed shou...

Page 148: ...Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 Pr 47 Creep speed The setting range differs depending on the Pr 1 Unit setting Page 146 Section 5 2 5 6 a 1 76 77 226 227 376 377 526 527 Pr 48 OPR retry 0 Do not retry OPR with limit switch 0 0 78 228 378 528 1 Retry OPR with limit switch 1 Pr 1 setting value Value set with GX Works2 unit Value set with program unit 0 mm ...

Page 149: ...ite direction the axis will decelerate to a stop 4 and will carry out machine OPR again 5 6 Operation for OPR retry function 1 Movement in the OPR direction starts with the machine OPR start 2 The axis decelerates when the limit signal OFF is detected 3 After stopping at detection of the limit switch signal OFF the axis moves at the OPR speed in the direction opposite to the specified OPR directio...

Page 150: ...t value Setting value buffer memory address Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 Pr 49 OPR dwell time 0 to 65535 ms 0 to 65535 ms 1 0 79 229 379 529 Pr 50 Setting for the movement amount after near point dog ON The setting range differs depending on the Pr 1 Unit setting Page 149 Section 5 2 6 2 a 0 80 81 230 231 380 381 530 531 Pr 51 OPR acceleration time se...

Page 151: ...ration time 1 2 Use the value set in Pr 29 Deceleration time 2 3 Use the value set in Pr 30 Deceleration time 3 Pr 1 setting value Value set with GX Works2 unit Value set with program unit 0 mm 0 to 214748364 7 m 0 to 2147483647 10 1 m 1 inch 0 to 21474 83647 inch 0 to 2147483647 10 5 inch 2 degree 0 to 21474 83647 degree 0 to 2147483647 10 5 degree 3 pulse 0 to 2147483647 pulse 0 to 2147483647 pu...

Page 152: ...234 235 384 385 534 535 Pr 54 OPR torque limit value 1 to 300 1 to 300 300 86 236 386 536 Pr 55 Deviation counter clear signal output time 1 to 65535 ms 1 to 65535 ms 1 11 87 237 387 537 Pr 56 Speed designation during OP shift 0 OPR speed 0 0 88 238 388 538 1 Creep speed 1 Pr 57 Dwell time during OPR retry 0 to 65535 ms 0 to 65535 ms 1 0 89 239 389 539 Pr 1 setting value Value set with GX Works2 u...

Page 153: ...dog method stopper methods 1 to 3 and count method 1 For details refer to your drive unit manual 8 Pr 56 Speed designation during OP shift Set the operation speed for when a value other than 0 is set for Pr 53 OP shift amount Select the setting from Pr 46 OPR speed or Pr 47 Creep speed 0 Designate Pr 46 OPR speed as the setting value 1 Designate Pr 47 Creep speed as the setting value 9 Pr 57 Dwell...

Page 154: ...5 b4 b8 Da 1 Da 2 Da 3 Da 4 Da 5 b0 b12 b15 b4 b8 Da 27 Da 29 Da 28 2 3 1 1 Up to 600 positioning data for each axis can be set stored in the buffer memory addresses shown on the left These data are controlled as positioning data No 1 to No 600 for each axis One positioning data is configured of the items shown in the bold box Configuration of positioning identifier Configuration of positioning op...

Page 155: ...8 19999 1 Positioning option Axis 3 Positioning identifier Da 1 to Da 5 Da 27 to Da 29 Positioning address movement amount Da 6 Arc address Da 7 Command speed Da 8 Dwell time Da 9 M code Da 10 Positioning data No Buffer memory address 2 3 20000 20001 20002 20004 20005 20006 20007 20008 20009 20010 20011 20012 20014 20015 20016 20017 20018 20019 20020 20021 20022 20024 20025 20026 20027 20028 20029...

Page 156: ...ory address Consider the positioning identifier configuration in the figure below when setting Da 1 Operation pattern to Da 5 Axis to be interpolated Positioning identifier configuration Assignment 1 Da 1 Operation pattern 2 Da 5 Axis to be interpolated 3 Da 3 Acceleration time No 4 Da 4 Deceleration time No 5 Da 2 Control system b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b0 b1 b2 b3 b4 5 4 3 2 1 ...

Page 157: ...ABS 0DH INC Circular interpolation control with sub point designation INC 0EH ABS Circular interpolation control with center point designation ABS CW 0FH ABS Circular interpolation control with center point designation ABS CCW 10H INC Circular interpolation control with center point designation INC CW 11H INC Circular interpolation control with center point designation INC CCW 12H VF2 2 axis speed...

Page 158: ... 1 Pr 25 Acceleration time 1 01 2 Pr 26 Acceleration time 2 10 3 Pr 27 Acceleration time 3 11 Da 4 Deceleration time No 0 Pr 10 Deceleration time 0 00 1 Pr 28 Deceleration time 1 01 2 Pr 29 Deceleration time 2 10 3 Pr 30 Deceleration time 3 11 Da 5 Axis to be interpolated 0 Axis 1 designation 00 1 Axis 2 designation 01 2 Axis 3 designation 10 3 Axis 4 designation 11 Item Setting value Value set wi...

Page 159: ...ime No Set which of deceleration time 0 to 3 to use for the deceleration time during positioning 0 Use the value set in Pr 10 Deceleration time 0 1 Use the value set in Pr 28 Deceleration time 1 2 Use the value set in Pr 29 Deceleration time 2 3 Use the value set in Pr 30 Deceleration time 3 Note 1 When JUMP instruction is set for the control system the Da 9 Dwell time and Da 10 M code setting det...

Page 160: ...axis partner axis Note 1 Do not specify the own axis number or any number except the above The error Illegal interpolation description command error code 521 will occur when executed Note 2 For 3 axis interpolation other than 3 axis helical interpolation or 4 axis interpolation this item does not need to be set Note 3 The following table lists the target axes for the 3 axis helical interpolation c...

Page 161: ...t amount with sign When movement amount is positive Moves in the positive direction address increment direction When movement amount is negative Moves in the negative direction address decrement direction Item Setting value setting range Default value Setting value buffer memory address Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 Da 6 Positioning address movement am...

Page 162: ...64 7 Set the address 2147483648 to 2147483647 INC Linear 1 02H INC Linear 2 0BH INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 214748364 8 to 214748364 7 Set the movement amount 2147483648 to 2147483647 Forward run speed position 06H Reverse run speed position 07H Forward run position speed 08H Reverse run position spee...

Page 163: ...et the address 0 to 359 99999 Set the address 0 to 35999999 INC Linear 1 02H INC Linear 2 0BH INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 21474 83648 to 21474 83647 Set the movement amount 2147483648 to 2147483647 ABS helical sub 20H 3 ABS helical right 22H 3 ABS helical left 23H 3 Set the address 0 to 359 99999 Set ...

Page 164: ...movement amount 2147483648 to 2147483647 Set the movement amount 2147483648 to 2147483647 Forward run speed position 06H Reverse run speed position 07H Forward run position speed 08H Reverse run position speed 09H Set the movement amount 0 to 2147483647 Set the movement amount 0 to 2147483647 ABS circular sub 0DH ABS circular right 0FH ABS circular left 10H Set the address 2147483648 to 2147483647...

Page 165: ...INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 21474 83648 to 21474 83647 Set the movement amount 2147483648 to 2147483647 Forward run speed position 06H Reverse run speed position 07H Forward run position speed 08H Reverse run position speed 09H Set the movement amount 0 to 21474 83647 Set the movement amount 0 to 2147483647 ABS circul...

Page 166: ...lue buffer memory address Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 Da 7 Arc address The setting value range differs according to the Da 2 Control system Here the value within the Table 1 range is set Page 164 Section 5 3 8 a 0 2008 2009 8008 8009 14008 14009 20008 20009 Circular interpolation with sub point designation Circular interpolation with center point des...

Page 167: ...the range shown in the above table as an arc address Da 2 setting value Value set with GX Works2 pulse Value set with program pulse ABS circular sub 0DH ABS circular right 0FH ABS circular left 10H Set the address 2147483648 to 2147483647 Set the address 2147483648 to 2147483647 INC circular sub 0EH INC circular right 11H INC circular left 12H Set the movement amount 2147483648 to 2147483647 3 Set...

Page 168: ...le as an arc address Da 2 setting value Value set with GX Works2 inch Value set with program 4 10 5 inch ABS circular sub 0DH ABS circular right 0FH ABS circular left 10H Set the address 21474 83648 to 21474 83647 Set the address 2147483648 to 2147483647 INC circular sub 0EH INC circular right 11H INC circular left 12H Set the movement amount 21474 83648 to 21474 83647 5 Set the movement amount 21...

Page 169: ... setting range Default value Setting value buffer memory address Value set with GX Works2 Value set with program Axis 1 Axis 2 Axis 3 Axis 4 Da 8 Command speed The setting range differs depending on the Pr 1 Unit setting Page 167 Section 5 3 9 a 0 2004 2005 8004 8005 14004 14005 20004 20005 1 Current speed Speed set for previous positioning data No 1 Da 9 Dwell time Dwell time The setting value ra...

Page 170: ...itioning data No 1 to 600 1 to 600 Other than JUMP instruction Dwell time 0 to 65535 ms 0 to 65535 ms ON V t V t V t 1 When Da 1 Operation pattern in 00 Positioning complete Set the time from when the positioning ends to when the positioning complete signal turns ON as the dwell time Positioning control Positioning complete signal OFF 2 When Da 1 Operation pattern is 01 Continuous positioning cont...

Page 171: ...the Da 2 Control system Set the condition data No for JUMP If LOOP is selected as the Da 2 Control system Set the number of LOOP to LEND repetitions by a number other than 0 The error Control system LOOP setting error error code 545 will occur if 0 is specified 1 The condition data No specifies the condition for the JUMP instruction to be executed A JUMP will take place when the condition is satis...

Page 172: ...5 with a serial number first five digits of 17102 or later If a value is set for the positioning option of the LD75 with a serial number first five digits earlier than 17102 and a positioning control is started the value set in the positioning option is ignored Item Setting value setting range Default value Setting value buffer memory address Value set with GX Works2 Value set with program Axis 1 ...

Page 173: ...d to the start blocks 1 to 4 refer to Page 793 Appendix 10 Setting item 26049 26099 50th point Buffer memory address 26001 26051 2nd point Setting item b15 b0 b7 b8 Shape 26000 b15 b0 b7 b8 26050 1st point Buffer memory address Axis 1 start block 0 Da 11 Da 12 Start data No Da 13 Special start instruction Da 14 Parameter Up to 50 block start data points can be set stored for each axis in the buffe...

Page 174: ... 28000 0 b 5 1 b b7 b8 Da 13 Special start instruction Da 14 Parameter 28050 Buffer memory address Buffer memory address Setting item Setting item 1st point 2nd point 50th point Axis 3 Start block 0 29049 29099 29001 29051 œ ˆ Œ u Ê Ž ß ˆ n ƒ f ƒ 0 b 5 1 b b7 b8 Da 11 Shape Da 12 Start data No 29000 0 b 5 1 b b7 b8 Da 13 Special start instruction Da 14 Parameter 29050 Setting item Buffer memory ad...

Page 175: ...error Outside start No range error code 543 will occur For details refer to Page 598 Section 12 7 7 Block No 2 Axis Block start data Condition Buffer memory GX Works2 7000 Axis 1 Start block 0 Condition data 1 to 10 Supports the settings Supports the settings Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 10 Axis 4 Condition data 1 to 10 7001 Axis 1 Start block 1 Condition data 1 to 10 A...

Page 176: ...174 ...

Page 177: ...t start Carry out the condition judgment set in condition data for the designated positioning data and when the conditions are established execute the block start data If not established stop the control wait until the conditions are established 03H Simultaneous start Simultaneously executes the positioning data having the No for the axis designated with the condition data Outputs pulses at the sa...

Page 178: ...tor Da 15 Condition target 26101 26102 26103 26104 26105 26106 26107 26108 26109 No 1 Buffer memory address Da 16 Parameter 2 Parameter 1 Each axis has five start blocks block Nos 0 to 4 1 Axis 1 start block 0 Up to 10 block start data points can be set stored for each block No in the buffer memory addresses shown on the left Items in a single unit of condition data are shown in a bold frame No 10...

Page 179: ...19 Parameter 2 b0 b15 b7 b8 b11 b12 Da 16 Condition operator Da 15 Condition target 28101 28102 28103 28104 28105 28106 28107 28108 28109 Buffer memory address Axis 3 start block 0 Buffer memory address Buffer memory address Empty No 10 Setting item No 2 29190 29191 29192 29193 29194 29195 29196 29197 29198 29199 29110 29111 29112 29113 29114 29115 29116 29117 29118 29119 Setting item No 1 Setting...

Page 180: ...e 543 will occur For details refer to Page 598 Section 12 7 7 Block No 2 Axis Block start data Condition Buffer memory GX Works2 7000 Axis 1 Start block 0 Condition data 1 to 10 Supports the settings Supports the settings Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 10 Axis 4 Condition data 1 to 10 7001 Axis 1 Start block 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Co...

Page 181: ... Setting details 01H Device X Set the input output signal ON OFF of the LD75 as the conditions 02H Device Y 03H Buffer memory 1 word Set the value stored in the buffer memory as the condition 03H The target buffer memory is 1 word 16 bits 04H The target buffer memory is 2 word 32 bits 04H Buffer memory 2 words 05H Positioning data No Select only for simultaneous start ...

Page 182: ...gnation If simultaneous start is specified select the axis or axes that should start simultaneously 20H Axis 2 designation 30H Axis 1 and 2 designation 40H Axis 3 selected 50H Axes 1 and 3 designation 60H Axes 2 and 3 designation 70H Axes 1 2 and 3 designation 80H Axis 4 designation 90H Axes 1 and 4 designation A0H Axes 2 and 4 designation B0H Axes 1 2 and 4 designation C0H Axes 3 and 4 designatio...

Page 183: ...ioning data No 1 to 600 01H to 258H E0H Axes 2 3 and 4 selected Da 16 Condition operator Setting value Setting details 01H P1 Not used No need to be set 02H P1 03H P1 04H P1 05H P1 P2 Value The value of P2 should be equal to or greater than the value of P1 P P2 If P1 is greater than P2 P1 P2 the error Condition data error error code 533 will occur 06H P1 P2 07H DEV ON Not used No need to be set 08...

Page 184: ...ails Whether the test mode is used from GX Works2 or not is stored When the test function is not used OFF When the test function is used ON Reading the monitor value Monitoring is carried out with a decimal display Default value 0 Storage buffer memory address Common to axes 1 to 4 1200 Monitor value Storage value 0 Test function is not being used 1 Test function is being used ...

Page 185: ...nfor mation Md 5 Start day hour Md 50 Start year month Md 7 Error judgement Md 6 Start min sec Start history pointer Indicates a pointer No that is next to the Pointer No assigned to the latest of the existing starting history records Buffer memory address Each group of buffer memory addresses storing a complete starting history record is assigned a pointer No Example Pointer No 0 Buffer memory ad...

Page 186: ...l display Default value 0000H Storage buffer memory address Common to axes 1 to 4 For details on the storage buffer memory refer to the following Page 183 Section 5 6 1 2 Not used 0 0 0 0 0 b15 b12 b8 b4 b0 Monitor value Stored contents Storage value 00 01 10 External signal GX Works2 CPU module Stored contents Storage value 0 1 3 Axis 1 Axis 2 Axis 3 Axis 4 Stored contents Storage value 1 2 4 Buf...

Page 187: ...th a hexadecimal display Default value 0000H Storage buffer memory address Common to axes 1 to 4 For details on the storage buffer memory refer to the following Page 183 Section 5 6 1 2 Item Description Storage details The starting time Minute second is stored Reading the monitor value Monitoring is carried out with a hexadecimal display Default value 0000H Storage buffer memory address Common to ...

Page 188: ...age details Indicates a pointer No that is next to the Pointer No assigned to the latest of the existing starting history records Reading the monitor value Monitoring is carried out with a decimal display Default value 0 Storage buffer memory address Common to axes 1 to 4 1292 b15 b12 b8 b4 b0 A B C D B a C D Monitor value D C B A Stored contents Storage value 0 1 Stored contents Storage value 0 1...

Page 189: ...9 1300 1 1293 1294 1295 1296 1471 1470 1469 1468 1467 1466 1465 1464 1463 1462 1461 1460 1459 1458 1457 1456 1357 Pointer No Item Md 13 Md 10 Pointer No Axis error No Md 9 Axis in which the error occured Md 11 Axis error occurrence day hour Md 12 Axis error occurrence min sec Md 51 Axis error occurrence year month Error history pointer Indicates a pointer No that is next to the Pointer No assigned...

Page 190: ...ut with a hexadecimal display Default value 0000H Storage buffer memory address Common to axes 1 to 4 For details on the storage buffer memory refer to the following Page 187 Section 5 6 1 3 Item Description Storage details Stores the time Day hour at which an axis error was detected Reading the monitor value Monitoring is carried out with a hexadecimal display Default value 0000H Storage buffer m...

Page 191: ... 4 For details on the storage buffer memory refer to the following Page 187 Section 5 6 1 3 Item Description Storage details Indicates a pointer No that is next to the Pointer No assigned to the latest of the existing records Reading the monitor value Monitoring is carried out with a decimal display Default value 0 Storage buffer memory address Common to axes 1 to 4 1357 0 to 5 00 to 59 second 0 b...

Page 192: ...360 1361 Md 15 Pointer No 0 Axis warning No Md 14 Axis in which the warning occured Md 16 Axis warning occurrence day hour Md 17 Axis warning occurrence min sec Md 52 Axis warning occurrence year month Warning history pointer Indicates a pointer No that is next to the Pointer No assigned to the latest of the existing warning history records Buffer memory address Each group of buffer memory address...

Page 193: ...ing the monitor value Monitoring is carried out with a hexadecimal display Default value 0000H Storage buffer memory address Common to axes 1 to 4 For details on the storage buffer memory refer to the following Page 190 Section 5 6 1 4 Item Description Storage details Stores the time at which an axis warning was detected Reading the monitor value Monitoring is carried out with a hexadecimal displa...

Page 194: ...eading the monitor value Monitoring is carried out with a decimal display Default value 0 Storage buffer memory address Common to axes 1 to 4 1422 Item Description Storage details Stores the number of write accesses to the flash ROM after the power is switched ON The count is cleared to 0 when the number of write accesses reach 26 and an error reset operation is performed Reading the monitor value...

Page 195: ...nction the changed value is stored Reading the monitor value Monitoring is carried out with a hexadecimal display Default value 0000H Storage buffer memory address Axis 1 800 801 Axis 2 900 901 Axis 3 1000 1001 Axis 4 1100 1101 A B C D A B C D E F G H E R F G H b15 b12 b4 b0 b8 E F G H b31 b28 b20 b16 b24 A B C D Monitor value Low order buffer memory Example 800 High order buffer memory Example 80...

Page 196: ...chine coordinates Characteristic coordinates determined with machine Update timing 0 9ms Reading the monitor value Monitoring is carried out with a hexadecimal display Default value 0000H Storage buffer memory address Axis 1 802 803 Axis 2 902 903 Axis 3 1002 1003 Axis 4 1102 1103 A B C D A B C D E F G H E R F G H b15 b12 b4 b0 b8 E F G H b31 b28 b20 b16 b24 A B C D Monitor value Low order buffer ...

Page 197: ... out with a hexadecimal display Default value 0000H Storage buffer memory address Axis 1 804 805 Axis 2 904 905 Axis 3 1004 1005 Axis 4 1104 1105 A B C D A B C D E F G H E R F G H b15 b12 b4 b0 b8 E F G H b31 b28 b20 b16 b24 A B C D Monitor value Low order buffer memory Example 800 High order buffer memory Example 801 Sorting Decimal integer value Converted from hexadecimal to decimal 1 m 5 inch 5...

Page 198: ...arning code always Whenever an axis warning is reported a new warning code replaces the stored warning code When the Cd 5 Axis error reset axis control data is set to ON the axis warning No is cleared to 0 Reading the monitor value Monitoring is carried out with a decimal display For details on warning No warning codes refer to the following Page 676 Section 15 6 Default value 0 Storage buffer mem...

Page 199: ...peed change function is executed Cd 14 New speed value is stored For details on the speed change function refer to Page 543 Section 12 5 1 Reading the monitor value Monitoring is carried out with a decimal display Default value 0 Storage buffer memory address Axis 1 810 811 Axis 2 910 911 Axis 3 1010 1011 Axis 4 1110 1111 Monitor value Axis operation status 2 Step standby 1 Error 0 Standby 1 Stopp...

Page 200: ...Axis 2 912 913 Axis 3 1012 1013 Axis 4 1112 1113 A B C D A B C D E F G H E R F G H b15 b12 b4 b0 b8 E F G H b31 b28 b20 b16 b24 A B C D Monitor value Low order buffer memory Example 812 High order buffer memory Example 813 Sorting Decimal integer value Converted from hexadecimal to decimal n 2 mm min 3 inch min 3 degree min 0 pulse s Unit Unit conversion table Unit conversion Actual value High ord...

Page 201: ...isplay Default value 0000H Storage buffer memory address Axis 1 814 815 Axis 2 914 915 Axis 3 1014 1015 Axis 4 1114 1115 A B C D A B C D E F G H E R F G H b15 b12 b4 b0 b8 E F G H b31 b28 b20 b16 b24 A B C D Monitor value Low order buffer memory Example 812 High order buffer memory Example 813 Sorting Decimal integer value Converted from hexadecimal to decimal n 2 mm min 3 inch min 3 degree min 0 ...

Page 202: ...g 0 9ms Reading the monitor value Monitoring is carried out with a hexadecimal display Default value 0000H Storage buffer memory address Axis 1 816 Axis 2 916 Axis 3 1016 Axis 4 1116 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 b15 b0 b4 b8 b12 Monitor value Not used Stored items Default value 0 0 0 0 0 0 0 0 0 Meaning 0 OFF 1 ON 0 b0 b1 b2 b3 b4 b5 b6 b7 b8 0 0 0 Buffer memory Lower limit signal Upper limit s...

Page 203: ...in effect during the speed position or position speed switching control While operations are performed with interpolation this signal comes ON only in respect of the starting axis This signal goes OFF in respect of all axes upon starting OPR request flag This signal comes ON when the power is switched ON when the drive unit READY signal goes OFF when the PLC READY signal goes ON when a machine OPR...

Page 204: ...address movement amount At the OP shift operation of OPR control Stores the value of OP shift amount At other times Stores 0 Reading the monitor value Monitoring is carried out with a decimal display Default value 0 Storage buffer memory address Axis 1 818 819 Axis 2 918 919 Axis 3 1018 1019 Axis 4 1118 1119 R Monitor value Decimal integer value Unit conversion table Actual value Unit conversion R...

Page 205: ...t speed considering the JOG speed limit value for the JOG speed is stored During manual pulse generator operation 0 is stored Reading the monitor value Monitoring is carried out with a hexadecimal display Default value 0000H Storage buffer memory address Axis 1 820 821 Axis 2 920 921 Axis 3 1020 1021 Axis 4 1120 1121 A B C D A B C D E F G H E R F G H b15 b12 b4 b0 b8 E F G H b31 b28 b20 b16 b24 A ...

Page 206: ...isplay Default value 0000H Storage buffer memory address Axis 1 824 825 Axis 2 924 925 Axis 3 1024 1025 Axis 4 1124 1125 A B C D A B C D E F G H E R F G H b15 b12 b4 b0 b8 E F G H b31 b28 b20 b16 b24 A B C D Monitor value Low order buffer memory Example 820 High order buffer memory Example 821 Sorting Decimal integer value Converted from hexadecimal to decimal 1 m 5 inch 5 degree 0 pulse n Unit n ...

Page 207: ...ue is stored Reading the monitor value Monitoring is carried out with a decimal display Default value 0 Storage buffer memory address Axis 1 826 Axis 2 926 Axis 3 1026 Axis 4 1126 Item Description Storage details The instruction code used with special start and indicated by the start data pointer currently being executed is stored Reading the monitor value Monitoring is carried out with a decimal ...

Page 208: ...e Monitoring is carried out with a decimal display Default value 0 Storage buffer memory address Axis 1 829 Axis 2 929 Axis 3 1029 Axis 4 1129 Item Description Storage details If the speed exceeds the Pr 8 Speed limit value due to a speed change or override the speed limit functions and the in speed limit flag turns ON When the speed drops to less than Pr 8 Speed limit value or when the axis stops...

Page 209: ...ons specific to special starting The count is decremented by one 1 at the loop end The control comes out of the loop when the count reaches 0 This area stores 0 within an infinite loop Reading the monitor value Monitoring is carried out with a decimal display Default value 0 Storage buffer memory address Axis 1 832 Axis 2 932 Axis 3 1032 Axis 4 1132 Item Description Storage details This area store...

Page 210: ...letion of a positioning operation This area stores 0 when the JOG inching operation is executed Reading the monitor value Monitoring is carried out with a hexadecimal display Default value 0 Storage buffer memory address Axis 1 835 Axis 2 935 Axis 3 1035 Axis 4 1135 Item Description Storage details When the operation is controlled by block start data this area stores a block number 7000 to 7004 at...

Page 211: ...tails of the positioning data currently being executed positioning data No given by Md 44 Reading the monitor value Information is stored in the following addresses 1 If 0 Invalid is set in Pr 70 Positioning option valid invalid setting 0 is always stored Default value 0 Storage buffer memory address Axis 1 838 to 847 Axis 2 938 to 947 Axis 3 1038 to 1047 Axis 4 1138 to 1147 Monitor value Storage ...

Page 212: ...Positioning complete 0 is stored at the next operation start or manual pulse generator operation enable Reading the monitor value Monitoring is carried out with a decimal display Default value 0 Storage buffer memory address Axis 1 899 Axis 2 999 Axis 3 1099 Axis 4 1199 Monitor value Storage value 0 Status other than below 1 Status from deceleration start to next operation start or manual pulse ge...

Page 213: ...alues Note After completing the initialization of setting data reset the CPU module or reboot the power for the programmable controller Initialized setting data Parameters Pr 1 to Pr 57 Pr 150 Positioning data No 1 to No 600 Block start data No 7000 to 7004 Setting value Set with a decimal Default value 0 Storage buffer memory address Common to axes 1 to 4 1901 K 1 Setting value 1 Requests write a...

Page 214: ...nuation Setting value Set with a decimal Default value 0 Storage buffer memory address Common to axes 1 to 4 1907 Item Description Storage details Select the timing to output the difference l between the actual and the set positioning end addresses in continuous path control in which the difference l is output during the execution of the next positioning data Setting value Set with a decimal Defau...

Page 215: ...500 Axis 2 1600 Axis 3 1700 Axis 4 1800 Item Description Setting details Set a starting point No 1 to 50 if block start data is used for positioning Handled as 1 if the value of other than 1 to 50 is set Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1501 Axis 2 1601 Axis 3 1701 Axis 4 1801 Setting value Positioning data No 1 to 600 7000 to7004 9001 9002 9003...

Page 216: ...pped for any reason when axis operation state is Stopped set 1 in Cd 6 Positioning will be carried out again from the stopped position to the end point of the stopped positioning data Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1503 Axis 2 1603 Axis 3 1703 Axis 4 1803 Setting value K 1 1 Axis error is reset Error reset request After the axis error reset is...

Page 217: ...Axis 4 1804 Item Description Setting details Validates or in validates external command signals Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1505 Axis 2 1605 Axis 3 1705 Axis 4 1805 Setting value K 1 1 M code ON signal turns OFF M code OFF request After the M code ON signal turns OFF 0 is stored by the LD75 automatically Indicates that the OFF request is co...

Page 218: ...egree 0 to 35999999 10 5degree 3 pulse 2147483648 to 2147483647 pulse Item Description Setting details When changing the acceleration time during a speed change use this data item to specify a new acceleration time Cd 10 setting range unit 0 to 8388608 ms Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1508 1509 Axis 2 1608 1609 Axis 3 1708 1709 Axis 4 1808 18...

Page 219: ...11 Axis 2 1610 1611 Axis 3 1710 1711 Axis 4 1810 1811 Item Description Setting details Enables or disables modifications to the acceleration deceleration time during a speed change Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1512 Axis 2 1612 Axis 3 1712 Axis 4 1812 Cd 11 New deceleration time value Setting value Example When the Cd 11 New deceleration time...

Page 220: ... 100 Storage buffer memory address Axis 1 1513 Axis 2 1613 Axis 3 1713 Axis 4 1813 Item Description Setting details When changing the speed use this data item to specify a new speed Page 219 Section 5 7 2 12 a The operation halts if you specify 0 Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1514 1515 Axis 2 1614 1615 Axis 3 1714 1715 Axis 4 1814 1815 Settin...

Page 221: ...tem Description Setting details After setting Cd 14 New speed value set this data item to 1 to execute the speed change through validating the new speed value Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1516 Axis 2 1616 Axis 3 1716 Axis 4 1816 Setting value K 1 1 Executes speed change Speed change request The LD75 resets the value to 0 automatically when t...

Page 222: ...Storage buffer memory address Axis 1 1517 Axis 2 1617 Axis 3 1717 Axis 4 1817 Pr 1 Unit setting Setting range 0 mm 0 to 65535 10 1 m 1 inch 0 to 65535 10 5inch 2 degree 0 to 65535 10 5degree 3 pulse 0 to 65535 pulse Actual value Conversion into an integer value Cd 16 Inching movement amount 10n Unit conversion table Cd 16 n 1 m 5 inch 5 degree 0 pulse Unit R Setting value Decimal Example When the ...

Page 223: ...s 1 1518 1519 Axis 2 1618 1619 Axis 3 1718 1719 Axis 4 1818 1819 Pr 1 Unit setting Setting range 0 mm 0 to 2000000000 10 2 mm min 1 inch 0 to 2000000000 10 3 inch min 2 degree 0 to 2000000000 10 3degree min 3 pulse 0 to 4000000 pulse s Actual value Conversion into an integer value Cd 17 JOG speed 10n Unit conversion table Cd 17 n 2 mm min 3 inch min 3 degree min 0 pulse s Unit R Setting value Deci...

Page 224: ...est flag from ON to OFF Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1521 Axis 2 1621 Axis 3 1721 Axis 4 1821 Setting value K 1 1 Interrupts continuous operation control or continuous path control Interruption request continuous operation The LD75 resets the value to 0 automatically when the continuous operation interrupt request is processed This indicates...

Page 225: ...ns using a manual pulse generator Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1524 Axis 2 1624 Axis 3 1724 Axis 4 1824 Item Description Setting details When changing the Md 35 Torque limit stored value use this data item to specify a new torque limit stored value Set a value within the allowable range of the Pr 17 Torque limit setting value Setting value S...

Page 226: ...e The value is reset to 0 when the next operation starts Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1526 1527 Axis 2 1626 1627 Axis 3 1726 1727 Axis 4 1826 1827 Pr 1 Unit setting Setting range 0 mm 0 to 2000000000 10 2mm min 1 inch 0 to 2000000000 10 3inch min 2 degree 0 to 2000000000 10 3degree min 3 pulse 0 to 4000000 pulse s 10n Actual value n 1 m 5 in...

Page 227: ...Page 226 Section 5 7 2 23 a The new speed has to be set during the position control stage of the position speed switching control The value is reset to 0 when the next operation starts Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1530 1531 Axis 2 1630 1631 Axis 3 1730 1731 Axis 4 1830 1831 K Setting value Speed position switching enable flag 0 Speed control...

Page 228: ... signal external command signal CHG speed position position speed switching request is selected is enabled or not Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1532 Axis 2 1632 Axis 3 1732 Axis 4 1832 Setting value Position speed switching enable flag 0 Position control will not be taken over by speed control even when the external command signal CHG comes O...

Page 229: ...is 1 1534 1535 Axis 2 1634 1635 Axis 3 1734 1735 Axis 4 1834 1835 Pr 1 Unit setting Setting range 0 mm ABS INC 2147483648 to 2147483647 10 1 m 1 inch ABS INC 2147483648 to 2147483647 10 5 inch 2 degree ABS 0 to 35999999 10 5 degree INC 2147483648 to 2147483647 10 5degree 3 pulse ABS INC 2147483648 to 2147483647 pulse n 1 5 inch 5 degree 0 pulse m Actual value R Setting value Decimal 10n Unit Conve...

Page 230: ...y address Axis 1 1536 1537 Axis 2 1636 1637 Axis 3 1736 1737 Axis 4 1836 1837 Pr 1 Unit setting Setting range 0 mm 0 to 2000000000 10 2 mm min 1 inch 0 to 2000000000 10 3inch min 2 degree 0 to 2000000000 10 3 degree min 3 pulse 0 to 4000000 pulse s n 2 3 3 0 mm min inch min degree min pulse s Actual value R Setting value Decimal 10n Unit Conversion into an integer value Unit conversion table Cd 28...

Page 231: ...ption Setting details Use these data items to specify a start data No for each axis that has to start simultaneously Set 0 to any axis that should not start simultaneously Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1540 Axis 2 1640 Axis 3 1740 Axis 4 1840 Setting value K 1 1 Requests a target position change Target position change request flag The LD75 re...

Page 232: ...efault value 0 Storage buffer memory address Axis 1 1541 Axis 2 1641 Axis 3 1741 Axis 4 1841 Item Description Setting details Use these data items to specify a start data No for each axis that has to start simultaneously Set 0 to any axis that should not start simultaneously Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1542 Axis 2 1642 Axis 3 1742 Axis 4 18...

Page 233: ...ing details To perform a step operation use this data item to specify the units by which the stepping should be performed Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1544 Axis 2 1644 Axis 3 1744 Axis 4 1844 Item Description Setting details This data item validates or invalidates step operations Setting value Set with a decimal Default value 0 Storage buffe...

Page 234: ...sitioning operation set 1 in this data item Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1547 Axis 2 1647 Axis 3 1747 Axis 4 1847 Setting value K Step start information 1 Continues step opration The LD75 resets the value to 0 automatically when processing of the step start request completes Setting value K 1 Skip request 1 Issues a skip request to have the ...

Page 235: ...48 Item Description Setting details This data item specifies data to be produced by teaching If a value 1 to 600 is set a teaching operation is done The value is cleared to 0 when the LD75 is initialized when a teaching operation completes and when an illegal value 601 or higher is entered Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1549 Axis 2 1649 Axis 3...

Page 236: ...tion carrying out the position control when degree is selected as the unit Setting value Set with a decimal Default value 0 Storage buffer memory address Axis 1 1550 Axis 2 1650 Axis 3 1750 Axis 4 1850 Setting value ABS direction in degrees 0 Shortcut direction setting ignored 1 ABS clockwise 2 ABS counterclockwise K ...

Page 237: ...ol rewrite the data four positioning data items before the actual execution If the positioning data is not rewritten before the positioning data four items earlier is executed the process will be carried out as if the data was not rewritten 2 Restrictions to speed change execution interval Provide an interval of 100ms or more when changing the speed or performing override function with the LD75 3 ...

Page 238: ...ster local module QJ71GF11 T2 Input module QX41 QX40 Power supply module L61P Head module LJ71GF15 T2 Positioning module LD75P4 END cover L6EC M Servo amplifier Servo motor L61P L26CPU BT FD0 to FFF LD75P4 00 to 1F L6EC LY41NT1P 50 to 6F LX40C6 40 to 4F LX41C4 20 to 3F X47 to X49 for absolute position restoration Y50 to Y52 for absolute position restoration X20 to X3F X40 to X45 External device Ne...

Page 239: ...ows When the circuit uses the intelligent function device on the destination D side of a MOV instruction change the instruction to a TO instruction When the circuit uses the intelligent function device on the source S side and the destination D side of a MOV instruction change the instruction to a FROM instruction and a TO instruction When the circuit uses the intelligent function device for a com...

Page 240: ...ule User s Manual Function Explanation Program Fundamentals for the intelligent function devices Refer to MELSEC Q L Programming Manual Common Instruction for detail instructions used in those programs shown in this chapter and subsequent ...

Page 241: ...put X0 LD75 READY signal Preparation completed X1 Synchronization flag LD75 buffer memory accessible X4 X5 X6 X7 M code ON signal M code outputting X8 X9 XA XB Error detection signal Error detected XC XD XE XF BUSY signal BUSY operating X10 X11 X12 X13 Start complete signal Start completed X14 X15 X16 X17 Positioning complete signal Positioning completed Out put Y0 PLC READY signal CPU module prep...

Page 242: ...command Commanding JOG operation speed setting X2E Forward run JOG inching command Commanding forward run JOG inching operation X2F Reverse run JOG inching command Commanding reverse run JOG inching operation X30 Manual pulse generator operation enable command Commanding manual pulse generator operation enable X31 Manual pulse generator operation disable command Commanding manual pulse generator o...

Page 243: ... Commanding fast OPR M4 Fast OPR command storage Fast OPR command held M5 Positioning start command pulse Positioning start commanded M6 Positioning start command storage Positioning start command held M7 In JOG Inching operation flag In JOG Inching operation M8 Manual pulse generator operation enable command Commanding manual pulse generator operation enable M9 Manual pulse generator operating fl...

Page 244: ... complete device ZP PINIT instruction completed M37 ZP PINIT instruction failure device ZP PINIT instruction failed M38 ZP PFWRT instruction complete device ZP PFWRT instruction completed M39 ZP PFWRT instruction failure device ZP PFWRT instruction failed M40 Absolute position restoration instruction pulse Absolute position restoration commanded M41 Absolute position restoration instruction storag...

Page 245: ... order 16 bits D13 Speed change request Cd 15 Speed change request D14 Override value Cd 13 Positioning operation speed override D15 Acceleration time setting low order 16 bits Cd 10 New acceleration time value D16 Acceleration time setting high order 16 bits D17 Deceleration time setting low order 16 bits Cd 11 New deceleration time value D18 Deceleration time setting high order 16 bits D19 Accel...

Page 246: ... Unit magnification D54 Pulse output mode Pr 5 Pulse output mode D55 Rotation direction setting Pr 6 Rotation direction setting D56 Bias speed at start low order 16 bits Pr 7 Bias speed at start D57 Bias speed at start high order 16 bits D200 OPR method Pr 43 OPR method D201 OPR direction Pr 44 OPR direction D202 OP address low order 16 bits Pr 45 OP address D203 OP address high order 16 bits D204...

Page 247: ...6 bits Da 6 Positioning address movement amount D65 Positioning address movement amount high order 16 bits D66 Arc address low order 16 bits Da 7 Arc address D67 Arc address high order 16 bits D68 Block start data Block 0 Point 1 shape start No Da 11 Shape Da 12 Start data No Da 13 Special start instruction Da 14 Parameter D69 Point 2 shape start No D70 Point 3 shape start No D71 Point 4 shape sta...

Page 248: ...g X1010 X1011 X1012 X1013 Start complete signal Start completed X1014 X1015 X1016 X1017 Positioning complete signal Positioning completed Out put Y1000 PLC READY signal CPU module preparation completed Y1004 Y1005 Y1006 Y1007 Axis stop signal Requesting stop Y1008 Y100A Y100C Y100E Forward run JOG start signal Starting forward run JOG Y1009 Y100B Y100D Y100F Reverse run JOG start signal Starting r...

Page 249: ...eed setting command Commanding JOG operation speed setting X2E Forward run JOG inching command Commanding forward run JOG inching operation X2F Reverse run JOG inching command Commanding reverse run JOG inching operation X30 Manual pulse generator operation enable command Commanding manual pulse generator operation enable X31 Manual pulse generator operation disable command Commanding manual pulse...

Page 250: ... Positioning start command storage Positioning start command held M7 In JOG Inching operation flag In JOG Inching operation M8 Manual pulse generator operation enable command Commanding manual pulse generator operation enable M9 Manual pulse generator operating flag Manual pulse generator operating M10 Manual pulse generator operation disable command Commanding manual pulse generator operation dis...

Page 251: ...ing control ABS parameter setting commanded M103 Positioning data setting command Positioning data setting commanded M104 Block start data setting command Block start data setting commanded M105 Block start special start setting command Block start special start setting commanded M120 Communication condition satisfaction flag station No 1 Communication condition satisfied M5000 Basic parameter 1 c...

Page 252: ...osition speed switching enable failed M5170 Speed change complete device Speed change completed M5171 Speed change failure device Speed change failed M5180 Positioning start complete device Positioning start completed M5181 Positioning start failure device Positioning start failed M5200 M code request complete device M code request completed M5201 M code request failure device M code request faile...

Page 253: ... change failed M5320 Axis operation status acquisition complete device Axis operation status acquisition completed M5321 Axis operation status acquisition failure device Axis operation status acquisition failed M5330 Restart command complete device Restart command completed M5331 Restart command failure device Restart command failed M5340 Parameter initialization command complete device Parameter ...

Page 254: ... value low order 16 bits Cd 14 New speed value D12 Speed change value high order 16 bits D13 Speed change request Cd 15 Speed change request D14 Override value Cd 13 Positioning operation speed override D15 Acceleration time setting low order 16 bits Cd 10 New acceleration time value D16 Acceleration time setting high order 16 bits D17 Deceleration time setting low order 16 bits Cd 11 New decelera...

Page 255: ...d value during speed control D156 Speed position function selection ABS mode Pr 150 Speed position function selection D200 OPR method Pr 43 OPR method D201 OPR direction Pr 44 OPR direction D202 OP address low order 16 bits Pr 45 OP address D203 OP address high order 16 bits D204 OPR speed low order 16 bits Pr 46 OPR speed D205 OPR speed high order 16 bits D206 Creep speed low order 16 bits Pr 47 ...

Page 256: ...ing value D86 Speed position switching enable setting value D87 Position speed switching enable setting value D90 M code OFF request setting value D91 Skip command setting value D92 Restart command setting value D93 Parameter initialization setting value D94 Flash ROM write setting value D95 Continuous operation interrupt request setting value D96 Error reset request setting value Timer T100 Own s...

Page 257: ...hen ON Axis 1 Axis 2 Axis 3 Axis 4 Link Special Relay SB0047 Baton pass status own station Baton pass status own station failed SB0049 Data link status own station Data link status own station failed Link Special Register SW00A0 to SW00A7 Baton pass status each station Baton pass status each station failed SW00B0 to SW00B7 Data link status each station Data link status each station failed ...

Page 258: ...plained in this chapter The functions and programs explained in PART 2 are assembled into the positioning control operation program explained here To monitor the control add the required monitor program that matches the system Refer to Page 182 Section 5 6 for details on the monitor items ...

Page 259: ...ata setting program Initialization program Start details setting program Start program JOG operation program Inching operation program Manual pulse generator operation program Sub program Stop program Completion of program creation Program for carrying out initialization Program required to carry out OPR control major positioning control and high level positioning control Program required to carry...

Page 260: ... the order of these numbers is recommended 1 Page 286 Section 6 5 1 1 2 Page 286 Section 6 5 1 2 1 2 No 6 No 1 No 2 No 3 No 5 No 4 1 Not carried out Start of program creation Parameter and data are Set using program TO instruction Set using GX Works2 Parameter setting program Positioning data setting program Block start data setting program When not carrying out OPR control the OPR parameters do n...

Page 261: ... setting program Positioning start No setting program Start program Positioning start program 1 Program to turn the M code ON signal OFF M code OFF program JOG operation program JOG operation program Inching operation program Inching operation program Manual pulse generator operation program Manual pulse generator operation program Program required to carry out OPR control Major positioning contro...

Page 262: ...n 13 3 20 Page 301 Section 6 5 6 No 20 No 22 No 14 No 15 No 16 No 17 No 18 No 19 No 21 No 23 No 24 No 25 No 26 No 27 8 9 10 11 12 13 14 15 16 17 18 19 20 2 Sub program Speed change program Override program Acceleration deceleration time change program Step operation program Skip program Teaching program 1 Continuous operation interrupt program Target position change program Absolute position resto...

Page 263: ...mple An example of the Axis 1 positioning program is given in this section No 1 to No 3 parameter and data setting program When setting the parameters or data with the program set them in the LD75 using the TO instruction from the CPU module Carry out the settings while the PLC READY signal Y0 is OFF When setting the parameters or data with GX Works2 the No 1 to No 3 program is not necessary ...

Page 264: ...262 ...

Page 265: ...tting of positioning data No 1 to the LD75 Positioning option enable disable parameter setting program The program is not required when positioning option is not used No 2 Positioning data setting program For using positioning option For positioning data No 1 axis 1 Positioning identifier Operation pattern Positioning complete Control system 1 axis linear control ABS Acceleration time No 1 deceler...

Page 266: ...264 ...

Page 267: ...265 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 6 6 4 Positioning Program Examples ...

Page 268: ...266 ...

Page 269: ...267 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 6 6 4 Positioning Program Examples ...

Page 270: ...268 ...

Page 271: ...269 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 6 6 4 Positioning Program Examples ...

Page 272: ...270 Z ABRST1 instruction execution ...

Page 273: ...271 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 6 6 4 Positioning Program Examples ...

Page 274: ...nd 2 is required 1 Setting on master station a Create a project on GX Works2 Select QCPU Q mode for PLC Series and select Q10UDH for PLC Type Project window New Project b Display the network parameter setting screen and configure the setting as follows Project window Parameter Network Parameter Ethernet CC IE MELSECNET ...

Page 275: ...r Ethernet CC IE MELSECNET Network Configuration Setting button d Display the Refresh Parameter setting screen and configure the setting as follows Project window Parameter Network Parameter Ethernet CC IE MELSECNET Refresh Parameters button e Write the set parameter to the CPU module of the master station and reset the CPU module or turn off and then on the programmable controller power supply On...

Page 276: ...e a project on GX Works2 Select LCPU for PLC Series and select LJ72GF15 T2 for PLC Type Project New Project b Display the PLC Parameter setting screen and configure the setting as follows Project window Parameter PLC Parameter Communication Head Setting ...

Page 277: ...am is given in this section No 1 to No 3 parameter and data setting program When setting the parameters or data with the program set them in the LD75 using the TO instruction from the CPU module Carry out the settings while the PLC READY signal Y0 is OFF When setting the parameters or data with GX Works2 the No 1 to No 3 program is not necessary ...

Page 278: ...276 ...

Page 279: ...277 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 6 6 4 Positioning Program Examples ...

Page 280: ...278 ...

Page 281: ...279 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 6 6 4 Positioning Program Examples ...

Page 282: ...280 ...

Page 283: ...281 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 6 6 4 Positioning Program Examples ...

Page 284: ...282 ...

Page 285: ...283 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 6 6 4 Positioning Program Examples ...

Page 286: ...284 ...

Page 287: ...285 CHAPTER 6 PROGRAM USED FOR POSITIONING CONTROL 6 6 4 Positioning Program Examples ...

Page 288: ... the external command functions external start speed change speed position switching position speed switching skip Set which function to use beforehand in Pr 42 External command function selection Set the following data to validate the external command signal Refer to Page 211 Section 5 7 for the information on detail settings Setting item Setting value Setting details Buffer memory address Axis 1...

Page 289: ...e Cd 25 Position speed switching control speed change register Refer to Page 211 Section 5 7 for the information on detail settings Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 3 Positioning start No 1 to 600 Positioning data No 9001 Machine OPR 9002 Fast OPR 9003 Current value changing 9004 Simultaneous start 7000 to 7004 Block No For high level ...

Page 290: ... the positioning start signal Y10 or the external command signal 3 The positioning data No 1 will start Signal name Signal state Device Axis 1 Axis 2 Axis 3 Axis 4 Interface signal PLC READY signal ON CPU module preparation completed Y0 LD75 READY signal ON LD75 preparation completed X0 Synchronization flag 1 ON LD75 buffer memory accessible X1 Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6...

Page 291: ... time is short the ON status may not be detected in the program The ON status of the start complete signal X10 X11 X12 X13 positioning complete signal X14 X15 X16 X17 and M code ON signal X4 X5 X6 X7 can be detected in the program When next positioning is not to be carried out If a dwell time is set the system will wait for the set time to pass and then positioning will be completed When positioni...

Page 292: ... OFF OFF ON ON ON ON OFF OFF OFF Positioning start No 9001 ON ON OFF OFF OPR request flag OPR complete flag Zero signal Near point dog V t X8 XC X10 X0 Y10 Y0 ON OFF Positioning start signal PLC READY signal LD75 READY signal Start complete signal BUSY signal Error detection signal Cd 3 Md 31 Status b3 Md 31 Status b4 ...

Page 293: ...ing start No Y10 Y0 X0 X10 XC X8 Positioning start signal PLC READY signal LD75 READY signal Start complete signal BUSY signal Error detection signal Cd 3 Positioning start No 1 V t Positioning data No 2 00 Operation pattern 1 11 Y10 Y0 X0 X10 XC X14 X8 Positioning start signal PLC READY signal LD75 READY signal Start complete signal BUSY signal Positioning complete signal Error detection signal C...

Page 294: ... signal Positioning complete signal Error detection signal Speed position switching signal external Cd 3 Cd 24 Speed position switching enable flag Dwell time V t Operation pattern 00 Positioning data No 1 Positioning start No 0 1 1 Y10 Y0 X0 X10 XC X14 X8 Positioning start signal PLC READY signal LD75 READY signal Start complete signal BUSY signal Positioning complete signal Error detection signa...

Page 295: ...he operating conditions of the other axis t1 t2 t3 t4 0 2 to 1 1ms 0 4 to 1 3ms 0 to 0 9ms 0 to 0 9ms BUSY signal Standby OPR Standby Output pulse to external source PULSE Positioning operation t1 t4 t2 t3 Md 26 Axis operation status OPR request flag Md 31 Status b3 Positioning start signal Y10 Y11 Y12 Y13 XC XD XE XF Start complete signal X10 X11 X12 X13 OPR complete flag Md 31 Status b4 ...

Page 296: ...s t1 t2 t3 t4 t5 t6 0 2 to 1 6ms 0 to 0 9ms 0 to 0 9ms 0 4 to 1 3ms 0 to 0 9ms Follows parameters t1 t2 t3 t4 t5 t2 t6 M code OFF request Standby Position control Standby BUSY signal XC XD XE XF Output pulse to external source PULSE Positioning operation Axis operation status M code OFF request Positioning start signal Y10 Y11 Y12 Y13 M code ON signal WITH mode X4 X5 X6 X7 Start complete signal X1...

Page 297: ...X13 will not turn ON b Data required to be set To execute positioning start with the external command signal set parameter Pr 42 beforehand and validate the external command signal with the External command function valid setting program program No 5 Refer to Page 93 CHAPTER 5 for the information on detail settings c Starting time chart Setting item Setting value Setting details Buffer memory addr...

Page 298: ... command is issued a warning Restart not possible warning code 104 will occur b Even if the stop command is turned ON after executing the continuous operation interrupt request the continuous operation interrupt request cannot be canceled Thus if restart is executed after stopping by turning the stop command ON the operation will stop when the positioning data No where continuous operation interru...

Page 299: ...t request during continuous operation is not accepted It is cleared to 0 at a start or restart 3 Control data requiring settings Set the following data to interrupt continuous operation Refer to Page 211 Section 5 7 for the information on detail settings Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 18 Continuous operation interrupt request 1 Set 1...

Page 300: ...ged from OFF to ON while Md 26 Axis operation status is Stopped the normal positioning the positioning data set in Cd 3 Positioning start signal is started If the PLC READY signal is turned ON from OFF while Md 26 Axis operation status is Stopped the positioning cannot be restarted If restart is requested a warning Restart not possible warning code 104 will occur Do not execute restart while the s...

Page 301: ...s run on the CPU module Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 6 Restart command 1 Set 1 Restarts 1503 1603 1703 1803 Signal name Signal state Device Axis 1 Axis 2 Axis 3 Axis 4 Interface signal PLC READY signal ON CPU module preparation completed Y0 LD75 READY signal ON LD75 preparation completed X0 Synchronization flag 1 ON LD75 buffer mem...

Page 302: ...atus 0 V t Restart command 1 8 1 8 0 0 0 Y10 Y4 Y0 X0 X10 XC X14 X8 Positioning start signal Axis stop signal PLC READY signal LD75 READY signal Start complete signal BUSY signal Positioning complete signal Error detection signal Md 26 Cd 6 Dwell time ...

Page 303: ...ontrol Stop cause Stop axis M code ON signal after stop Axis operation status Md 26 after stopping Stop process Machine OPR control Fast OPR control Forced stop Drive unit READY signal OFF Each axis No change Error Immediate stop Fatal stop Stop group 1 Hardware stroke limit upper lower limit error occurrence Each axis No change Error Deceleration stop sudden stop Select with Pr 37 Stop group 1 su...

Page 304: ...nge Stopped Standby Axis stop signal ON from CPU module Stop signal from GX Works2 Stop cause Stop axis M code ON signal after stop Axis operation status Md 26 after stopping Stop process JOG operation Inching operation Manual pulse generator operation Forced stop Drive unit READY signal OFF Each axis No change Error Immediate stop Deceleration stop Fatal stop Stop group 1 Hardware stroke limit up...

Page 305: ... immediately stops the pulse output but the operation will coast for the droop pulses accumulated in the drive unit s deviation counter Remark Deceleration stop and sudden stop are selected with the details parameter 2 stop group 1 to 3 sudden stop selection The default setting is deceleration stop a Deceleration stop b Sudden stop c Immediate stop Actual deceleration time Set deceleration time Po...

Page 306: ...ve is continued after stop cause occurrence If the stop signal ON or stop cause specified for a sudden stop occurs during deceleration sudden stop process will start at that point However if the sudden stop deceleration time is longer than the deceleration time the deceleration stop process will be continued even if a sudden stop cause occurs during the deceleration stop process Ex The process whe...

Page 307: ...e directly accessed with program from CPU module Flash ROM Area for backing up data required for positioning Setting and storage area provided Setting and storage area not provided Possible Data is held even when power is turned OFF Not possible Data is lost when power is turned OFF Memory configuration Area configuration Backup Parameter area Monitor data area Control data area Positioningdata ar...

Page 308: ...Area where positioning data No 1 to 600 is set and stored Set the items indicated with Da 1 to Da 10 and Da 27 to Da 29 for each positioning data Block start data area No 7000 to 7004 Area where information required only when carrying out block No 7000 to 7004 high level positioning is set and stored Set the items indicated with Da 11 to Da 19 PLC CPU memo area Area where condition judgment values...

Page 309: ...ble Block start data area No 7000 Block start data area 26000 to 26049 27000 to 27049 28000 to 28049 29000 to 29049 26050 to 26099 27050 to 27099 28050 to 28099 29050 to 29099 Condition data area 26100 to 26199 27100 to 27199 28100 to 28199 29100 to 29199 Block start data area No 7001 Block start data area 26200 to 26249 27200 to 27249 28200 to 28249 29200 to 29249 26250 to 26299 27250 to 27299 28...

Page 310: ...eter area b Monitor data area Control data area Buffer memory Parameter area a Parameter area b 2 TO instruction 4 FROM instruction Pr 1 to Pr 24 to to Parameter area b to Pr 25 to Pr 150 CPU module Positioning data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area 1 Power supply ON CPU module reset Flash ROM Positioning data area No 1 to 600 Block start data area No 7000 to...

Page 311: ...eters validated with the next each positioning control is started Pr 8 to Pr 10 Pr 25 to Pr 42 3 Validate parameters when PLC READY signal Y0 changes from OFF to ON When the PLC READY signal Y0 changes from OFF to ON the data stored in the buffer memory s parameter area a 1 is validated For Pr 5 however only the data obtained first after the PLC READY signal Y0 changes from OFF to ON when the powe...

Page 312: ...OM write request Positioning data area No 1 to 600 Block start data area No 7000 to 7004 5 Flash ROM write 6 Flash ROM write request Parameter area a Pr 1 to Pr 24 to to Parameter area b to Pr 25 to Pr 150 Pr 7 Pr 11 Pr 43 Pr 57 Pr 8 Pr 10 Pr 42 Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Cd 1 5 Flash ROM write Set 1 in with the TO inst...

Page 313: ...a No 1 to 600 and block start data No 7000 to 7004 in the buffer memory area are transmitted to the flash ROM This transmission process is the same as 5 above For details on flash ROM write request using GX Works2 refer to the following GX Works2 Version 1 Operating Manual Intelligent Function Module Do not turn the power OFF or reset the CPU module while writing to the flash ROM If the power is t...

Page 314: ...rea Control data area Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Flash ROM Parameter area a Pr 1 to Pr 24 to to Parameter area b to Pr 25 to Pr 7 Pr 11 Pr 43 Pr 57 Pr 8 Pr 10 Pr 42 Pr 150 Pr 70 Pr 150 Pr 70 ...

Page 315: ... transmission processes are carried out with the Write to PLC from GX Works2 The parameters positioning data No 1 to 600 and block start data No 7000 to 7004 in GX Works2 area transmitted to the buffer memory via the CPU module At this time when Flash ROM write is set with GX Works2 the transmission processes indicated with 5 Flash ROM write are carried out The data transmission is carried out as ...

Page 316: ...314 Memo ...

Page 317: ...s CHAPTER 8 OPR CONTROL 316 CHAPTER 9 MAJOR POSITIONING CONTROL 339 CHAPTER 10 HIGH LEVEL POSITIONING CONTROL 456 CHAPTER 11 MANUAL CONTROL 479 CHAPTER 12 CONTROL SUB FUNCTIONS 507 CHAPTER 13 COMMON FUNCTIONS 609 CHAPTER 14 DEDICATED INSTRUCTIONS 619 CHAPTER 15 TROUBLESHOOTING 640 ...

Page 318: ...No and turning ON the positioning start signal The ZP PSTRT start numbers of the dedicated instruction can also be set to 9001 or 9002 to execute the OPR control Refer to Page 619 CHAPTER 14 for details Establish a positioning control OP Machine OPR positioning start No 9001 Carry out positioning toward the OP Fast OPR positioning start No 9002 The machine OPR must always be carried out before exe...

Page 319: ...ble 2 When an OPR is not required Control can be carried out ignoring the OPR request flag Md 31 Status b3 in systems that do not require an OPR In this case the OPR parameters Pr 43 to Pr 57 must all be set to their initial values or a value at which an error does not occur 3 OPR from GX Works2 Machine OPR and fast OPR can be executed by the test function of GX Works2 Refer to Page 756 Appendix 6...

Page 320: ...o be the starting point for positioning control The method for establishing an OP by a machine OPR differs according to the method set in Pr 43 OPR method The following shows the operation when starting a machine OPR 1 The machine OPR is started 2 The operation starts according to the speed and direction set in the OPR parameters Pr 43 to Pr 57 3 The OP is established by the method set in Pr 43 OP...

Page 321: ... 47 Creep speed and stops The machine OPR is regarded as completed on completion of the deviation counter clear output provided after the zero signal 1 is detected after stoppage Stopper method 3 The stopper position is regarded as the OP The machine starts at the Pr 47 Creep speed from the beginning then presses against the stopper at the Pr 47 Creep speed and stops The machine OPR is regarded as...

Page 322: ...eed The stopping accuracy is poor when the machine suddenly stops from fast speeds To improve the machine s stopping accuracy its must change over to a slow speed before stopping This speed is set in the Pr 47 Creep speed ...

Page 323: ...tput time is set in Pr 55 5 After a deviation counter clear signal is output to the drive unit the OPR complete flag Md 31 Status b4 turns from OFF to ON and the OPR request flag Md 31 Status b3 turns from ON to OFF t ON OFF OPR speed Deceleration at the near point dog ON Creep speed ON OFF OFF ON Standby OPR Standby Inconsistent 0 Movement amount after near point dog ON Inconsistent Value of the ...

Page 324: ...celerating and stop if the near point dog is turned OFF before it has decelerated to the creep speed thus causing an error Dog detection timing fault error code 203 When a machine OPR is stopped with the stop signal perform a machine OPR again If the restart command is turned ON after a stop with the stop signal an error OPR restart not possible error code 209 occurs t OPR speed Creep speed V ON O...

Page 325: ...e machine decelerates to the Pr 47 Creep speed and subsequently moves at that speed Torque limiting is required at this time If the torque is not limited the servomotor may fail in step 4 4 The machine presses against the stopper at the creep speed and stops 5 The pulse output from the LD75 will stop when the Pr 49 OPR dwell time has elapsed after the near point dog turns ON outputting the deviati...

Page 326: ...t 0 Inconsistent Value the machine moved is stored OP address Inconsistent Current feed value OPR speed Creep speed Valid torque limit range Torque limit OPR request flag OPR complete flag Near point dog Deviation counter clear output Pr 46 Pr 47 Md 34 Md 20 Md 21 Md 26 Md 31 Md 31 Pr 55 Machine feed value Dwell time measurement Machine OPR start Positioning start signal Y10 Y11 Y12 Y13 Status b3 ...

Page 327: ...ing deceleration from the Pr 46 OPR speed thus causing an error Dwell time fault error code 205 t OPR speed Creep speed V ON OFF ON OFF OPR request flag OFF OPR complete flag Standby OPR Inconsistent 0 Movement amount after near point dog ON Inconsistent Value the machine moved is stored Current feed value Error Address at stop Pr 46 Pr 47 Md 34 Md 20 Md 21 Status b3 Status b4 Md 31 Md 31 Md 26 St...

Page 328: ... the restart command is turned ON after a stop with the stop signal an error OPR restart not possible error code 209 occurs ON OFF ON OFF OFF ON ON OFF V t OPR speed Valid torque limit range Torque limit OPR request flag OPR complete flag Standing by In OPR Standing by Inconsistent 0 Movement amount after near point dog ON Inconsistent Value the machine moved is stored OP address Inconsistent Torq...

Page 329: ...he machine stops outputting the deviation counter clear output to the drive unit A deviation counter clear signal output time is set in Pr 55 6 After a deviation counter clear signal is output to the drive unit the OPR complete flag Md 31 Status b4 turns from OFF to ON and the OPR request flag Md 31 Status b3 turns from ON to OFF 1 2 3 4 5 6 ON OFF ON OFF OFF ON ON OFF 0 t OPR speed Creep speed Va...

Page 330: ...ece will continue decelerating and stop if a zero signal is input before deceleration to the Pr 47 Creep speed An error OP detection timing fault error code 204 will occur after the machine stops t OPR speed Creep speed V Zero signal ON OFF ON OFF OPR request flag OFF OPR complete flag Standby OPR Inconsistent 0 Movement amount after near point dog ON Inconsistent Value the machine moved is stored...

Page 331: ...l perform a machine OPR again If the restart command is turned ON after a stop with the stop signal an error OPR restart not possible error code 209 occurs t ON OFF ON OFF OFF ON V ON OFF t V OPR speed Creep speed Valid torque limit range Torque limit Near point dog Zero signal Deviation counter clear output Standing by In OPR Standing by Inconsistent 0 Movement amount after near point dog ON Inco...

Page 332: ...ignal after the machine stops outputting the deviation counter clear output to the drive unit A deviation counter clear signal output time is set in Pr 55 4 After a deviation counter clear signal is output to the drive unit the OPR complete flag Md 31 Status b4 turns from OFF to ON and the OPR request flag Md 31 Status b3 turns from ON to OFF 1 2 3 4 0 t ON OFF ON OFF OFF ON V OPR request flag OPR...

Page 333: ...not occur When a machine OPR is stopped with the stop signal perform a machine OPR again If the restart command is turned ON after a stop with the stop signal an error OPR restart not possible error code 209 occurs t ON OFF ON OFF OFF ON V Creep speed OPR request flag OPR complete flag Valid torque limit range Torque limit Zero signal Deviation counter clear output Standing by In OPR Standing by I...

Page 334: ... complete flag Md 31 Status b4 turns from OFF to ON and the OPR request flag Md 31 Status b3 turns from ON to OFF 0 1 2 3 4 5 t ON OFF OFF OFF ON V ON OFF ON OPR speed Standby OPR Standby Inconsistent Movement amount after near point dog ON Inconsistent Value the machine moved is stored OP address Current feed value Zero signal Value of Deviation counter clear output Movement amount after near poi...

Page 335: ...he Pr 46 OPR speed to Pr 47 Creep speed If the speed is changed to a speed faster than Pr 46 OPR speed by the speed change function refer to Page 543 Section 12 5 1 during a machine OPR the distance to decelerate to Pr 47 Creep speed may not be ensured depending on the setting value of Pr 50 Setting for the movement amount after near point dog ON In this case the error Count method movement amount...

Page 336: ...the near point dog signal ON Turn OFF the near point dog at a sufficient distance from the OP Although there is no harm in operation if the near point dog is turned OFF during a machine OPR it is recommended to leave a sufficient distance from the OP when the near point dog is turned OFF for the following reason If machine OPRs are performed consecutively after the near point dog is turned OFF at ...

Page 337: ... machine begins decelerating when the near point dog ON is detected 3 The machine decelerates to the Pr 47 Creep speed and subsequently moves at that speed 4 The pulse output from the LD75 will stop and the machine OPR will be completed when the machine moves the movement amount set in Pr 50 Setting for the movement amount after near point dog ON from the near point dog ON position t V ON OFF ON O...

Page 338: ...he machine moves at the OPR speed in the opposite direction of an OPR 3 Deceleration processing is carried out by Pr 39 Stop group 3 sudden stop selection when the near point dog OFF is detected 4 After the machine stops a machine OPR is carried out in the OPR direction 5 The machine OPR is completed after moving the movement amount set in the Pr 50 Setting for the movement amount after near point...

Page 339: ...g or a zero signal The following shows the operation during a fast OPR start 1 The fast OPR is started 2 Positioning control to the OP position established by a machine OPR begins at the speed set in the OPR parameters Pr 43 to Pr 57 3 The fast OPR is completed OPR speed Machine OP OP position Axis operation status Standby Position control Standby Pr 46 M OP Positioning to the OP Md 26 Fast OPR st...

Page 340: ...is cleared to zero using current value changing or fixed feed control execute the fast OPR and an error will occur by a cleared amount When unlimited length feed is executed by speed control and the current machine feed value overflows or underflows once the fast OPR cannot be executed normally The OPR complete flag Md 31 Status b4 is not turned ON The axis operation status during fast OPR is Posi...

Page 341: ...l is carried out from the start address current stop position to the designated position Fixed feed control 1 axis fixed feed control Fixed feed 1 Positioning of a designated 1 axis is carried out from the start address current stop position The Md 20 Current feed value is set to 0 at the start 2 axis fixed feed control 1 Fixed feed 2 Using a designated 2 axes linear interpolation control is carri...

Page 342: ...ol positioning for the designated address or movement amount by turning ON the speed position switching signal after first carrying out speed control Position speed switching control Forward run position speed Reverse run position speed The control is continued as speed control by turning ON the position speed switching signal after first carrying out position control Other control NOP instruction...

Page 343: ...set the acceleration time at control start Select one of the four values set in Pr 9 Pr 25 Pr 26 and Pr 27 for the acceleration time Da 4 Deceleration time No Select and set the deceleration time at control stop Select one of the four values set in Pr 10 Pr 28 Pr 29 and Pr 30 for the deceleration time Da 5 Axis to be interpolated Set an axis to be interpolated partner axis during the 2 axis interp...

Page 344: ... positioning data of axis 1 Direction in which axis 1 addresses increase 1 axis linear control One motor is driven and positioning is carried out to an addresses designated in one direction Speed Positioning data No 1 0 Operation pattern 11 Continuous path control Positioning to address A at command speed a No 2 No 3 No 4 No 5 Address a b NO 1 No 2 No 3 No 4 No 5 Speed is changed without stopping ...

Page 345: ...signated the positioning will complete after the designated time elapses This data operation pattern 00 data becomes the end of block data when carrying out block positioning The positioning stops after this data is executed Time Start complete signal OFF ON Dwell time X10 X11 X12 X13 OFF ON BUSY signal OFF ON Positioning complete signal OFF ON Positioning complete 00 Y10 Y11 Y12 Y13 Positioning s...

Page 346: ...lete the positioning If the operation pattern is set to positioning continue 01 or 11 the operation will continue until operation pattern 00 is found If the operation pattern 00 cannot be found the operation may be carried out until the positioning data No 600 If the operation pattern of the positioning data No 600 is not completed the operation will be started again from the positioning data No 1...

Page 347: ...e 01 or 11 the operation will continue until operation pattern 00 is found If the operation pattern 00 cannot be found the operation may be carried out until the positioning data No 600 If the operation pattern of the positioning data No 600 is not completed the operation will be started again from the positioning data No 1 The speed switching patterns include the front loading speed switching pat...

Page 348: ...speed V1 of a positioning data and the command speed V2 of the next positioning data is different significantly and V1 V2 For positioning data in which automatic deceleration is set the positioning is completed at the set address Therefore in continuous path control the address where a positioning is completed may be different from the set address However the address will be the specified one on c...

Page 349: ...to c When the operation pattern of the positioning data currently being executed is continuous path control 11 and the movement direction of the positioning data currently being executed differs from that of the next positioning data Only for 1 axis positioning control During operation by step operation Page 572 Section 12 7 1 When there is an error in the positioning data to carry out the next op...

Page 350: ...ns If t1 cannot be maintained for T or longer lower the Da 8 Command speed of the positioning data When a 0 is set in the Da 6 Positioning address movement amount of the continuous path control positioning data the command speed of about 0 9ms is reduced to 0 When a 0 is set in the Da 6 Positioning address movement amount to increase the number of speed change points in the future change the Da 2 ...

Page 351: ... the current speed when 1 is set in the command speed Depending on the relation between the movement amount and the speed the feedrate may not reach the command speed value but even then the current speed will be updated When the address for speed change is identified beforehand generate and execute the positioning data for speed change by the continuous path control to carry out the speed change ...

Page 352: ... speeds are the same Speed switching condition If the movement amount is small in regard to the target speed the current speed may not reach the target speed even if acceleration deceleration is carried out In this case the machine is accelerated decelerated so that it nears the target speed If the movement amount will be exceeded when automatic deceleration is required Ex Operation patterns 00 01...

Page 353: ...reach the target speed even if acceleration deceleration is carried out In this case the machine is accelerated decelerated so that it nears the target speed If the movement amount will be exceeded when automatic deceleration is required Ex Operation patterns 00 01 the machine will immediately stop at the designated positioning address and a warning Insufficient movement distance warning code 513 ...

Page 354: ...the machine is currently stopped is regarded as the start point and positioning is carried out for a designated movement amount in a designated movement direction Address 100 Address 150 Address 300 100 A point 150 B point 300 C point Within the stroke limit range Address 150 Address 100 Address 100 Address 150 OP Reference point Start point End point Movement amount 100 Movement amount 150 Moveme...

Page 355: ...s is the value stored in Md 21 Machine feed value This value always has an address established with a machine OPR as a reference The address cannot be changed even if the current value is changed to a new value This value is updated every 0 9ms The current feed value and machine feed value are used in monitoring the current value display etc 2 Restrictions A 0 9ms error will occur in the current v...

Page 356: ...struction from the CPU module a The following shows the examples of programs to read out the current feed value of the axis 1 to D104 and D105 when X40 is turned ON For the DFRO P instruction For the DMOV P instruction Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Md 20 Current feed value 800 801 900 901 1000 1001 1100 1101 Md 21 Machine feed value 802 803 902 903 1002 1003 1102 1103 ...

Page 357: ... software stroke limit To validate the software stroke limit set the software stroke limit lower limit value and the upper limit value in a clockwise direction To set the movement range A set as follows Software stroke limit lower limit value 315 00000 Software stroke limit upper limit value 90 00000 To set the movement range B set as follows Software stroke limit lower limit value 90 00000 Softwa...

Page 358: ...tarted In Cd 40 ABS direction in degrees or Da 28 ABS direction in degrees the set value for the reference axis is applied to both the reference axis and interpolation axis Even if a unit other than degree is set for the reference axis the setting of the reference axis is applied to the interpolation axis as shown below for 3 axis linear interpolation control ABS3 1 Positioning is carried out in a...

Page 359: ...direction in degrees becomes valid only when the positioning control is started In the continuous positioning control or continuous path control the operation is continued with the setting made at a start if the setting is changed during the operation 1 N indicates the offset address of each positioning data N Positioning data No 1 10 Name Function Buffer memory address Initial value Axis 1 Axis 2...

Page 360: ...ystem to carry out positioning of one rotation or more c Incremental system Positioning is carried out for a designated movement amount in a designated movement direction when in the incremental system of positioning The movement direction is determined by the sign of the movement amount For a positive movement direction Clockwise For a negative movement direction Counterclockwise Positioning of 3...

Page 361: ...3 axis fixed feed control and 3 axis speed control However the circular interpolation axis can be specified with Da 5 Axis to be interpolated of the reference axis The following table lists the combinations of the reference axis circular interpolation axis and linear interpolation axis for the 3 axis helical interpolation control 1 Specify with Da 5 Axis to be interpolated of the reference axis 2 ...

Page 362: ...r Illegal interpolation description command error code 521 will occur Refer to Page 152 Section 5 3 for information on the setting details Setting item Reference axis setting item Interpolation axis setting item Same positioning data Nos Da 1 Operation pattern Da 2 Control system Linear 2 3 4 Fixed feed 2 3 4 Circular sub Circular right Circular left Helical sub helical right helical left Forward ...

Page 363: ...posite speed is set and positioning is started the error Interpolation mode error error code 523 occurs and the system will not start 4 axis linear interpolation 2 axis speed control 3 axis speed control 4 axis speed control 6 Cautions in interpolation control If a stepping motor is used the circular interpolation control and 3 axis helical interpolation control cannot be carried out Make sure to ...

Page 364: ... batch designation of the interpolation speed designation method for each positioning data To use Pr 20 Interpolation speed designation method set 0 in Da 29 Interpolation speed designation method When a value other than 0 is set Da 29 Interpolation speed designation method will be valid 1 N indicates the offset address of each positioning data N Positioning data No 1 10 When the composite speed i...

Page 365: ... the 2 to 3 axis speed control or 4 axis linear interpolation control the error Interpolation mode error error code 523 will occur 6 When a reference axis speed is set and positioning is started in the circular interpolation control or 3 axis helical interpolation control the error Interpolation mode error error code 523 will occur 9 Axis operation status during interpolation control Interpolation...

Page 366: ...control 3 axis helical interpolation control 1 axis speed control 2 axis speed control 3 axis speed control 4 axis speed control Da 1 Operation pattern Independent positioning control Positioning complete Continuous positioning control Continuous path control Da 2 Control system Linear 1 Linear 2 Linear 3 Linear 4 3 Fixed feed 1 Fixed feed 2 Fixed feed 3 Fixed feed 4 Circular sub Circular right Ci...

Page 367: ...ol not possible error code 516 or New current value not possible error code 515 will occur at a start 6 Setting value invalid Use the initial value or a value within the setting range Setting items for positioning data Position speed switching control Other control NOP instruction Current value changing JUMP instruction LOOP instruction LEND instruction Da 1 Operation pattern Independent positioni...

Page 368: ...sitioning complete Set Positioning complete assuming that the next positioning data will not be executed Da 2 Control system ABS linear 1 Set absolute system 1 axis linear control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time...

Page 369: ...linear control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required Setting value will be ignored Da 6 Positioning address movement amount 7000 0 m Set the movement a...

Page 370: ...ion start point address to the address set in the Da 6 Positioning address movement amount end point address Ex When the start point address current stop position is 1000 1000 and the end point address positioning address is 10000 4000 positioning is carried out as follows Y axis movement amount X axis movement amount Reverse direction Forward direction X axis Reverse direction Forward direction Y...

Page 371: ...et as the reference axis the major axis side speed may exceed the Pr 8 Speed limit value Setting item Axis 1 reference axis setting example Axis 2 interpolation axis setting example Setting details Axis 1 Positioning data No 1 Da 1 Operation pattern Positioning complete Set Positioning complete assuming that the next positioning data will not be executed Da 2 Control system ABS linear 2 Set absolu...

Page 372: ...ately stop if the error is detected during positioning control If the movement amount of each axis exceeds 1073741824 230 when 0 Composite speed is set in Pr 20 Interpolation speed designation method 1 1 The error Outside linear movement amount range error code 504 occurs at a positioning start The maximum movement amount that can be set in Da 6 Positioning address movement amount is 1073741824 23...

Page 373: ...Positioning complete Set Positioning complete assuming that the next positioning data will not be executed Da 2 Control system INC linear 2 Set incremental system 2 axis linear interpolation control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as th...

Page 374: ... Da 6 Positioning address movement amount Ex When the start point address current stop position is 1000 2000 1000 and the end point address positioning address is 4000 8000 4000 positioning is carried out as follows End point address X2 Y2 Z2 Positioning address Movement by linear interpolation of the X axis Y axis and Z axis Y axis movement amount Start point address X1 Y1 Z1 Current stop positio...

Page 375: ...Section 9 1 6 for the combination of the reference axis with the interpolation axis Setting item Axis 1 reference axis setting example Axis 2 interpolationaxis setting example Axis 3 interpolationaxis setting example Setting details Positioning data No 1 Da 1 Operation pattern Positioning complete Set Positioning complete assuming that the next positioning data will not be executed Da 2 Control sy...

Page 376: ...0 the axis 2 movement amount is 5000 and the axis 3 movement amount is 6000 positioning is carried out as follows Z axis movement amount X axis movement amount Y axis movement amount Start point address X1 Y1 Z1 current stop position Forward direction Forward direction Forward direction Movement by linear interpolation positioning of the X axis Y axis and Z axis Z2 Y2 X2 Reverse direction Reverse ...

Page 377: ...o Page 359 Section 9 1 6 for the combination of the reference axis with the interpolation axis Setting item Axis 1 reference axis setting example Axis 2 interpolationaxis setting example Axis 3 interpolationaxis setting example Setting details Positioning data No 1 Da 1 Operation pattern Positioning complete Set Positioning complete assuming that the next positioning data will not be executed Da 2...

Page 378: ...e Axis 3 interpolation axis setting example Axis 4 interpolation axis setting example Setting details Positioning data No 1 Da 1 Operation pattern Positioning complete Set Positioning complete assuming that the next positioning data will not be executed Da 2 Control system ABS linear 4 Set absolute system 4 axis linear interpolation control Da 3 Acceleration time No 1 Designate the value set in Pr...

Page 379: ...Setting item Axis 1 referenceaxis setting example Axis 2 interpolation axis setting example Axis 3 interpolation axis setting example Axis 4 interpolation axis setting example Setting details Positioning data No 1 Da 1 Operation pattern Positioning complete Set Positioning complete assuming that the next positioning data will not be executed Da 2 Control system INC linear 4 Set incremental system ...

Page 380: ...ontrol set so the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis side speed may exceed the Pr 8 Speed limit value Refer to Page 359 Section 9 1 6 for the combination of the reference axis with the interpolation axis ...

Page 381: ...ns The axis error Continuous path control not possible error code 516 will occur and the operation cannot start if continuous path control is set in Da 1 Operation pattern Continuous path control cannot be set in fixed feed control Fixed feed cannot be set in Da 2 Control system in the positioning data when continuous path control has been set in Da 1 Operation pattern of the immediately prior pos...

Page 382: ...e set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required Setting value will be ignored Da 6 Positioning address movement amount 8000 0 m Set the movement amount Assuming mm is set in Pr 1 Unit setting Da 7 Arc addres...

Page 383: ... Continuous path control not possible error code 516 will occur and the operation cannot start if continuous path control is set in Da 1 Operation pattern Continuous path control cannot be set in fixed feed control If the movement amount of each axis exceeds 1073741824 230 when 0 Composite speed is set in Pr 20 Interpolation speed designation method the error Outside linear movement amount range e...

Page 384: ... value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Axis 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount 8000 0 m 6000 0 m Set the movement amo...

Page 385: ...axis speed is set during 2 axis fixed feed control set so the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis side speed may exceed the Pr 8 Speed limit value Refer to Page 359 Section 9 1 6 for the combination of the reference axis with the interpolation axis Accumulation cutoff for fractional pulses When movement amount per pulse is 1...

Page 386: ...ontrol in a linear path while carrying out interpolation for the axis directions set in each axis In fixed feed control any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses Refer to Page 359 Section 9 1 6 for details on interpolation control ...

Page 387: ... set to 0 Linear interpolation positioning is then carried out from that position to a position at the end of the movement amount set in Da 6 Positioning address movement amount The movement direction is determined by the sign of the movement amount Designated movement amount 0 0 0 0 0 0 0 0 0 X axis Y axis Z axis Designated movement amount Md 20 Current feed value of each axis is set to 0 at the ...

Page 388: ...s set in positioning data No 4 of axis 1 The required values are also set in positioning data No 1 of axis 2 and axis 3 Refer to Page 152 Section 5 3 for information on the setting details Setting item Axis 1 referenceaxis setting example Axis 2 interpolation axis setting example Axis 3 interpolation axis setting example Setting details Positioning data No 1 Da 1 Operation pattern Positioning comp...

Page 389: ...axis speed is set during 3 axis fixed feed control set so the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis side speed may exceed the Pr 8 Speed limit value Refer to Page 359 Section 9 1 6 for the combination of the reference axis with the interpolation axis Accumulation cutoff for fractional pulses When movement amount per pulse is 1...

Page 390: ...vement amount The movement direction is determined by the sign of the movement amount 2 Restrictions The axis error Continuous path control not possible error code 516 will occur and the operation cannot start if continuous path control is set in Da 1 Operation pattern Continuous path control cannot be set in fixed feed control For 4 axis fixed feed control set 1 Reference axis speed in Pr 20 Inte...

Page 391: ...m Fixed feed 4 Set 4 axis fixed feed control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required Setting value will be ignored When axis 1 is used as a reference axi...

Page 392: ... and make setting so that the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis side speed may exceed the Pr 8 Speed limit value Refer to Page 359 Section 9 1 6 for the combination of the reference axis with the interpolation axis Accumulation cutoff for fractional pulses When movement amount per pulse is 1 0 m and movement for 2 5 m is e...

Page 393: ...ng address movement amount in an arc path that passes through the sub point address set in Da 7 Arc address The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of a straight line between the start point address current stop position and sub point address arc address and a straight line between the sub point address arc address and end point a...

Page 394: ...tion 5 3 for information on the setting details Set a value in Da 8 Command speed so that the speed of each axis does not exceed the Pr 8 Speed limit value The speed limit does not function for the speed calculated by the LD75 during interpolation control Setting item Axis 1 reference axis setting example Axis 2 interpolation axis setting example Setting details Positioning data No 1 Da 1 Operatio...

Page 395: ...g are different for the reference axis and interpolation axis mm and inch combinations are possible When reference axis speed is set in Pr 20 Interpolation speed designation method An error will occur and the positioning will not start in the following cases The machine will immediately stop if the error is detected during positioning control When the radius exceeds 536870912 229 The maximum radiu...

Page 396: ...lation axis setting example Setting details Positioning data No 1 Da 1 Operation pattern Positioning complete Set Positioning complete assuming that the next positioning data will not be executed Da 2 Control system INC circular sub Set incremental system 2 axis circular interpolation control with sub point designation Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time ...

Page 397: ...rections set in each axis Refer to Page 359 Section 9 1 6 for details on interpolation control The following table shows the rotation directions arc center angles that can be controlled and positioning paths for the different control systems Control system Rotation direction Arc center angle that can be controlled Positioning path ABS circular right Clockwise 0 360 INC circular right ABS circular ...

Page 398: ... proportion to the angular velocity deviated from that at the start point Thus when there is a difference error between a radius calculated from the start point address and center point address start point radius and a radius calculated from the end point address and center point address end point radius the composite speed differs from the command speed as follows Start point radius End point rad...

Page 399: ...e arc using the radius calculated from the start point address and center point address and the radius is compensated in proportion to the angular velocity deviated from that at the start point Thus when there is a difference error between a radius calculated from the start point address and center point address start point radius and a radius calculated from the end point address and center point...

Page 400: ...ata No 1 of axis 1 The required values are also set in positioning data No 1 of axis 2 Refer to Page 152 Section 5 3 for information on the setting details Setting item Axis 1 reference axis setting example Axis 2 interpolation axis setting example Setting details Positioning data No 1 Da 1 Operation pattern Positioning complete Set Positioning complete assuming that the next positioning data will...

Page 401: ...point can be carried out by setting the movement amount to 0 In circular interpolation control with center point designation an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address and the radius is compensated in proportion to the angular velocity deviated from...

Page 402: ...rt in the following cases The machine will immediately stop if the error is detected during positioning control When the radius exceeds 536870912 229 The maximum radius for which circular interpolation control is possible is 536870912 229 An error Outside radius range error code 544 will occur at positioning start When the end point address is outside the range of 2147483648 231 to 2147483647 231 ...

Page 403: ...ed Da 2 Control system INC circular right INC circular left Set incremental system 2 axis circular interpolation control with center point designation Select clockwise or counterclockwise according to the control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleratio...

Page 404: ...ar interpolation control and a helical path is drawn Unit setting Reference axis mm inch pulse Circular interpolation axis Same setting as the one for the reference axis Linear interpolation axis mm inch pulse Tangential control In this control the value of the linear interpolation axis degree changes according to the movement of circular interpolation control to keep the direction of a workpiece ...

Page 405: ...can be set only when the start point equals to the end point in 3 axis helical interpolation ABS INC center point When degree is set for the unit setting in the absolute system the positioning range is 0 to 359 99999 When the axis rotates 360 or more in circular interpolation control x axis y axis the tangential normal control cannot be carried out because a degree of 360 or more cannot be set in ...

Page 406: ...ch combinations are possible When a method other than composite speed is set in Pr 20 Interpolation speed designation method or Da 29 Interpolation speed designation method An error will occur and the positioning will not start in the following cases The machine will immediately stop if the error is detected during positioning control Operation chart Circular interpolation plane Error cause Error ...

Page 407: ...e next positioning data will not be executed Da 2 Control system ABS helical sub Set absolute system 3 axis helical interpolation control with sub point designation Da 3 Acceleration time No 1 Specify the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Specify the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da...

Page 408: ...ill occur and the positioning will not start in the following cases The machine will immediately stop if the error is detected during positioning control Operation chart Circular interpolation plane Error cause Error code When the radius exceeds 536870912 229 The maximum radius for which circular interpolation control is possible is 536870912 229 An error Outside radius range error code 544 will o...

Page 409: ...ming that the next positioning data will not be executed Da 2 Control system INC helical sub Set incremental system 3 axis helical interpolation control with sub point designation Da 3 Acceleration time No 1 Specify the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Specify the value set in Pr 10 Deceleration time 0 as the deceleration time at ...

Page 410: ... circular interpolation control and a helical path is drawn Unit setting Reference axis mm inch pulse Circular interpolation axis Same setting as the one for the reference axis Linear interpolation axis mm inch pulse Tangential control In this control the value of the linear interpolation axis degree changes according to the movement of circular interpolation control to keep the direction of a wor...

Page 411: ...nd speed to prevent the workpiece from moving unsteadily because the workpiece movement speed may change when positioning data is switched 2 Rotation angle of the circular interpolation axis X axis Y axis The following shows the rotation angle of the circular interpolation axis in 3 axis helical interpolation control A true circle can be set only when the start point equals to the end point in 3 a...

Page 412: ...rotation direction for each positioning data set the position data Da 28 ABS direction in degrees 5 3 axis helical interpolation control with center point designation ABS helical right ABS helical left a Operation chart In this control positioning is carried out from the current stop position X0 Y0 Z0 to the circular end address X1 Y1 and linear axis end address Z1 set in Da 6 Positioning address ...

Page 413: ...g will not start in the following cases The machine will immediately stop if the error is detected during positioning control Operation chart Circular interpolation plane Error cause Error code When the radius exceeds 536870912 229 The maximum radius for which circular interpolation control is possible is 536870912 229 An error Outside radius range error code 544 will occur at positioning start St...

Page 414: ...system ABS helical right ABS helical left Set absolute system 3 axis helical interpolation control with center point designation Select clockwise or counterclockwise according to the control Da 3 Acceleration time No 1 Specify the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Specify the value set in Pr 10 Deceleration time 0 as the decelerati...

Page 415: ...hen degree is set in Pr 1 Unit setting for the reference axis and circular interpolation axis When the units set in Pr 1 Unit setting are different between the reference axis and circular interpolation axis mm and inch combinations are possible When a method other than reference axis speed is set in Pr 20 Interpolation speed designation method or Da 29 Interpolation speed designation method Operat...

Page 416: ...27 Setting item Axis 1 reference axis setting example Axis 2 circular interpolationaxis setting example Axis 3 linear interpolationaxis setting example Setting details Positioning data No 1 Da 1 Operation pattern Positioning complete Set Positioning complete assuming that the next positioning data will not be executed Da 2 Control system INC helical right INC helical left Set incremental system 3 ...

Page 417: ...9 9 2 Setting the Positioning Data Set a value in Da 8 Command speed so that the speed of each axis does not exceed the Pr 8 Speed limit value The speed limit does not function for the speed calculated by the LD75 during interpolation control ...

Page 418: ... forward run direction and Reverse run speed 1 in which control starts in the reverse run direction 1 Operation chart The following chart shows the operation timing for 1 axis speed control with axis 1 as the reference axis The in speed control flag Md 31 Status b0 is turned ON during speed control The positioning complete signal is not turned ON t OFF ON OFF ON OFF OFF ON OFF ON BUSY signal XC Po...

Page 419: ...utput timing when using an M code The M code will not be output and the M code ON signal will not turn ON if the AFTER mode is set The error No command speed error code 503 will occur if current speed 1 is set in Da 8 Command speed The software stroke limit check will not carried out if the control unit is set to degree Pr 21 Current feed value during speed control setting Md 20 Current feed value...

Page 420: ... set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required Setting value will be ignored Da 6 Positioning address movement amount Setting not required Setting value will be ignored Da 7 Arc address Setting not required ...

Page 421: ...rts in the reverse run direction Refer to Page 359 Section 9 1 6 for the combination of the reference axis with the interpolation axis 1 Operation chart The following chart shows the operation timing for 2 axis axes 1 and 2 speed control with axis 1 as the reference axis The in speed control flag Md 31 Status b0 is turned ON during speed control The positioning complete signal is not turned ON t V...

Page 422: ...ited at the ratios of Da 8 Command speed Examples With the settings shown above the operation speed in speed control is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis 2 3000 00mm min Speed is limited at an ratio of an axis 1 command speed to an axis 2 command speed Note Operation runs at speed 1 when a reference axis speed is less than 1 as a result of speed limit In addition when ...

Page 423: ...Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Axis 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount Se...

Page 424: ...r the combination of the reference axis with the interpolation axis 1 Operation chart The following chart shows the operation timing for 3 axis axes 1 2 and 3 speed control with axis 1 as the reference axis The in speed control flag Md 31 Status b0 is turned ON during speed control The positioning complete signal is not turned ON t V BUSY signal XC XD XE OFF ON Positioning start signal Y10 OFF ON ...

Page 425: ...tios of Da 8 Command speed Examples With the settings shown above the operation speed in speed control is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis 2 3000 00mm min Speed is limited at ratios in axes 1 2 and 3 command speeds Axis 3 2000 00mm min Speed is limited at ratios in axes 1 2 and 3 command speeds Note Operation runs at speed 1 when a reference axis speed is less than 1 ...

Page 426: ...ue set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required Setting value will be ignored When axis 1 is used as a reference axis the interpolation axes are axes 2 and 3 Da 6 Positioning address movement amount Setting...

Page 427: ...ction 9 1 6 for the combination of the reference axis with the interpolation axis 1 Operation chart The following chart shows the operation timing for 4 axis speed control with axis 1 as the reference axis The in speed control flag Md 31 Status b0 is turned ON during speed control The positioning complete signal is not turned ON t V BUSY signal XC XD XE XF OFF ON Positioning start signal Y10 OFF O...

Page 428: ...ol is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis 2 3000 00mm min Speed is limited at ratios in axes 1 2 3 and 4 command speeds Axis 3 2000 00mm min Speed is limited at ratios in axes 1 2 3 and 4 command speeds Axis 4 750 00mm min Speed is limited at ratios in axes 1 2 3 and 4 command speeds Note Operation runs at speed 1 when a reference axis speed is less than 1 as a result of...

Page 429: ...trol Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required Setting value will be ignored When axis 1 is used as a reference axis the interpolation axes are axes 2 3 an...

Page 430: ...ntrol to position control If the Cd 24 Speed position switching enable flag turns ON after the speed position switching signal turns ON the control will continue as speed control without switching over to position control The control will be switched over from speed control to position control when the speed position switching signal turns from OFF to ON again Only position control will be carried...

Page 431: ...eed position at Pr 1 Unit setting of 2 degree and Pr 21 Current feed value during speed control setting of 1 Update current feed value The value set in Da 6 Positioning address movement amount is 270 00000 degree t V Positioning start signal OFF ON BUSY signal OFF ON Positioning complete signal OFF ON Speed position switching signal ON Speed control Position control Dwell time In speed control fla...

Page 432: ...ositioning start signal Y10 Y11 Y12 Y13 BUSY signal XC XD XE XF M code ON signal X4 X5 X6 X7 WITH mode Cd 7 Start complete signal X10 X11 X12 X13 Md 26 Output pulse to external source PULSE External speed position switching command Positioning complete signal X14 X15 X16 X17 M code ON signal X4 X5 X6 X7 AFTER mode M code OFF request Md 31 Status b4 OPR complete flag Md 31 Status b1 Speed position ...

Page 433: ...etting Md 20 Current feed value 0 Do not update current feed value The current feed value at control start is maintained during speed control and updated from the switching to position control 1 Update current feed value The current feed value is updated during speed control and position control 2 Zero clear current feed value The current feed value is cleared set to 0 at control start and updated...

Page 434: ...rce The machine recognizes the presence of a movement amount change request when the data is written to Cd 23 Speed position switching control movement amount change register with the program The new movement amount is validated after execution of the speed position switching control INC mode before the input of the speed position switching signal The movement amount change can be enable disable w...

Page 435: ...0 will occur f Deceleration processing is carried out from the point where the speed position switching signal is input if the position control movement amount set in Da 6 Positioning address movement amount is smaller than the deceleration distance from the Da 8 Command speed g Turn ON the speed position switching signal in the speed stabilization region constant speed status The warning Speed po...

Page 436: ... Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required Setting value will be ignored Da 6 Positioning address movement amount 10000 0 m INC mode Pr 150 0 Set the movement amount after the switching to position control Assu...

Page 437: ...18 Section 5 2 for the information on detail settings 1 Switching over from speed control to position control The control is switched over from speed control to position control by executing the external command signal set in speed position switching signal Besides setting the positioning data the Cd 24 Speed position switching enable flag must also be turned ON to switch over from speed control t...

Page 438: ...l ABS mode Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Pr 42 External command function selection 2 Set the 2 speed position and position speed switching requests 62 212 362 512 Cd 8 External command valid 1 Set 1 Validate external command 1505 1605 1705 1805 t V Positioning start signal OFF ON BUSY signal OFF ON Positioning complete signal OFF ON Sp...

Page 439: ...ed position switching control ABS mode 0 00000 90 00000 0 00000 90 00000 270 00000 Stop at 270 00000 degree Speed position switching signal ON Positioning start signal Y10 Y11 Y12 Y13 BUSY signal M code ON signal X4 X5 X6 X7 WITH mode Standby Speed control Start complete signal Output pulse to external source PULSE Positioning operation Positioning complete signal M code ON signal AFTER mode t1 t2...

Page 440: ...r code 935 will occur if the Pr 21 Current feed value during speed control setting is other than 1 6 Switching time from speed control to position control There is 1ms from the time the speed position switching signal is turned ON to the time the speed position switching latch flag Md 31 Status b1 turns ON t1 t2 t3 t4 t5 t6 t7 0 2 to 1 1ms 0 to 0 9ms 0 to 0 9ms 0 4 to 1 3ms 0 to 0 9ms 1 0ms Follow...

Page 441: ...is control data Cd 23 Speed position switching control movement amount change register was set in speed position switching control ABS mode it would not function The set value is ignored f To exercise speed position switching control ABS mode the following conditions must be satisfied Pr 1 Unit setting is 2 degree The software stroke limit function is invalid upper limit value lower limit value Wh...

Page 442: ... control cannot be set in speed position switching control ABS mode Da 2 Control system Forward run speed position Set speed position switching control by forward run Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at decelerat...

Page 443: ... ON to switch over from position control to speed control If the Cd 26 Position speed switching enable flag turns ON after the position speed switching signal turns ON the control will continue as position control without switching over to speed control The control will be switched over from position control to speed control when the position speed switching signal turns from OFF to ON again Only ...

Page 444: ...ing control Position speed switching enable flag Cd 26 t V Positioning start signal Y10 Y11 Y12 Y13 OFF ON Command speed BUSY signal XC XD XE XF OFF ON Positioning complete signal X14 X15 X16 X17 OFF Position speed switching signal OFF ON Position control Speed control OFF ON OFF ON In speed control flag Status b0 Md 31 Da 8 OFF ON Stop command Does not turn ON even when control is stopped by stop...

Page 445: ... Y13 BUSY signal XC XD XE XF M code ON signal X4 X5 X6 X7 WITH mode Start complete signal X10 X11 X12 X13 Output pulse to an external source PULSE External position speed switching command Position speed switching latch flag Positioning complete signal X14 X15 X16 X17 M code ON signal X4 X5 X6 X7 AFTER mode M code OFF request OPR complete flag Status b4 Status b5 Stop signal STOP Speed control com...

Page 446: ...eed value during speed control setting Md 20 Current feed value 0 Do not update current feed value The current feed value is updated during position control and the current feed value at the time of switching is maintained as soon as position control is switched to speed control 1 Update current feed value The current feed value is updated during position control and speed control 2 Zero clear cur...

Page 447: ...The machine recognizes the presence of a command speed change request when the data is written to Cd 25 Position speed switching control speed change register with the program The new command speed is validated after execution of the position speed switching control before the input of the position speed switching signal The command speed change can be enabled disabled with the interlock function ...

Page 448: ... the restart command The warning Speed limit value over warning code 501 will occur and control is continued by Pr 8 Speed limit value if a new speed exceeds Pr 8 Speed limit value at the time of change of the command speed If the value set in Da 6 Positioning address movement amount is negative the error Outside address range error code 530 will occur 9 Positioning data setting example The follow...

Page 449: ... path control cannot be set in current value changing Current value changing cannot be set in Da 2 Control system of the positioning data when continuous path control has been set in Da 1 Operation pattern of the immediately prior positioning data For example if the operation pattern of positioning data No 1 is continuous path control current value changing cannot be set in positioning data No 2 T...

Page 450: ... Setting details Axis 1 positioning data No 1 Da 1 Operation pattern Positioning complete Set Positioning complete assuming that the next positioning data will not be executed Continuous path control cannot be set by current value change Da 2 Control system Current value changing Set the current value changing Da 3 Acceleration time No Setting not required Setting value will be ignored Da 4 Decele...

Page 451: ...ng details b The following shows a start time chart Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 3 Positioning start No 9003 Set the start No 9003 for the new current value 1500 1600 1700 1800 Cd 9 Current value changing 50000 Set the new Md 20 Current feed value 1506 1507 1606 1607 1706 1707 1806 1807 Turn ON the positioning start signal Write 90...

Page 452: ...he CPU module Example Current value changing Store new current feed value in D106 and D107 Pulsate current value changing command Write current value changing to the LD75 Write the current value changing 9003 Execute current value changing Turn OFF positioning start signal ...

Page 453: ...p automatic deceleration at a point between two points during positioning that data can be reserved with the NOP instruction to change the data merely by the replacement of the identifier Setting item Setting example Setting details Axis 1 positioning data No 1 Da 1 Operation pattern Setting not required Setting value will be ignored Da 2 Control system NOP instruction Set the NOP instruction Da 3...

Page 454: ...is started start block 0 condition data is used When the execution conditions set in Da 10 M code of the JUMP instruction have been established the JUMP instruction is executed to jump the operation to the positioning data No set in Da 9 Dwell time When the execution conditions set in Da 10 M code of the JUMP instruction have not been established the JUMP instruction is ignored and the next positi...

Page 455: ...on time No Setting not required Setting value will be ignored Da 5 Axis to be interpolated Setting not required Setting value will be ignored Da 6 Positioning address movement amount Setting not required Setting value will be ignored Da 7 Arc address Setting not required Setting value will be ignored Da 8 Command speed Setting not required Setting value will be ignored Da 9 Dwell time 500 Set the ...

Page 456: ...FOR to NEXT the positioning data is required for each of FOR and NEXT points For the control system loop can be executed even only by one data Also nesting is enabled by using the control system LOOP to LEND in combination with the special start FOR to NEXT However LOOP to LEND cannot be set across block Always set LOOP to LEND so that the processing ends within one block Refer to Page 456 Section...

Page 457: ...eration pattern Control system Condition Operation 1 Continuous control ABS2 Executed in the order of the positioning data No 1 2 3 4 5 2 3 4 5 6 The operation patterns of the positioning data Nos 2 and 5 are ignored 2 Positioning complete LOOP Number of loop cycles 2 3 Continuous path control ABS2 4 Continuous control ABS2 5 Positioning complete LEND 6 Positioning complete ABS2 Setting item Setti...

Page 458: ...ioning control from GX Works2 High level positioning control start of the block start data can be executed from GX Works2 test function Refer to Page 756 Appendix 6 5 for details on starting of the block start data from GX Works2 High level positioning control Details Block 1 start Normal start With one start executes the positioning data in a random block with the set order Condition start Carrie...

Page 459: ...ine of the block start data and condition data stored in the LD75 Setting item Setting details Block start data Da 11 Shape Set whether to end the control after executing only the block start data of the shape itself or continue executing the block start data set in the next point Da 12 Start data No Set the positioning data No to be executed Da 13 Special start instruction Set the method by which...

Page 460: ...6110 26111 26112 26113 26114 26115 26116 26117 26118 26119 Setting item b15 b0 b7 b8 Shape 26000 b15 b0 b7 b8 Parameter 26050 Da 13 Da 11 Da 14 Da 12 Buffer memory address Condition identifier No 1 Setting item 26100 Address Empty Empty b15 b0 b7 b8 b11 b12 Condition operator Condition target 26101 26102 26103 26104 26105 26106 26107 26108 26109 Da 16 Da 17 Da 18 Da 19 Da 15 50th point 2nd point 1...

Page 461: ...NING CONTROL 10 10 1 Outline of High Level Positioning Control Set in LD75 the block start data and condition data corresponding to the following block Nos 7001 to 7004 using GX Works2 The following drawing shows an example for axis 1 ...

Page 462: ...hen control is completed Use GX Works2 to create a program to execute the high level positioning control Monitor using GX Works2 Cd 3 Create a program in which 7000 1 is set in the Positioning start No Control data setting Cd 4 Create a program in which the block start data point No to be started 1 to 50 is set in the Positioning start point No Control data setting Turn ON the positioning start co...

Page 463: ...e assumed to be carried out using GX Works2 One of the two setting items must be set Setting not possible Setting not required 1 1 Setting value invalid Use the initial value or a value within the setting range 2 The NEXT start instruction is used in combination with repeated start FOR loop and repeated start FOR condition Control using only the NEXT start will not be carried out Remark It is reco...

Page 464: ... continuous path control is set in the operation pattern Da 1 to the positioning data in which independent positioning control Positioning complete is set Axis 1 block start data Da 11 Shape Da 12 Start data No Da 13 Special start instruction Da 14 Parameter 1st point 1 Continue 1 0 Block start 2nd point 1 Continue 2 0 Block start 3rd point 1 Continue 5 0 Block start 4th point 1 Continue 10 0 Bloc...

Page 465: ...time of corresponding positioning data Positioning start signal 1 00 Start complete signal BUSY signal X14 X15 X16 X17 t 2 11 3 01 4 00 5 11 6 00 15 00 Positioning according to the 1st point settings Address 10 00 OFF OFF ON ON ON Operation pattern Positioning data No Positioning according to the 5th point settings Positioning according to the 4th point settings Positioning according to the 3rd po...

Page 466: ...ion 1 and started 1 The conditional judgment set in condition data No 1 is carried out before execution of the axis 1 positioning data No 1 Conditions established Execute positioning data No 1 2 and 3 Go to 2 Conditions not established Go to 2 2 The conditional judgment set in condition data No 2 is carried out before execution of the axis 1 positioning data No 10 Conditions established Execute po...

Page 467: ...rol executed when the block start data of the 1st point of axis 1 is set as shown in section 1 and started 1 The conditional judgment set in condition data No 3 is carried out before execution of the axis 1 positioning data No 1 Conditions established Execute positioning data No 1 2 and 3 Go to 2 Conditions not established Control stops waits until conditions are established Go to 1 2 Execute the ...

Page 468: ...ich is regarded as the simultaneously started axis Axis 2 is standing by Go to 2 Axis 2 is carrying out positioning An error occurs and simultaneous start will not be carried out 2 Simultaneously start the axis 1 positioning data No 1 and axis 2 positioning data set in condition data No 4 3 Precautions Positioning data No executed by simultaneously started axes is set to condition data Da 18 Param...

Page 469: ...ndition data Nos have been set in Da 14 Parameter b Positioning data setting example 2 Control examples The following shows the control executed when the block start data of the 1st point of axis 1 is set as shown in section 1 and started 1 Execute the axis 1 positioning data No 1 2 3 10 11 50 and 51 2 Return to the axis 1 1st point block start data Again execute the axis 1 positioning data No 1 2...

Page 470: ...itioning data setting example 2 Control examples The following shows the control executed when the block start data of the 1st point of axis 1 is set as shown in section 1 and started 1 Execute axis 1 Positioning data No 1 2 3 10 11 2 Execute the conditional judgment set in axis 1 Condition data No 5 1 Conditions not established Execute Positioning data No 50 51 Go to 1 Conditions established Exec...

Page 471: ... not occur Nesting is not possible between 4 FOR loop and 6 NEXT start or between 5 FOR condition and 6 NEXT start A warning FOR to NEXT nest construction warning code 506 will occur if nesting is attempted When nest construction is not configured When nest construction is configured A warning occurs when FOR of 4th point is executed Then destination of jump by NEXT of 7th point is changed to 4th ...

Page 472: ...15 Condition target corresponding to the different types of control The condition data settings in this chapter are assumed to be carried out using GX Works2 One of the setting items must be set Setting not possible 1 Refers to buffer memories and devices X Y which belongs to LD75 Remark It is recommended that the condition data be set whenever possible with GX Works2 Execution by program uses man...

Page 473: ...eed value which varies continuously the operator may not be detected If this occurs use a range operator Remark The PLC CPU memo area can be designated as the buffer memory address to be designated in Da 17 Page 305 Section 7 1 1 Da 15 Setting item Da 16 Condition operator Da 17 Address Da 18 Parameter 1 Da 19 Parameter 2 01H Device X 07H DEV ON 08H DEV OFF 0 to 1FH bit No 02H Device Y 0 to 1FH bi...

Page 474: ...sly started in simultaneous start Condition Simultaneously starting axis 2 positioning data No 3 1 The setting value of start axis the axis which executes positioning start should be 0000H Da 15 Condition target Da 16 Condition operator Da 17 Address Da 18 Parameter 1 Da 19 Parameter 2 01H Device X 08H DEV OFF 0CH Da 15 Condition target Da 16 Condition operator Da 17 Address Da 18 Parameter 1 Da 1...

Page 475: ...s will not start if the simultaneously started axis start data No is not set to the axis control data on the start axis or set outside the setting range The error Error before simultaneous start error code 501 will occur and all simultaneously started axes will not start if either of the simultaneously started axes is BUSY The error Error before simultaneous start error code 501 will occur and all...

Page 476: ... start No 9004 Set the multiple axes simultaneous start control start No 9004 1500 1600 1700 1800 Cd 30 Simultaneous starting axis start data No Axis 1 start data No Set the simultaneously started axis start data No Set a 0 for the axis other than the simultaneously started axes 1540 1640 1740 1840 Cd 31 Simultaneous starting axis start data No Axis 2 start data No 1541 1641 1741 1841 Cd 32 Simult...

Page 477: ...1 1 Set 7000 in Cd 3 Positioning start No This establishes that the control as high level positioning control using block start data 2 Set the point No of the block start data to be started In this case 1 3 Turn ON the start signal 4 The positioning data set in the 1st point block start data is started 1 2 4 3 LD75 7000 1 ON 1500 Y10 1501 CPU module Input output signal Drive unit Buffer memory Con...

Page 478: ...y address Axis 1 Axis 2 Axis 3 Axis 4 Cd 3 Positioning start No 7000 Set 7000 to indicate control using block start data 1500 1600 1700 1800 Cd 4 Positioning starting point No 1 Set the point No of the block start data to be started 1501 1601 1701 1801 Signal name Signal state Device Axis 1 Axis 2 Axis 3 Axis 4 Interface signal PLC READY signal ON CPU module preparation completed Y0 LD75 READY sig...

Page 479: ...ntinue 1 0 Block start 2nd point 0 End 10 0 Block start Axis 1 positioning data No Da 1 Operation pattern 1 11 Continuous path control 2 00 Positioning complete 10 11 Continuous path control 11 11 Continuous path control 12 00 Positioning complete Positioning start No V t Positioning data No 12 00 Operation pattern 1 11 11 11 10 11 2 00 7000 1 Dwell time Dwell time 32767 8001H 10 000AH 2nd point b...

Page 480: ...signal Y10 SET K1 K1 K1501 H0 TO Write the positioning start point No K1 K7000 K1500 H0 TO Write the positioning data No 7000 for block positioning X10 Set the block start data beforehand Y10 Positioning start signal X10 Start complete signal M104 Positioning start command pulse Example Positioning start command ...

Page 481: ...operation is used to move the workpiece in the direction in which the limit signal is ON when the operation is stopped by turning the limit signal OFF to confirm the positioning system connection and obtain the positioning data address Page 586 Section 12 7 4 b Inching operation Inching operation is a control method in which a minute movement amount of pulses is output manually at 1 8ms When the i...

Page 482: ...ed with manual control Also refer to Page 507 CHAPTER 12 for details on each sub function 3 Carrying out manual control from GX Works2 JOG operation Inching operation and enabling disabling of the manual pulse generator operation can be executed with the test functions of GX Works2 Refer to Page 756 Appendix 6 5 for details on manual control from GX Works2 4 Monitoring manual control Refer to Page...

Page 483: ...ontinues for the acceleration time designated in Pr 32 JOG operation acceleration time selection At this time the BUSY signal changes from OFF to ON 2 When the workpiece being accelerated reaches the speed set in Cd 17 JOG speed the movement continues at this speed The constant speed movement takes place at 2 and 3 3 When the JOG start signal is turned OFF deceleration begins from the speed set in...

Page 484: ...rkpiece will move at the Pr 31 JOG speed limit value and the warning JOG speed limit value warning code 301 will occur in the LD75 The JOG operation can be continued even if an Axis warning has occurred Set a 0 in Cd 16 Inching movement amount If a value other than 0 is set the operation will become an inching operation Page 491 Section 11 3 3 Operations when stroke limit error occurs When the ope...

Page 485: ...e t1 timing time due to the operation status of other axes t1 t2 t3 t4 1 0 to 3 0ms 0 to 0 9ms 1 3 to 2 2ms 0 to 0 9ms Reverse run JOG start signal Y9 YB YD YF BUSY signal XC XD XE XF Forward run JOG start signal Y8 YA YC YE t2 Standby JOG operation t1 t3 t4 Pulse output to an external source PULSE Positioning operation Positioning complete signal X14 X15 X16 X17 Axis operation status ON ON OFF OF...

Page 486: ...tatus Turn OFF the JOG operation start signal that is ON Directly set write the parameters in the LD75 using GX Works2 Set write the parameters from the CPU module to the LD75 using the program TO instruction Turn ON the JOG start signal Monitor using GX Works2 Stop the JOG operation when the JOG start signal is turned OFF using the sequence program in STEP 2 Set the JOG speed Control data setting...

Page 487: ...0 Pr 10 Deceleration time 0 Unit ms 1000 Pr 11 Backlash compensation amount Unit pulse 0 Pr 12 Software stroke limit upper limit value Unit pulse 2147483647 Pr 13 Software stroke limit lower limit value Unit pulse 2147483648 Pr 14 Software stroke limit selection 0 current feed value Pr 15 Software stroke limit valid invalid setting 0 valid Pr 17 Torque limit setting value Unit 300 Pr 23 Output sig...

Page 488: ...If the CPU module is set to the asynchronous mode in the synchronization setting this must be inserted in the program for interlocking If it is set to the synchronous mode it must not be inserted in the program for interlocking because it is turned ON when the CPU module executes calculation Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 16 Inching ...

Page 489: ...tart signal PLC READY signal LD75 READY signal BUSY signal Error detection signal ON ON ON ON ON á Example No 10 JOG operation setting program Set JOG operation speed 100 00mm min Set a 0 for inching movement amount No 12 JOG operation inching operation execution program Write JOG operation speed JOG inching operation flag ON JOG inching operation termination Execute forward JOG inching operation ...

Page 490: ...t error code 106 will occur if the JOG start signal is turned ON while the stop signal is ON The operation can be started by turning the stop signal OFF and turning the JOG start signal from OFF to ON again OFF ON OFF ON OFF ON OFF ON PLC READY signal Y0 LD75 READY signal X0 Forward run JOG start signal Y8 YA YC YE Axis stop signal Y4 Y5 Y6 Y7 BUSY signal XC XD XE XF A JOG start signal OFF ON whil...

Page 491: ... given priority In this case the Reverse run JOG start signal is validated when the LD75 BUSY signal is turned OFF If the forward run JOG operation is stopped due to stop or axis error by a stop signal the reverse run JOG operation will not be executed even if the Reverse run JOG start signal turns ON OFF ON OFF ON BUSY signal XC XD XE XF OFF ON Forward run JOG operation t The reverse run JOG star...

Page 492: ...le the test function of GX Works2 is used When the JOG start signal is turned ON while the test function is used it will be ignored and the JOG operation will not be carried out OFF ON t BUSY signal XC XD XE XF OFF ON Forward run JOG operation Forward run JOG start signal Y8 YA YC YE ON t OFF ON OFF In test mode flag Forward run JOG start signal Y8 YA YC YE JOG operation not possible because the t...

Page 493: ...of inching operation 1 When the start signal is turned ON inching operation is carried out in the direction designated by the start signal At this time the BUSY signal changes from OFF to ON 2 The workpiece is moved by a movement amount set in Cd 16 Inching movement amount 3 The workpiece movement stops when the speed becomes 0 In this case BUSY signal is turned from ON to OFF The positioning comp...

Page 494: ...rror code 301 will occur in the following cases Cd 16 Inching movement amount A Pr 31 JOG speed limit value Where A is as follows When the unit is pulse 562 5 When the unit is other than pulse 337 5 b Setting of Cd 16 Inching movement amount Set a value other than a 0 in Cd 16 Inching movement amount If a 0 is set the operation will become JOG operation Page 481 Section 11 2 3 Operations when stro...

Page 495: ... t1 timing time due to the operation status of other axes t1 t2 t3 t4 1 0 to 3 0ms 1 3 to 2 2ms 0 to 0 9ms Follows parameters ON Standing by Standing by Axis operation status t1 t2 t4 Positioning operation ON ON OFF OFF OFF OFF t3 Forward run JOG start signal Y8 YA YC YE Reverse run JOG start signal Y9 YB YD YF BUSY signal XC XD XE XF Md 26 Pulse output to an external source PULSE Positioning comp...

Page 496: ...operation start command Write the program to the CPU module Turn ON the JOG start signal of the axis to be started Monitor the inching operation status Turn OFF the JOG operation start signal that is ON Y8 Y9 YA YB YC YD YE YF Monitor using GX Works2 End the inching operation after moving a workpiece by an inching movement amount with the program created in STEP 2 Directly set write the parameters...

Page 497: ...ng control the respective setting items must also be set Parameters are set for each axis Refer to Page 93 CHAPTER 5 for the information on detail settings Setting item Setting requirement Setting details Parameters Pr 1 Unit setting 3 pulse Pr 2 No of pulses per rotation Ap Unit pulse 20000 Pr 3 Movement amount per rotation Al Unit pulse 20000 Pr 4 Unit magnification Am 1 1 fold Pr 5 Pulse output...

Page 498: ...s mode it must not be inserted in the program for interlocking because it is turned ON when the CPU module executes calculation Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 16 Inching movement amount 100 Set the setting value so that the command pulse is not increased larger than the maximum output pulse The max output pulse LD75D 4Mpulse s LD75P ...

Page 499: ... JOG start signal Reverse run JOG start signal PLC READY signal LD75 READY signal BUSY signal Error detection signal Positioning complete signal á Example No 11 Inching operation setting program Set inching movement amount JOG inching operation flag ON JOG inching operation termination Execute forward JOG inching operation Execute reverse JOG operation Write inching movement amount No 12 JOG opera...

Page 500: ...d ON while the test function is used it will be ignored and the inching operation will not be carried out OFF ON OFF ON OFF ON ON OFF OFF ON PLC READY signal Y0 LD75 READY signal X0 Forward run JOG start signal Y8 YA YC YE Axis stop signal Y4 Y5 Y6 Y7 BUSY signal XC XD XE XF If a JOG start signal is turned OFF and then ON while the axis stop signal is ON an error Stop signal ON at start will occur...

Page 501: ...peration 1 When the Cd 21 Manual pulse generator enable flag is set to 1 the BUSY signal turns ON and the manual pulse generator operation is enabled 2 The workpiece is moved corresponding to the No of pulses input from the manual pulse generator 3 The workpiece movement stops when no more pulses are input from the manual pulse generator 4 When the Cd 21 Manual pulse generator enable flag is set t...

Page 502: ...se generator operation starts Remark One LD75 module can be connected to one manual pulse generator The LD75 module can simultaneously output pulses to the axis 1 to axis 4 drive units by one manual pulse generator 1 to 4 axis simultaneous operation is possible 4 Operations when stroke limit error occurs When the hardware stroke limit error or the software stroke limit error is detected during ope...

Page 503: ...ent feed value is as follows 100 2 0 1 20 m 200 Current feed value The number of pulses output actually to the drive unit is Manual pulse generator 1 pulse movement amount movement amount per pulse 1 For example when Pr 1 Unit setting is mm and the movement amount per pulse is 1 m 0 1 1 1 10 i e the output to the drive unit per pulse from the manual pulse generator is 1 10 pulse Thus the LD75 outp...

Page 504: ...ing positioning control by manual pulse generator operation is a speed corresponding to the No of input pulses per unit time and can be obtained using the following equation Output command frequency Input frequency Cd 20 Manual pulse generator 1 pulse input magnification ...

Page 505: ...ation stop Create a program in which the enable disable is set for the manual pulse generator operation Cd 21 Manual pulse generator enable flag setting Write the program to the CPU module Issue a command to enable the manual pulse generator operation and input the signals from the manual pulse generator Monitor the manual pulse generator operation End the input from the manual pulse generator and...

Page 506: ...nerator input logic b8 Pr 24 is set only for axis 1 The setting for axes 2 3 and 4 is ignored Refer to Page 93 CHAPTER 5 for the information on detail settings Setting item Setting requirement Setting details Parameters Pr 1 Unit setting 3 pulse Pr 2 No of pulses per rotation Ap Unit pulse 20000 Pr 3 Movement amount per rotation Al Unit pulse 20000 Pr 4 Unit magnification Am 1 1 fold Pr 5 Pulse ou...

Page 507: ...n the program for interlocking because it is turned ON when the CPU module executes calculation Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 20 Manual pulse generator 1 pulse input magnification 1 Set the manual pulse generator 1 pulse input magnification 1 to 1000 times 1522 1523 1622 1623 1722 1723 1822 1823 Cd 21 Manual pulse generator enable f...

Page 508: ...tion command Set manual pulse generator input scale per pulse Write manual pulse generator operation enable Write data for manual pulse generator Turn ON manual pulse generator operating flag Pulsate manual pulse generator operation disble command Write manual pulse generator operation disble Turn OFF manual pulse generator operating flag ...

Page 509: ...12 CONTROL SUB FUNCTIONS 12 1 Outline of Sub Functions Sub functions are functions that compensate limit add functions etc to the control when the main functions are executed These sub functions are executed by parameter settings commands from GX Works2 sub function programs etc ...

Page 510: ...Pr 8 Speed limit value during control this function limits the commanded speed to within the Pr 8 Speed limit value setting range Torque limit function 2 If the torque generated by the servomotor exceeds Pr 17 Torque limit setting value during control this function limits the generated torque to within the Pr 17 Torque limit setting value setting range Software stroke limit function If a command o...

Page 511: ...e next positioning M code output function This function issues a sub work clamp or drill stop tool change etc according to the code No 0 to 65535 set for each positioning data Teaching function This function stores the address positioned with manual control into the positioning address Da 6 Positioning address movement amount having the designated positioning data No Command in position function A...

Page 512: ...OPR can be carried out regardless of the workpiece position The details shown below explain about the OPR retry function Control details Control precautions Setting method 1 Control details The following drawing shows the operation of the OPR retry function a OPR retry point return retry operation when the workpiece is within the range between the upper lower limits 1 The movement starts in the Pr...

Page 513: ...511 CHAPTER 12 CONTROL SUB FUNCTIONS 12 12 2 Sub Functions Specifically for Machine OPR 6 Machine OPR completion 5 1 Near point dog Limit signal OFF ON 2 3 6 4 Zero signal ...

Page 514: ...then carries out a machine OPR in the direction set in Pr 44 OPR direction When 0 Positive direction is set in Pr 44 check that the limit switch placed in the OPR direction acts as the upper limit When 1 Negative direction is set in Pr 44 check that the limit switch placed in the OPR direction acts as the lower limit Incorrect wiring of these limit switches may cause improper OPR retry operation I...

Page 515: ...ration with the limit switch placed in the OPR direction cannot be executed because the stopper is installed in the OPR direction Always establish upper lower limit switches at the upper lower limit positions of the machine and connect them to the LD75 If the OPR retry function is used without hardware stroke limit switches the motor will continue rotation until a hardware stroke limit signal is d...

Page 516: ...he user s requirements Refer to Page 118 Section 5 2 for the information on detail settings Remark Parameters are set for each axis It is recommended that the parameters be set whenever possible with GX Works2 Execution by program uses many programs and devices The execution becomes complicated and the scan times will increase Setting item Setting value Setting details Factory set initial value Pr...

Page 517: ...range for the OP shift amount Movement speed during OP shift Control precautions Setting method 1 Control details The following drawing shows the operation of the OP shift function 2 Setting range for the OP shift amount Set the OP shift amount within the range from the detected zero signal to the upper lower limit switches Machine OPR start Pr 53 OP shift amount Speed selected by the Pr 56 Speed ...

Page 518: ...a mechanical OPR is carried out by the near point dog method a OP shift operation at the Pr 46 OPR speed When Pr 56 Speed designation during OP shift is 0 b OP shift operation at the Pr 47 Creep speed When Pr 56 Speed designation during OP shift is 1 When the Pr 53 OP shift amount is negative When the Pr 53 OP shift amount is positive Pr 44 OPR direction Machine OPR start Near point dog Zero signa...

Page 519: ...of the OPR direction It cannot shift to the OPR direction due to a mechanical stopper in the OPR direction 5 Setting method To use the OP shift function set the required details in the parameters shown in the following table and write them to the LD75 When the parameters are set the OP shift function will be added to the machine OPR control The set data is made valid on the rising edge OFF to ON o...

Page 520: ... value or Md 21 Machine feed value Always carry out a machine OPR before starting the control when using the backlash compensation function when Pr 11 Backlash compensation amount is set The backlash in the mechanical system cannot be correctly compensated if a machine OPR is not carried out Set the No of pulses output in one backlash compensation value in which the Pr 11 Backlash compensation amo...

Page 521: ...g edge OFF to ON of the PLC READY signal Y0 Refer to Page 118 Section 5 2 for the information on detail settings Remark Parameters are set for each axis It is recommended that the parameters be set whenever possible with GX Works2 Execution by program uses many programs and devices The execution becomes complicated and the scan times will increase Setting item Setting value Setting details Factory...

Page 522: ...side of the positioning direction The function accumulates values less than one pulse that were not output in the LD75 and outputs one pulse when the total cumulative value has reached one pulse or more C When machine OPR is completed current value changing is completed speed control is started except when current feed value change is present or fixed feed control is started the function clears to...

Page 523: ...ly since the command value in mm or inch units is converted to pulse units set Ap Al and Am so that the following relational expressions are satisfied Number of pulses per rotation of motor Ap Machine movement amount per rotation of motor Al Am In this case the machine movement amount for the command 1 pulse output from the LD75 is calculated by the following expression The command frequency from ...

Page 524: ...t in the LD75 parameters an error sometimes occurs between the command movement amount L and the actual movement amount L That error is compensated in the LD75 by adjusting the values in Pr 2 No of pulses per rotation Ap Pr 3 Movement amount per rotation Al and Pr 4 Unit magnification Am When Pr 1 Unit setting is 0 mm a Definition The error compensation amount used to carry out the error compensat...

Page 525: ...arameters and write them to the LD75 The set data is made valid on the rising edge OFF to ON of the PLC READY signal Y0 Refer to Page 118 Section 5 2 for the information on detail settings Item Setting Condition Movement amount per rotation 5000 m rev No of pulses per rotation 12000 pulse rev Unit magnification 1 Positioning result Command movement amount 100mm Actual movement amount 101mm Compens...

Page 526: ...ent amount per pulse is decreased the command frequency may increase Be careful when changing the setting If the setting of the movement amount per pulse is less than 1 the mechanical system may oscillate Set the movement amount per pulse so that the pulse output frequency for the drive unit becomes a value in the following table Remark In the LD75 the general term for the functions in this sectio...

Page 527: ...to the next positioning data unit Alignment is not carried out and thus the output speed drops are eliminated and the mechanical vibration occurring during speed changes can be suppressed Because alignment is not carried out the operation is controlled on a path that passes near the position set in Da 6 Positioning address movement amount The details shown below explain about the near pass functio...

Page 528: ...he output will suddenly reverse when the reference axis movement direction changes To prevent the sudden output reversal assign not the continuous path control 11 but the continuous positioning control 01 to the positioning data of the passing point Positioning by interpolation Operation of reference axis Operation of partner axis for interpolation Positioning data No 1 Positioning data No 2 Posit...

Page 529: ...ails Control precautions Setting method 1 Control details There are two options for an output timing of near pass control At constant speed and At deceleration At constant speed The distance l is output when the next positioning data is executed in constant speed At deceleration The distance l is output when the next positioning speed decelerates from V1 to V2 When At constant speed is selected in...

Page 530: ...1 Positioning data No 2 Positioning data No 2 Speed Speed Speed V2 V1 V1 V1 V2 V2 V2 T1 T21 T22 Time Time Time 0 9ms Less than 0 9ms 0 9ms or more Positioning execution time when At constant speed is selected T21 T1 V2 The speed in case a work moves the distance in 0 9ms Positioning execution time when At deceleration is selected T22 T1 Distance l Distance l Distance l Actual acceleration and dece...

Page 531: ...0 Refer to Page 211 Section 5 7 for the information on detail settings Setting item Setting value Setting details Buffer memory address Cd 43 Output timing selection of near pass control Select the timing to output the difference l between the actual and the set positioning end addresses in continuous path control in which the difference l is output during the execution of the next positioning dat...

Page 532: ...elation of the speed limit function and various controls Setting always required Setting not required 1 1 Setting value is invalid Use the initial values or setting values within a range where no error occurs Control type Speed limit function Speed limit value OPR control Machine OPR control Pr 8 Speed limit value Fast OPR control Major positioning control Position control 1 axis linear control 2 ...

Page 533: ...thod or Da 29 Interpolation speed designation method and the reference axis is the minor axis and the interpolation axis is the major axis In 3 axis helical interpolation control control the composite speed of the circular interpolation axis or the speed of the linear interpolation axis so that the speeds do not exceed Pr 8 Speed limit value 3 Setting method To use the speed limit function set the...

Page 534: ...he torque limit Carry out the torque limit in the configuration in the figure below The following modules are required D A converter module Drive unit capable of torque limit control by analog voltage input 1 Read out the Md 35 Torque limit stored value 2 Write the value read into the D A converter module The value must be converted according to the specifications of D A converter module 3 The dri...

Page 535: ... OPR torque limit value Fast OPR control Pr 17 Torque limit setting value Major positioning control Position control 1 axis linear control 2 to 4 axis linear interpolation control 1 axis fixed feed control 2 to 4 axis fixed feed control interpolation 2 axis circular interpolation control 3 axis helical interpolation control 1 to 4 axis speed control Speed position switching control Position speed ...

Page 536: ...n the parameters shown in the following table and write them to the LD75 The set data is made valid on the rising edge OFF to ON of the PLC READY signal Y0 Refer to Page 118 Section 5 2 for the information on detail settings The following table shows the Md 35 Torque limit stored value of the buffer memory address Refer to Page 182 Section 5 6 for the information on detail settings Remark Paramete...

Page 537: ...ils shown below explain about the software stroke limit function Differences in the moveable range when current feed value and machine feed value are selected Software stroke limit check details Relation between the software stroke limit function and various controls Precautions during software stroke limit check Setting method Invalidating the software stroke limit Setting when the control unit i...

Page 538: ...check details 1 Check whether the Md 20 Current feed value or Md 21 Machine feed value is set in Pr 14 Software stroke limit selection 2 Moveable range from the Pr 12 Software stroke limit upper limit value to the Pr 13 Software stroke limit lower limit value Check details Processing whenan error occurs 1 An error shall occur if the current value 1 is outside the software stroke limit range 2 Chec...

Page 539: ...ntrol 1 axis linear control Checks 1 and 2 in Page 536 Section 12 4 3 2 are carried out For speed control The axis decelerates to a stop when it exceeds the software stroke limit range For position control The axis comes to an immediate stop when it exceeds the software stroke limit range 2 to 4 axis linear interpolation control 1 axis fixed feed control 2 to 4 axis fixed feed control interpolatio...

Page 540: ...lue Pr 13 Software stroke limit lower limit value may be exceeded In this case a deceleration stop will not be carried out even if the stroke limit is exceeded Always install an external limit switch if there is a possibility the stroke limit will be exceeded Arc address Da 7 End point address Da 6 Axis 1 Axis 1 stroke limit Deceleration stop not carried out Starting address The software stroke li...

Page 541: ...ue Setting details Factory set initial value Pr 12 Software stroke limit upper limit value Set the upper limit value of the moveable range 2147483647 Pr 13 Software stroke limit lower limit value Set the lower limit value of the moveable range 2147483648 Pr 14 Software stroke limit selection Set whether to use the Md 20 Current feed value or Md 21 Machine feed value as the current value 0 Current ...

Page 542: ...s It is recommended that the parameters be set whenever possible with GX Works2 Execution by program uses many programs and devices The execution becomes complicated and the scan times will increase 7 Setting when the control unit is degree a Current value address The Md 20 Current feed value address is a ring address between 0 and 359 99999 b Setting the software stroke limit The upper limit valu...

Page 543: ...ive unit side is reached The details shown below explain about the hardware stroke limit function Control details Wiring the hardware stroke limit Control precautions When the hardware stroke limit is not used 1 Control details The following drawing shows the operation of the hardware stroke limit function WARNING When the hardware stroke limit is required to be wired ensure to wire it in the nega...

Page 544: ...control major positioning control and high level positioning control cannot start When Pr 22 Input signal logic selection is set to the initial value the LD75 cannot carry out the positioning control if FLS upper limit signal is separated from COM or RLS lower limit signal is separated from COM including when wiring is not carried out 4 When the hardware stroke limit function is not used When not ...

Page 545: ...excludes manual pulse generator operation The new speed is set as a percent of the command speed 12 5 1 Speed change function The Speed change function is used to change the speed during control to a newly designated speed at any time The new speed is directly set in the buffer memory and the speed is changed by a speed change command Cd 15 Speed change request or external command signal During th...

Page 546: ... change 0 flag Md 31 Status b10 turns ON During interpolation control the speed change 0 flag on the reference axis side turns ON The axis stops but Md 26 Axis operation status does not change and the BUSY signal remains ON If a stop signal is input the BUSY signal will turn OFF and Md 26 Axis operation status will change to Stopped In this case setting the Cd 14 New speed value to a value besides...

Page 547: ...d is changed during interpolation control the required speed is set in the reference axis g When carrying out consecutive speed changes be sure there is an interval between the speed changes of 100ms or more If the interval between speed changes is short the LD75 will not be able to track and it may become impossible to carry out commands correctly h When a speed change is requested simultaneously...

Page 548: ...information on detail settings b The following shows the speed change time chart Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 14 New speed value 2000 Set the new speed 1514 1515 1614 1615 1714 1715 1814 1815 Cd 15 Speed change request 1 Set 1 Change the speed 1516 1616 1716 1816 V t In speed change processing flag 1 0 New speed value Speed change ...

Page 549: ...c Add the following program to the control program and write it to the CPU module Example No 14 Speed change program Pulsate speed change command Hold speed change command Set speed change value 20 00mm min Set speed change request Write speed change Turn OFF speed change command memory ...

Page 550: ...tail settings b The following shows the speed change time chart Setting item Setting value Setting details Buffer memory address Axis 1 Axis 3 Axis 2 Axis 4 Pr 42 External command function selection 1 Set 1 External speed change request 62 212 362 512 Cd 8 External command valid 1 Set 1 Validate external command 1505 1605 1705 1805 Cd 14 New speed value 1000000 Set the new speed 1514 1515 1614 161...

Page 551: ...e K1 D108 H0 DTOP K1 K1 H0 TOP K1 K1 K62 H0 TOP K1514 K1505 Write 1000000 to D108 and D109 External command valid signal Input the external command signal Speed change processing Write the new speed Set the external command function selection to external speed change request Set the external command signal input to valid LD75 starts speed change processing Example ...

Page 552: ...ntrol will be carried out at speed unit 1 at the time Feedrate becomes a value of 1 or less If there is not enough remaining distance to change the speed by the override function during the position control or position control by the speed position switching control or position speed switching control the operation will be carried out at the possible speed for the distance If the speed changed by ...

Page 553: ...y the override function cannot be carried out after a deceleration start to the creep speed following the detection of near point dog ON In this case a request for speed change is ignored When deceleration is started by the override function the deceleration start flag does not turn ON 3 Setting method The following shows the data settings and program example for setting the override value of axis...

Page 554: ... it to the CPU module V t 200 Cd 13 Y10 Y0 X0 X10 XC X14 X8 Positioning start signal PLC READY signal LD75 READY signal Start complete signal BUSY signal Positioning complete signal Error detection signal Positioning operation speed override Dwell time Example No 15 Override program Pulsate override command Set override value 200 Write override value ...

Page 555: ...new acceleration deceleration time Cd 10 Cd 11 The details shown below explain about the acceleration deceleration time change function Control details Control precautions Setting method 1 Control details After setting the following two items carry out the speed change to change the acceleration deceleration time during the speed change Set change value of the acceleration deceleration time Cd 10 ...

Page 556: ...y set acceleration deceleration time at the changeover to the next positioning data even if the acceleration deceleration time is changed to the new acceleration deceleration time Cd 10 Cd 11 Even if the acceleration deceleration time change is set to disable after the new acceleration deceleration time is validated the positioning data for which the new acceleration deceleration time was validate...

Page 557: ... shown in the following table to the LD75 using the program The set details are validated when a speed change is executed after the details are written to the LD75 Refer to Page 211 Section 5 7 for the information on detail settings Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 10 New acceleration time value Set the new acceleration time 1508 1509 ...

Page 558: ...acceleration deceleration time change command Set 2000ms for acceleration time Set 0 not change for deceleration time Acceleration deceleration time change enable setting Write acceleration deceleration time change enable Write acceleration deceleration time change disable ...

Page 559: ...ails The torque value of the axis control data can be changed at all times The torque can be limited with a new torque value from the time the new torque value has been written to the LD75 a torque change is made only during operation The toque limiting is not carried out from the time the power supply is turned ON to the time the PLC READY signal Y0 is turned ON The torque setting range is from 0...

Page 560: ...ing value is outside the setting range the axis warning Outside new torque value range warning code 113 will occur and the torque will not be changed If the time to hold the new torque value is not more than 100ms a torque change may not be executed 3 Setting method To use the torque change function write the data shown in the following table to the LD75 using the program The set details are valid...

Page 561: ...ge request flag The following shows the details of the target position change function Control details Control precautions Setting method 1 Control details The following charts show the details of control of the target position change function a When the address after change is positioned away from the start point more than the positioning address b When the speed is changed simultaneously with ch...

Page 562: ...s positioning the next positioning operation is carried out at the new speed value When the speed is set with the next positioning data that speed becomes the current speed and the operation is carried out at the current speed e When a target position change request is given during automatic deceleration in position control positioning control to a new position is exercised after the axis has stop...

Page 563: ...il settings b The following shows the time chart for target position change Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 27 Target position change value new address 3000 Set the new address 1534 1535 1634 1635 1734 1735 1834 1835 Cd 28 Target position change value new speed 1000000 Set the new speed 1536 1537 1636 1637 1736 1737 1836 1837 Cd 29 Ta...

Page 564: ...Hold target position change command Set target position change request Set target speed 10000 00mm min Write speed change Turn OFF speed change request memory Pulsate target position change command Set target position change value 300 0 m address Example No 21 Target position change program ...

Page 565: ...utline of absolute position detection data communication Absolute position signal transmission procedure Control precautions 1 Configuration and preparation of absolute position detection system a Configuration The following drawing shows the configuration of the absolute position detection system CAUTION An absolute position restoration by the positioning function may turn off the servo on signal...

Page 566: ...ute position detection function absolute position data transference protocol equivalent to that of MR J3 A Install the battery to the servo amplifier Validate the absolute position detection function of the servo amplifier Refer to the servo amplifier manual for details 2 Servomotor Use a servomotor with absolute position detector Refer to the servomotor manual for details 3 Detector cable Add a b...

Page 567: ...ween the servo amplifier and the programmable controller system If the system expires during communication an error ABS transmission time error code 213 will occur If the transmission data causes a sum error an error ABS transmission SUM error code 214 will occur Refer to Page 650 Section 15 5 for the remedial method to be taken when an error occurs Servo ON signal ABS request ABS bit0 ABS bit1 Se...

Page 568: ...he CN1 22 23 25 functions are as shown in this table ABS request ABSR 18 3 The ABSR is turned ON when ABS data is requested in the ABS transfer mode ABS transmission data bit 0 ABSB0 22 This indicates the lower order bit among 2 bits of ABS data to be transferred from the servo amplifier to the programmable controller system in the ABS transfer mode The ABSB0 turns ON when this signal occurs ABS t...

Page 569: ...smission data ready ABST turned ON LD75 turns ON the ABS request ABSR 4 The servo amplifier outputs the ABS lower 2 bits and ABS transmission data ready ABST OFF by the ABS request ABSR 5 After recognizing that the ABS transmission data ready ABST turned OFF the ABS2bit data is output LD75 reads the lower 2bits of ABS and turns OFF the ABS request ABSR 2 3 5 4 6 7 1 ABRST S 4 Status D 0 Complete d...

Page 570: ...e OP in an absolute position detection system Pulses are positive in the address increasing direction from the OP and negative in the address decreasing direction from the OP The number of output pulses varies with the number of feedback pulses as indicated below b Condition 2 Positioning address The following positioning addresses can be specified on the LD75 When the unit is mm 214748364 8 to 21...

Page 571: ...e in Condition 1 and the positioning address calculation expression Expression 1 The upper lower limit values of the positioning address calculated are within the range of Condition 2 Movement amount per pulse 0 1 m OP address 0 0 m Feedback pulses 8192 pulse Lower limit value of positioning address the number of negative pulses in Condition 1 is used for calculation Positioning address Movement a...

Page 572: ...itioning address 0 1 268435455 214740000 0 241583545 5 m Since the upper limit of the positioning address calculated is outside of the range of Condition 2 the upper limit value 214748364 7 m is the upper limit for positioning in the absolute position detection system In the absolute position detection system use the positioning address within the range 187896454 4 to 214748364 7 m Positioning in ...

Page 573: ...sed in the absolute position detection system set the upper lower limit values of the software stroke limit within the range 0 to 359 99999 Movement amount per pulse 0 9 m OP address 0 0 m Feedback pulses 8192 pulse Lower limit value of positioning address the number of negative pulses in Condition 1 is used for calculation Positioning address Movement amount per pulse Number of output pulses OP a...

Page 574: ...step function Relation between the step function and various controls Step mode Step start information Using the step operation Control details Control precautions Setting method 1 Relation between the step function and various controls The following table shows the relation between the step function and various controls Set when required Setting not possible Control type Step function Step applic...

Page 575: ...ata Even in continuous path control an automatic deceleration and stop will be forcibly carried out 3 Step start information Control stopped by a step operation can be continued by setting step continue to continue the control in the step start information The step start information is set in the control data Cd 36 Step start information The following table shows the results of starts using the st...

Page 576: ...ositioning stoped by an error One step of positioning is completed Restart positioning All positioning is completed Continue the step operation Turn OFF the step valid flag End Set in Cd 34 Step mode Write 0 carry out no step operation in Cd 35 Step valid flag Write 1 restart to Cd 6 Restart command and check whether the positioning data operates normally Write 1 step continue to Cd 36 Step start ...

Page 577: ...rom the positioning data set in Cd 3 Positioning start No ON ON ON ON ON OFF OFF OFF OFF V No 10 No 11 11 00 t Cd 35 Step valid flag Positioning start signal Y10 Y11 Y12 Y13 BUSY signal XC XD XE XF Positioning complete signal X14 X15 X16 X17 Positioning Positioning data No Da 1 Operation pattern No positioning data No unit so operation pattern becomes one step of unit for carrying out automatic de...

Page 578: ... the LD75 Refer to Page 211 Section 5 7 for the information on detail settings Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 34 Step mode Set 0 Deceleration unit step or 1 Data No unit step 1544 1644 1744 1844 Cd 35 Step valid flag 1 Set 1 Carry out step operation 1545 1645 1745 1845 Cd 36 Step start information Set 1 Step continue depending on the...

Page 579: ...e signals X14 X15 X16 X17 will not turn ON When the skip signal is turned ON during the dwell time the remaining dwell time will be ignored and the next positioning data will be executed When a control is skipped during interpolation control the reference axis skip signal is turned ON When the reference axis skip signal is turned ON a deceleration stop will be carried out for every axis and the ne...

Page 580: ... for the information on detail settings 2 Add the following program to the control program and write it to the CPU module When the skip command is input the value 1 skip request set in Cd 37 Skip command is written to the LD75 buffer memory 1547 Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Cd 37 Skip command 1 Set 1 Skip request 1547 1647 1747 1847 E...

Page 581: ... out using the program shown below in section 2 Refer to Page 211 Section 5 7 for the information on detail settings 2 Add the following program to the control program and write it to the CPU module Setting item Setting value Setting details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Pr 42 External command function selection 3 Set 3 Skip request 62 212 362 512 Cd 8 External command valid 1 ...

Page 582: ...n about the M code output function M code ON signal output timing M code OFF request Control precautions Setting method Reading M codes 1 M code ON signal output timing The timing for outputting storing the M codes can be set in the M code output function The M code is stored in Md 25 Valid M code when the M code ON signal is turned ON The following shows the two types of timing for outputting M c...

Page 583: ...t the positioning completion and the M code is stored in Md 25 Valid M code 0 0 1 0 m1 m2 V t OFF ON OFF OFF ON ON 0 0 1 Positioning start signal BUSY signal M code ON signal Positioning Valid M code Operation pattern M code OFF request XC XD XE XF Y10 Y11 Y12 Y13 X4 X5 X6 X7 m1 and m2 indicate set M codes Cd 7 Da 1 Md 25 ...

Page 584: ...dress Axis 1 Axis 2 Axis 3 Axis 4 Cd 7 M code OFF request 1 Set 1 Turn OFF the M code ON signal 1504 1604 1704 1804 Da 1 Operation pattern Processing 00 Independent positioning control Positioning complete The next positioning data will not be executed until the M code ON signal is turned OFF 01 Continuous positioning control 11 Continuous path control The next positioning data will be executed If...

Page 585: ...C READY signal Y0 is turned OFF the M code ON signal will turn OFF and 0 will be stored in Md 25 Valid M code If the positioning operation time is short during continuous path control there will not be enough time to turn OFF the M code ON signal and a warning M code ON signal ON warning code 503 may occur In this case to avoid the warning set 0 in the Da 10 M code of that section s positioning da...

Page 586: ...e OFF to ON of PLC READY signal Y0 The following shows the settings to use Pr 18 M code ON signal output timing Set the M code No in the positioning data Da 10 M code Set 0 Use the set value in Pr 18 M code ON signal output timing initial value in the positioning data Da 27 M code ON signal output timing Set the timing to output the M code ON signal X4 X5 X6 X7 in the detailed parameter Pr 18 M co...

Page 587: ...e for reading the Md 25 Valid M code to the CPU module data register D110 The read value is used to command the sub work Read M codes not as rising edge commands but as ON execution commands Monitor item Monitor value Storage details Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Md 25 Valid M code The M code No Da 10 M code set in the positioning data is stored 808 908 1008 1108 M code ON sign...

Page 588: ...ZP PFWRT When the dedicated instructions ZP TEACH 1 ZP TEACH 2 ZP TEACH 3 ZP TEACH 4 ZP PFWRT are used to execute the teaching function the programming becomes easier Refer to Page 619 CHAPTER 14 for details 2 Control precautions Before teaching a machine OPR must be carried out to establish the OP When a current value changing etc is carried out Md 20 Current feed value may not show absolute addr...

Page 589: ...is 4 Cd 1 Flash ROM write request 1 Write the set details to the flash ROM backup the changed data 1900 Cd 38 Teaching data selection Sets to which current feed value is written 0 Written to Da 6 Positioning address movement amount 1 Written to Da 7 Arc address 1548 1648 1748 1848 Cd 39 Teaching positioning data No Designates the data to be taught Teaching is carried out when the setting value is ...

Page 590: ...ment amount in teaching data selection Set the positioning data No for which the teaching will be carried out End teaching Turn OFF the PLC READY signal Y0 Carry out a writing request to the flash ROM End Confirm completion of writing Using a JOG operation inching operation or manual pulse generator Set the positioning data No in buffer memory address 1549 Set 0 in buffer memory address 1548 Confi...

Page 591: ...emory address 1548 Set the positioning data No in buffer memory address 1549 Confirm completion of the teaching Confirm 0 in buffer memory address 1549 Teach arc sub point address of axis 2 Entering teaching data to buffer memory address 1648 and 1649 in the same fashion as for axis 1 Move the workpiece to the circular interpolation end point using a manual operation 2 of the operation chart Using...

Page 592: ...ing data to buffer memory address 1648 and 1649 in the same fashion as for axis 1 Set 1 in buffer memory address 1900 Confirm 0 in buffer memory address 1900 OP Reverse direction Forward direction Axis 1 Arc center point Movement by circular interpolation Axis 2 Forward direction 2 End point address arc address positioning address Start point address current stop position Reverse direction 1 Sub p...

Page 593: ...unction to the LD75 a Setting conditions When setting the current feed value as the positioning address write it when the BUSY signal is OFF b Program example The following example shows a program to carry out the teaching of axis 1 by the dedicated instruction ZP TEACH 1 1 Move the workpiece to the target position using a JOG operation or an inching operation a manual pulse generator operation ...

Page 594: ...e address ABS values If the positioning operation is correctly completed with the written positioning data it is recommended that the positioning data be registered in the LD75 flash ROM Example No 19 Teaching program Position to the target position with manual operation Pulsate teaching command Hold teaching command Set teaching data Set positioning data No Execute teaching Turn OFF teaching comm...

Page 595: ...ction Control details Control precautions Setting method Confirming the command in position flag 1 Control details The following shows control details of the command in position function a When the remaining distance to the stop position during the automatic deceleration of positioning control becomes equal to or less than the value set in Pr 16 Command in position width 1 is stored in the command...

Page 596: ...ion start When the manual pulse generator operation is enabled c The Pr 16 Command in position width and command in position flag Md 31 Status b2 of the reference axis are used during interpolation control When the Pr 20 Interpolation speed designation method is Composite speed the command in position width check is carried out in the remaining distance on the composite axis line arc connecting th...

Page 597: ...182 Section 5 6 for information on the storage details Remark Parameters are set for each axis It is recommended that the parameters be set whenever possible with GX Works2 Execution by program uses many programs and devices The execution becomes complicated and the scan times will increase Setting item Setting value Setting details Factory set initial value Pr 16 Command in position width Turn ON...

Page 598: ...eters shown in the following table and write them to the LD75 The set details are validated when written to the LD75 Refer to Page 118 Section 5 2 for the information on detail settings 2 Acceleration deceleration method setting control details and setting In the acceleration deceleration method setting the acceleration deceleration processing method is selected and set The set acceleration decele...

Page 599: ...ve acceleration deceleration processing begins at the start of a speed change request or an override request Set the required values for the acceleration deceleration method setting in the parameters shown in the following table and write them to the LD75 The set details are validated when written to the LD75 Refer to Page 118 Section 5 2 for the information on detail settings Remark Parameters ar...

Page 600: ...1 Control details The pre reading start function is performed by turning ON the positioning start signal Y10 Y11 Y12 Y13 with the execution prohibition flag Y14 Y15 Y16 Y17 ON or by executing the dedicated instruction ZP PSTRT1 ZP PSTRT2 ZP PSTRT3 ZP PSTRT4 However if positioning is started with the execution prohibition flag ON the positioning data is analyzed but pulse output is not provided Whi...

Page 601: ...which repeats 1 Feeding a stock with a feed shaft and 2 Cutting it with a cutter to cut the stock to fixed size The operations of the feed shaft and cutter shaft are represented as shown in the figure below Cutter Cutter shaft Feed shaft Stock V t t Ò Ó Feed shaft Cutter shaft Feed shaft start request Cutter shaft start request Start time Ts Start time Ts Start time Ts Stop time Tw ...

Page 602: ...em is put in an execution prohibition flag OFF waiting status Any change made to the positioning data in the execution prohibition flag OFF waiting status is not reflected on the positioning data Change the positioning data before turning ON the positioning start signal The pre reading start function is invalid if the execution prohibition flag is turned OFF between when the positioning start sign...

Page 603: ...N execution prohibition flag Turns ON positioning start signal Turns OFF execution prohibition flag Turns OFF positioning start signal Pre reading start function when dedicated instruction PSTRT1 is used Turns ON execution prohibition flag Sets 1 to positioning start No Executes positioning start Turns OFF execution prohibition flag Normal termination of positioning Sets error code Abnormal termin...

Page 604: ...on control or to perform preparatory operation etc for the next position control For the deceleration start flag function the following will be explained Control details Control precautions Setting method Checking of deceleration start flag 1 Control details When deceleration for a stop is started in the position control whose operation pattern is Positioning complete 1 is stored into Md 48 Decele...

Page 605: ...art data No Da 13 Special start instruction 1st point 1 Continue 1 0 Block start 2nd point 1 Continue 3 0 Block start 3rd point 0 End 4 0 Block start Positioning data No Da 1 Operation pattern 1 01 Continuous positioning control 2 00 Positioning complete 3 00 Positioning complete 4 11 Continuous path control 5 00 Positioning complete t 0 d n E t n i o p d r 3 1 e u n i t n o C t n i o p t s 1 2nd ...

Page 606: ...le the deceleration start flag is ON the deceleration start flag remains ON When the movement direction is reversed by a target position change the deceleration start flag turns ON During position control of position speed switching control the deceleration start flag is turned ON by automatic deceleration The deceleration start flag remains ON if position control is switched to speed control by t...

Page 607: ... is stored into the following buffer memory addresses Refer to Page 182 Section 5 6 for information on the storage details Setting item Setting value Setting details Buffer memory address Cd 41 Deceleration start flag valid Set whether the deceleration start flag function is made valid or invalid 0 Deceleration start flag invalid 1 Deceleration start flag valid 1905 Monitor item Monitor value Stor...

Page 608: ...eration of stop command processing for deceleration stop function is explained below a Deceleration curve re processing A deceleration curve is re processed starting from the speed at stop cause occurrence to stop according to the preset deceleration time If a stop cause occurs during automatic deceleration of position control the deceleration stop processing stops as soon as the target has reache...

Page 609: ... set in Pr 37 Stop group 1 sudden stop selection to Pr 39 Stop group 3 sudden stop selection A deceleration curve is re processed according to the Pr 36 Sudden stop deceleration time starting from the speed at stop cause occurrence to a stop In the position control including position control of speed position changeover control or position speed changeover control mode positioning may stop immedia...

Page 610: ...o the buffer memory The PLC READY signal Y0 is irrelevant Refer to Page 211 Section 5 7 for the information on detail settings Setting item Setting value Setting details Buffer memory address Cd 42 Stop command processing for deceleration stop selection Set the stop command processing for deceleration stop function 0 Deceleration curve re processing 1 Deceleration curve continuation 1907 ...

Page 611: ...ternal I O signal logic switching function This function switches I O signal logic according to the equipment connected to the LD75 For the system in which drive unit READY with b contact upper limit switch and lower limit switch are not used the parameter logic setting can be controlled without wiring if it is changed to a positive logic External I O signal monitor function This function monitors...

Page 612: ...he warning In PLC READY warning code 111 will occur if executed when the PLC READY signal Y0 is ON Writing to the flash ROM can be executed up to 100 000 times If writing to the flash ROM exceeds 100 000 times the writing may become impossible and the error Flash ROM write error error code 801 will occur A CPU module reset or CPU module power restart must be carried out after the parameters are in...

Page 613: ...elligent function device Refer to Page 211 Section 5 7 for the information on detail settings When the initialization is complete 0 will be set in Cd 2 Parameter initialization request by the LD75 automatically Refer to Page 619 CHAPTER 14 for details The initialization of the parameter is executed at the time point the data is written to the LD75 buffer memory Setting item Setting value Setting d...

Page 614: ...data backup function 3 Control precautions Parameter initialization is only executed when the positioning control is not carried out when the PLC READY signal Y0 is OFF The warning In PLC READY warning code 111 will occur if executed when the PLC READY signal Y0 is ON Writing to the flash ROM can be executed up to 100 000 times If writing to the flash ROM exceeds 100 000 times the writing may beco...

Page 615: ...ied out by the writing of the data shown in the table below to the LD75 buffer memory using the TO instruction intelligent function device Refer to Page 211 Section 5 7 for the information on detail settings When the writing to the flash ROM is complete 0 will be set in Cd 1 Flash ROM write request by the LD75 automatically The writing to the flash ROM is executed at the time point the data is wri...

Page 616: ...gnal logic switching parameters are validated when the PLC READY signal Y0 is turned OFF to ON The logic is negative right after power on If each signal logic is set erroneously the operation may not be carried out correctly Before setting check the specifications of the equipment to be used Setting item Setting details Factory set initial value Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Pr...

Page 617: ...of GX Works2 The information that can be monitored are the module s information same as the LD75 front RUN ERR LED indicators and the following external I O signals Set the logic of the external I O signals in Pr 22 Input signal logic selection and Pr 23 Output signal logic selection Refer to the following manual for the system monitor of GX Works2 GX Works2 Version 1 Operating Manual Common 0 OFF...

Page 618: ...en the number of logs exceeds 16 the latest log overwrites the oldest log so that the latest 16 logs can be monitored all the time This function allows users to check the operation sequence whether the operations have been started in a predetermined sequence at system start up To monitor the starting history register the LD75 to the Intelligent Function Module Monitor Window For details on the reg...

Page 619: ...mber of logs exceeds 16 the latest log overwrites the oldest log so that the latest 16 logs can be monitored all the time To monitor the error history and warning history register the LD75 to the Intelligent Function Module Monitor Window For details on the registration method and monitoring method refer to the following GX Works2 Version 1 Operating Manual Intelligent Function Module ...

Page 620: ...unction and built in CC Link function and intelligent function module is displayed in one screen Errors in the entire system can be monitored in reverse chronological order Programming tool Example of screen display Error history display 19 29 19 33 19 34 19 36 Module A CPU Module B Module A Error A1 Error C1 Error B1 Error A2 Time Module in error Error code Error history CPU module Module error l...

Page 621: ...s Reference Absolute position restoration Z ABRST1 This function restores the absolute position of the designated axis of the LD75 Page 620 Section 14 3 Z ABRST2 Z ABRST3 Z ABRST4 Positioning start ZP PSTRT1 This function starts the positioning control of the designated axis of the LD75 Page 625 Section 14 4 ZP PSTRT2 ZP PSTRT3 ZP PSTRT4 Teaching ZP TEACH1 This function carries out teaching the de...

Page 622: ...dule Setting data Usable device Internal device File register Link direct device J Intelligent function module U G Index register Zn Constant Others Bit Word Bit Word K H S D Setting data 1 Setting details Setting side 2 Data type Un LD75 head I O number 00 to FE High order two digits of I O number expressed in three digits User BIN 16 bits S Head number of a device in which control data is stored...

Page 623: ...tting range Setting side 1 S 0 System area S 1 Complete status The state at the time of completion is stored 0 Normal completion Other than 0 Abnormal completion error code 2 System S 2 Signal received from servo amplifier The following signal states taken in from the servo amplifier to the input module are written b0 ABS data bit 0 b1 ABS data bit 1 b2 Transmission data READY flag b0 0 1 b1 0 1 b...

Page 624: ...mally Kept unchanged at OFF When completed abnormally This device is turned ON by the END processing of the scan for which Z ABRST instruction is completed and turned OFF by the next END processing same ON OFF operation as complete device The completion of absolute position restoration can be confirmed using the S 4 status d Using the Z ABRST instruction the absolute position restoration is carrie...

Page 625: ...rox 60ms scan time servo OFF and the motor may move When carrying out the absolute position restoration during servo OFF install an electromagnetic brake and output the Z ABRST instruction to that brake during the Z ABRST instruction execution d The following dedicated instructions cannot be executed simultaneously for the same axis Can be executed simultaneously for different axes Positioning sta...

Page 626: ...eset Error code transmission to D49 ABS data bit 0 ON OFF ABS data bit 1 ON OFF Transmission data preparation complete flag ON OFF Z ABRST1 instruction execution 796 788 802 823 1 Absolute position restoration command acceptance 3 ABS data setting and ABRST1 instruction execution 2 Setting of transmit data to servo amplifier and confirmation of absolute position restoration completion ABRST1 instr...

Page 627: ...of dedicated instruction is stored by CPU module Setting data Usable device Internal device File register Link direct device J Intelligent function module U G Index register Zn Constant Others Bit Word Bit Word K H S D Setting data 1 Setting details Setting side 2 Data type Un LD75 head I O number 00 to FE High order two digits of I O number expressed in three digits User BIN 16 bits S Head number...

Page 628: ...mpleted and turned OFF by the next END processing Complete state display device D 1 This device is turned ON by the END processing of the scan for which ZP PSTRT instruction is completed and turned OFF by the next END processing same ON OFF operation as complete device When completed normally Kept unchanged at OFF When completed abnormally This device is turned ON by the END processing of the scan...

Page 629: ...ltaneously for different axes Positioning start instructions ZP PSTRT1 to ZP PSTRT4 Absolute position restoration instructions Z ABRST1 to Z ABRST4 Teaching instructions ZP TEACH1 to ZP TEACH4 d The ZP PSTRT instruction can only be executed when the LD75 READY signal X0 is turned ON Even if the ZP PSTRT instruction execution request is given when the LD75 READY signal is turned OFF the ZP PSTRT in...

Page 630: ... positioning data No 1 when X100 turns ON Use D30 to D32 as the control data devices of positioning data No 1 and M32 and M33 as the completion devices a Positioning start program b Positioning start program when the dedicated instruction is not used Positioning start command pulse Positioning start No 1 setting Positioning start command hold Positioning start execution Positioning start command s...

Page 631: ...d instruction is stored by CPU module Setting data Usable device Internal device File register Link direct device J Intelligent function module U G Index register Zn Constant Others Bit Word Bit Word K H S D Setting data 1 Setting details Setting side 2 Data type Un LD75 head I O number 00 to FE High order two digits of I O number expressed in three digits User BIN 16 bits S Head number of a devic...

Page 632: ...complete devices D 0 and D 1 Complete device D 0 This device is turned ON by the END processing of the scan for which ZP TEACH instruction is completed and turned OFF by the next END processing Complete state display device D 1 This device is turned ON and OFF according to the state in which ZP TEACH instruction is completed When completed normally Kept unchanged at OFF When completed abnormally T...

Page 633: ...OFF When the BUSY signal is turned ON the ZP TEACH instruction will not be executed not processed Before executing the ZP TEACH instruction make sure that the BUSY signal for the axis to be processed is turned OFF c If the ZP TEACH instruction is executed in any of the following cases an error Dedicated instruction error error code 804 will occur and teaching cannot be performed Any value other th...

Page 634: ...hing program when the dedicated instruction is not used Positioning is carried out for a target position by manual operation Teaching command pulse Teaching command hold Teaching data setting Positioning data No setting Teaching execution Teaching command storage OFF Teaching command pulse Teaching command hold Teaching positioning address Sets teaching positioning data No to 1 Turns OFF teaching ...

Page 635: ...to Page 650 Section 15 5 for error codes at abnormal completion Setting data Usable device Internal device File register Link direct device J Intelligent function module U G Index register Zn Constant Others Bit Word Bit Word K H S D Setting data 1 Setting details Setting side 2 Data type Un LD75 head I O number 00 to FE High order two digits of I O number expressed in three digits User BIN 16 bit...

Page 636: ... measures against the error referring to Page 650 Section 15 5 5 Precautions a Do not turn ON the power and reset the CPU module while parameters positioning data and block start data are written to the flash ROM using the ZP PFWRT instruction A parameter error will occur or normal positioning start will become impossible because the parameters positioning data and block start data are not written...

Page 637: ...is requested after the power ON CPU module reset operation the error Flash ROM write number error error code 805 will occur and the writing will be disabled If a flash ROM write error occurs by one writing to the flash ROM check and correct the flash ROM writing program Then reset the error or turn ON the power and reset the CPU module again d The ZP PFWRT instruction can only be executed when the...

Page 638: ... Flash ROM write program when the dedicated instruction is not used Flash ROM write command pulse Flash ROM write command hold PLC READY output to LD75 standby Flash ROM write execution Flash ROM write command storage OFF Flash ROM write command pulse Flash ROM write command hold PLC READY output to LD75 standby Flash ROM write execution Flash ROM write command storage OFF ...

Page 639: ... 5 for error codes at abnormal completion Setting data Usable device Internal device File register Link direct device J Intelligent function module U G Index register Zn Constant Others Bit Word Bit Word K H S D Setting data 1 Setting details Setting side 2 Data type Un LD75 head I O number 00 to FE High order two digits of I O number expressed in three digits User BIN 16 bits S Head number of a d...

Page 640: ...abnormally This device is turned ON by the END processing of the scan for which ZP PINIT instruction is completed and turned OFF by the next END processing same ON OFF operation as complete device 4 Errors a When a dedicated instruction is completed abnormally the error complete signal D 1 is turned ON and the error code is stored in the complete status S 1 Check and take measures against the erro...

Page 641: ...ested after the power ON CPU module reset operation the error Flash ROM write number error error code 805 will occur and the writing will be disabled If a flash ROM write error occurs by one writing to the flash ROM check and correct the flash ROM writing program Then reset the error or turn ON the power and reset the CPU module again 6 Program example The following program initializes the paramet...

Page 642: ...r History screen 1 Checking errors on the Module s Detailed Information screen Select Diagnostics System Monitor on GX Works2 Select LD75 for Main block and click the Detailed information button The Module s Detailed Information screen for the LD75 appears and the error code error details and corrective actions can be checked The latest error code is displayed The error history is displayed Conten...

Page 643: ...isplayed in a list together with the error logs of other modules The logs can be output to a CSV format file The error codes and the time of error occurrence can be checked even after the CPU module is powered off and then on or reset Select Diagnostics System Monitor System Error History button on GX Works2 a Error History List Module error logs are displayed in a list a b c ...

Page 644: ...put signals Y0 to YF at the time of error is stored in hexadecimal State of the output signal Y10 to Y1F The status of output signals Y10 to Y1F at the time of error is stored in hexadecimal Axis 1 drive unit READY signal Axis 1 upper limit signal Axis 1 lower limit signal Axis 1 stop signal Axis 1 external command signal Axis 1 near point dog signal Axis 1 zero signal The status of axis 1 externa...

Page 645: ... For the setting refer to the following MELSEC L CPU Module User s Manual Function Explanation Program Fundamentals If the error occurred at the simultaneous start the axis No in which the error is detected is stored in the Starting axis in Error History 15 2 Checking Errors Using a Display Unit The buffer memory monitor test function of a display unit allows users to check the errors in the LD75 ...

Page 646: ...le cause is a hardware failure Please consult your local Mitsubishi representative Check item Action Is the power supplied Check that the voltage supplied to the power supply module is within the rated range Is the power supply capacity sufficient Calculate the total current consumption of the connected modules CPU module I O modules and intelligent function modules and check that the power supply...

Page 647: ...he error code and take a corrective action Is the drive unit powered ON Power on the drive unit Is there an error in the drive unit Check the error code of the drive unit and take a corrective action Is the wiring between the LD75 and drive unit correct Check the wiring between the LD75 and drive unit and correct it Is the wiring between the drive unit and motor correct Check the wiring between th...

Page 648: ...atch the settings of the drive unit Check item Action Does the value in Md 28 Axis feedrate indicate the set speed When Md 28 Axis feedrate indicates the set speed Check that the values in Pr 2 No of pulses per rotation Pr 3 Movement amount per rotation and Pr 4 Unit magnification meet the system When the drive unit has the electronic gear function check that the settings meet the system When Md 2...

Page 649: ...ta or parameters unrelated to interpolation control If the error occurred at the simultaneous start of a positioning operation the axis error storage details will differ depending on whether the error occurred before or after the simultaneous start If the error occurred before the simultaneous start illegal axis No other axis BUSY etc the error Error before simultaneous start error code 501 will o...

Page 650: ...oning data setting warnings An axis warning for each axis will occur Note that a warning will occur for the reference axis when an interpolation designation or axis setting warning occurs b Axis warning Axis warnings occur due to setting warnings from operations such as positioning operations JOG operations manual pulse generator operations or system errors They can be canceled by turning ON the C...

Page 651: ...r errors or warnings An error or warning state is cleared after the following processing has been carried out by setting 1 in the address 1502 for axis 1 1602 for axis 2 1702 for axis 3 and 1802 for axis 4 of the buffer memory for axis error resetting Cd 5 Axis error reset Axis error detection signal turned OFF Md 23 Axis error No cleared Md 24 Axis warning No cleared Changing of Md 26 Operation s...

Page 652: ...d the connection status of the connector Description The start of an operation is requested when the drive unit READY signal is OFF Operation status at error occurrence The system does not start Action Check the power supply status of the drive unit wiring to the drive unit and the connection status of the connector Check the values in Pr 22 Input signal logic selection When a drive unit without R...

Page 653: ...ation stop only occurs during the manual pulse generator operation Action Reset an axis error Page 649 Section 15 4 3 After that perform manual control operation to move the axis to the position where the lower limit signal RLS will not turn OFF Page 479 CHAPTER 11 Description The start of an operation is requested when the hardware stroke limit lower limit signal RLS is OFF Operation status at er...

Page 654: ...tion from an OPR speed to a creep speed by the stopper method 2 OPR Operation status at error occurrence The system stops with the setting deceleration stop sudden stop of the detailed parameter 2 Sudden stop selection stop group 3 Note that the deceleration stop only occurs during the manual pulse generator operation Action Lower the OPR speed Input external zero signals during the movement at a ...

Page 655: ...R is started positioning start No 9002 Operation status at error occurrence The fast OPR is not started Action Execute the machine OPR positioning No 9001 Page 318 Section 8 2 Buffer memory address Axis 1 1500 Axis 2 1600 Axis 3 1700 Axis 4 1800 Setting range Positioning start No 1 to 600 7000 to 7004 9001 to 9004 209 OPR restart not possible Description The restart command is turned ON after the ...

Page 656: ...r occurrence The system stops operation Action Review the condition data No Page 175 Section 5 4 4 Buffer memory address Page 171 Section 5 4 Setting range Condition data No 1 to 10 501 Error before simultaneous start Description When blocks are started simultaneously The partner axis of simultaneous start is BUSY Operation status at error occurrence At start The system will not operate During ope...

Page 657: ...e 152 Section 5 3 Setting range Command speed 1 to 4000000 pulse s 1 to 2000000000 10 2 mm min or other 504 Outside linear movement amount range Description When the composite speed has been set in Interpolation speed designation method of the parameter or positioning data and a linear interpolation control is performed the axis movement amount set for each positioning data exceeds 1073741824 230 ...

Page 658: ...anging analysis The current value is not changed During operation When the positioning address exceeds the software stroke limit range and the control is switched to the one for the out of range data during a position control including the position control in speed position switching control and position speed switching control the system will stop immediately When the current feed value or machin...

Page 659: ... Bring the current feed value into the software stroke limit using the manual control operation Page 479 CHAPTER 11 Correct the positioning address Also check the arc address in the circular interpolation or helical interpolation with sub point designation Current value changing Set the new current value within the software stroke limit range Page 447 Section 9 2 21 During operation Correct the po...

Page 660: ...rol position speed switching control fixed feed and current value change The previous data such as those on speed control speed position switching control position speed switching control fixed feed and current value change shows a continuous path control The continuous positioning control is designated for speed control or position speed switching control Operation status at error occurrence At s...

Page 661: ...on Correct the positioning data or change the parameter Unit setting of the axis to be interpolated Page 359 Section 9 1 6 Buffer memory address Axis 1 0 Axis 2 150 Axis 3 300 Axis 4 450 Setting range Unit setting 0 1 2 3 521 Illegal interpolation description command Description The self axis or a non existent axis is set as the axis to be interpolated in the 2 axis interpolation or helical interp...

Page 662: ...tching control was performed in the wiring less mode The NOP instruction was set to the control system of positioning data No 600 Any value other than 0 was set at buffer memory address 1906 use prohibited area Operation status at error occurrence At start The system will not operate During operation The system stops with the setting deceleration stop sudden stop of the detailed parameter 2 Sudden...

Page 663: ...tion switching control and the position speed switching control the setting value of a positioning address is negative In the 1 axis linear control ABS 2 to 4 axis linear interpolation control ABS or helical interpolation control ABS the setting value of a positioning address is outside the range of 0 to 359 99999 degree Operation status at error occurrence At start The system will not operate Dur...

Page 664: ... code ON signal X4 to X7 is turned ON Operation status at error occurrence At start The system will not operate Action After turning OFF the M code ON signal start the system Page 580 Section 12 7 3 Buffer memory address Axis 1 1504 Axis 2 1604 Axis 3 1704 Axis 4 1804 Setting range M code OFF request 1 The M code ON signal turns OFF 537 PLC READY OFF start Description The positioning start is carr...

Page 665: ...ise 2 ABS counterclockwise Action Invalidate the software stroke limit To invalidate set the software stroke limit upper limit value to be equal to the software stroke limit lower limit value Page 355 Section 9 1 5 Buffer memory address Software stroke limit upper limit Axis 1 18 19 Axis 2 168 169 Axis 3 318 319 Axis 4 468 469 Software stroke limit lower limit Axis 1 20 21 Axis 2 170 171 Axis 3 32...

Page 666: ...op 801 Flash ROM write error Description Data is not written to the flash ROM Operation status at error occurrence At start The system will not operate Action The flash ROM is expected to be at the end of its writable life Replace the flash ROM with a new one 802 Flash ROM sum check error Description While data is written to the flash ROM the power is turned OFF Operation status at error occurrenc...

Page 667: ...ta No to within the setting range Page 629 Section 14 5 Do not specify the instruction of a non existent axis by the Z ABRST ZP PSTRT and ZP TEACH instructions Page 620 Section 14 3 to Page 629 Section 14 5 Setting range Z ABRST status 0 Communication complete received from the servo amplifier ZP PSTRT start No 1 to 600 7000 to 7004 9001 to 9004 ZP TEACH teaching data selection 0 The current feed ...

Page 668: ... error occurrence The LD75 READY signal X0 does not turns ON Action With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON Buffer memory address Axis 1 2 Axis 2 152 Axis 3 302 Axis 4 452 Setting range 1 to 65535 903 Outside unit magnification range Description The set value of the basic parameter 1 Unit magnification is outside the setting range Operation statu...

Page 669: ... limit value is smaller than the OPR speed Operation status at error occurrence When the power is turned ON or PLC READY signal Y0 is turned from OFF to ON LD75 READY signal X0 is not turned ON At start The system will not operate Action The value converted into the frequency should not exceed the maximum output frequency of the module LD75P 200000 pulse s LD75D 4000000 pulse s Set a value which i...

Page 670: ...e setting range In a unit other than degree the software stroke limit upper limit value is smaller than the software stroke limit lower limit value Operation status at error occurrence The LD75 READY signal X0 does not turn ON Action Set the value within the setting range In a unit other than degree set the setting so that the lower limit value is smaller than the upper limit value Buffer memory a...

Page 671: ... Axis 2 177 Axis 3 327 Axis 4 477 Setting range 0 1 928 Speed changeover mode error Description The set value of the detailed parameter 1 Speed changeover mode is outside the setting range Operation status at error occurrence The LD75 READY signal X0 does not turns ON Action With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON Buffer memory address Axis 1 28 ...

Page 672: ...nly occurs during the manual pulse generator operation Action With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON Buffer memory address Axis 1 36 37 Axis 2 186 187 Axis 3 336 337 Axis 4 486 487 Setting range 1 to 8388608 951 Acceleration time 2 setting error Description The set value of the detailed parameter 2 Acceleration time 2 is outside the setting rang...

Page 673: ... the deceleration stop only occurs during the manual pulse generator operation Action With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON Buffer memory address Axis 1 46 47 Axis 2 196 197 Axis 3 346 347 Axis 4 496 497 Setting range 1 to 8388608 956 JOG speed limit value error Description The set value of the detailed parameter 2 JOG speed limit value is outs...

Page 674: ...ion stop sudden stop of the detailed parameter 2 Sudden stop selection stop group 3 Note that the deceleration stop only occurs during the manual pulse generator operation Action With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON Buffer memory address Axis 1 53 Axis 2 203 Axis 3 353 Axis 4 503 Setting range 1 to 100 961 Illegal sudden stop deceleration time...

Page 675: ...utside the setting range Operation status at error occurrence At start The system will not operate During operation The system stops with the setting deceleration stop sudden stop of the detailed parameter 2 Sudden stop selection stop group 3 Note that the deceleration stop only occurs during the manual pulse generator operation Action With the setting brought into the setting range turn the PLC R...

Page 676: ...peed at start or higher Page 140 Section 5 2 5 Buffer memory address Axis 1 74 75 Axis 2 224 225 Axis 3 374 375 Axis 4 524 525 Setting range 1 to 4000000 pulse s 1 to 2000000000 10 2 mm min or other 984 Creep speed error Description The set value of the OPR basic parameter Creep speed is outside the setting range The set value of the OPR basic parameter Creep speed is larger than the OPR speed The...

Page 677: ... 533 Setting range 0 1 2 3 995 OPR torque limit value error Description The set value of the OPR detailed parameter OPR torque limit value is outside the setting range The OPR detailed parameter OPR torque limit value has exceeded the detailed parameter 1 Torque limit setting value Operation status at error occurrence The LD75 READY signal X0 does not turns ON Action With the setting brought into ...

Page 678: ...ped Operation status at warning occurrence The operation is continued Action Normalize the start request ON timing Page 298 Section 6 5 5 Do not issue the restart command when the axis operation is not stopped Buffer memory address Axis 1 1503 Axis 2 1603 Axis 3 1703 Axis 4 1803 Setting range Restart command 1 Restart 109 Teaching in BUSY Description The teaching request is issued while the axis i...

Page 679: ...a value smaller than the torque limit setting value to the new torque value Buffer memory address Axis 1 1525 Axis 2 1625 Axis 3 1725 Axis 4 1825 Setting range New torque value 1 to Torque limit setting value Action Set a value smaller than the torque limit setting value to the new torque value Buffer memory address Axis 1 26 Axis 2 176 Axis 3 326 Axis 4 476 Setting range Torque limit setting valu...

Page 680: ...ed limit value Axis 1 48 49 Axis 2 198 199 Axis 3 348 349 Axis 4 498 499 Setting range 1 to 4000000 pulse s 1 to 2000000000 10 2 mm min or other Manual pulse generator 401 Outside manual pulse generator input magnification range Description The manual pulse generator 1 pulse input magnification is set at 0 or 1001 or higher Operation status at warning occurrence When input magnification is set at ...

Page 681: ... 12 7 3 Buffer memory address Axis 1 1504 Axis 2 1604 Axis 3 1704 Axis 4 1804 Setting range M code OFF request 1 The M code ON signal turns OFF 505 No operation termination setting Description In the positioning by block starting the 50th point of the positioning start data is set to CONTINUE Operation status at warning occurrence The system stops operation Action Set the operation termination to ...

Page 682: ...ed parameter 2 External command function selection setting range is exceeded Operation status at warning occurrence Even if the external command signal is turned ON the system will not perform anything Action Set the detailed parameter 2 External command function selection to within the setting range Buffer memory address Axis 1 62 Axis 2 212 Axis 3 362 Axis 4 512 Setting range External command fu...

Page 683: ...le Description A target position change request was given for the control system other than ABS1 and INC1 The target position change request is turned ON during continuous path control A new target position address is outside the software stroke limit range A target position change request was given during deceleration to a stop A target position change request is given while the speed change 0 fl...

Page 684: ...g Data No 1 to 600 List of Buffer Memory Addresses Page 693 Appendix 3 Item First five digits of the LD75 serial number Reference Output timing selection of near pass control 14092 or later Page 527 Section 12 3 4 3 axis helical interpolation control 1 17102 or later Page 402 Section 9 2 12 Page 408 Section 9 2 13 Positioning option 1 17102 or later Page 152 Section 5 3 Buffer memory address Name ...

Page 685: ...683 APPENDICES A Appendix 1 Function Update Appendix 1 1 Function comparison Memo ...

Page 686: ...684 Appendix 2 Format Sheets Appendix 2 1 Positioning module operation chart Axis address mm inch degree pulse Axis address mm inch degree pulse ...

Page 687: ...685 APPENDICES A Appendix 2 Format Sheets Appendix 2 1 Positioning module operation chart Axis address mm inch degree pulse Axis address mm inch degree pulse ...

Page 688: ...h forward run pulse output 1 Current value increment with reverse run pulse output 0 Pr 7 Bias speed at start 0 to 2000000000 10 2mm min 0 to 2000000000 10 3inch min 0 to 2000000000 10 3degree min 0 to 4000000 pulse s 0 Item Setting value Remarks Axis 1 Axis 2 Axis 3 Axis 4 Pr 1 Unit setting Pr 2 No of pulses per rotation Pr 3 Movement amount per rotation Pr 4 Unit magnification Pr 5 Pulse output ...

Page 689: ...etting value 1 to 500 300 Pr 18 M code ON signal output timing 0 WITH mode 1 AFTER mode 0 Pr 19 Speed switching mode 0 Standard speed switching mode 1 Front loading speed switching mode 0 Pr 20 Interpolation speed designation method 0 Composite speed 1 Reference axis speed 0 Pr 21 Current feed value during speed control 0 Do not update current feed value 1 Update current feed value 2 Clear current...

Page 690: ...ke limit valid invalid setting Pr 16 Command in position width Pr 17 Torque limit setting value Pr 18 M code ON signal output timing Pr 19 Speed switching mode Pr 20 Interpolation speed designation method Pr 21 Current feed value during speed control Pr 22 Input signal logic selection Pr 23 Output signal logic selection Pr 24 Manual pulse generator input selection Pr 70 Positioning option valid in...

Page 691: ...eceleration time selection 0 Pr 34 Acceleration deceleration process selection 0 Trapezoidal acceleration deceleration processing 1 S curve acceleration deceleration processing 0 Pr 35 S curve ratio 1 to 100 100 Pr 36 Sudden stop deceleration time 1 to 8388608ms 1000 Pr 37 Stop group 1 sudden stop selection 0 Normal deceleration stop 1 Sudden stop 0 Pr 38 Stop group 2 sudden stop selection 0 Pr 39...

Page 692: ...2 JOG operation acceleration time selection Pr 33 JOG operation deceleration time selection Pr 34 Acceleration deceleration process selection Pr 35 S curve ratio Pr 36 Sudden stop deceleration time Pr 37 Stop group 1 sudden stop selection Pr 38 Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning complete signal output time Pr 41 Allowable circular interpol...

Page 693: ...ection 0 Positive direction address increment direction 1 Negative direction address decrement direction 0 Pr 45 OP address 2147483648 to 2147483647 10 1 m 2147483648 to 2147483647 10 5 inch 0 to 35999999 10 5degree 2147483648 to 2147483647 pulse 0 Pr 46 OPR speed 1 to 2000000000 10 2 mm min 1 to 2000000000 10 3 inch min 1 to 2000000000 10 3 degree min 1 to 4000000 pulse s 1 Pr 47 Creep speed 1 Pr...

Page 694: ...h 2147483648 to 2147483647 10 5degree 2147483648 to 2147483647 pulse 0 Pr 54 OPR torque limit value 1 to 300 300 Pr 55 Deviation counter clear signal output time 1 to 65535ms 11 Pr 56 Speed designation during OP shift 0 OPR speed 1 Creep speed 0 Pr 57 Dwell time during OPR retry 0 to 65535ms 0 Item Setting value Remarks Axis 1 Axis 2 Axis 3 Axis 4 Pr 49 OPR dwell time Pr 50 Setting for the movemen...

Page 695: ...2206 2216 2226 2236 2246 2207 2217 2227 2237 2247 2208 2218 2228 2238 2248 2209 2219 2229 2239 2249 71 72 73 74 75 2700 2710 2720 2730 2740 2701 2711 2721 2731 2741 2702 2712 2722 2732 2742 2704 2714 2724 2734 2744 2705 2715 2725 2735 2745 2706 2716 2726 2736 2746 2707 2717 2727 2737 2747 2708 2718 2728 2738 2748 2709 2719 2729 2739 2749 26 27 28 29 30 2250 2260 2270 2280 2290 2251 2261 2271 2281 ...

Page 696: ...734 3744 3705 3715 3725 3735 3745 3706 3716 3726 3736 3746 3707 3717 3727 3737 3747 3708 3718 3728 3738 3748 3709 3719 3729 3739 3749 126 127 128 129 130 3250 3260 3270 3280 3290 3251 3261 3271 3281 3291 3252 3262 3272 3282 3292 3254 3264 3274 3284 3294 3255 3265 3275 3285 3295 3256 3266 3276 3286 3296 3257 3267 3277 3287 3297 3258 3268 3278 3288 3298 3259 3269 3279 3289 3299 176 177 178 179 180 3...

Page 697: ...1 4702 4712 4722 4732 4742 4704 4714 4724 4734 4744 4705 4715 4725 4735 4745 4706 4716 4726 4736 4746 4707 4717 4727 4737 4747 4708 4718 4728 4738 4748 4709 4719 4729 4739 4749 226 227 228 229 230 4250 4260 4270 4280 4290 4251 4261 4271 4281 4291 4252 4262 4272 4282 4292 4254 4264 4274 4284 4294 4255 4265 4275 4285 4295 4256 4266 4276 4286 4296 4257 4267 4277 4287 4297 4258 4268 4278 4288 4298 425...

Page 698: ...734 5744 5705 5715 5725 5735 5745 5706 5716 5726 5736 5746 5707 5717 5727 5737 5747 5708 5718 5728 5738 5748 5709 5719 5729 5739 5749 326 327 328 329 330 5250 5260 5270 5280 5290 5251 5261 5271 5281 5291 5252 5262 5272 5282 5292 5254 5264 5274 5284 5294 5255 5265 5275 5285 5295 5256 5266 5276 5286 5296 5257 5267 5277 5287 5297 5258 5268 5278 5288 5298 5259 5269 5279 5289 5299 376 377 378 379 380 5...

Page 699: ...1 6702 6712 6722 6732 6742 6704 6714 6724 6734 6744 6705 6715 6725 6735 6745 6706 6716 6726 6736 6746 6707 6717 6727 6737 6747 6708 6718 6728 6738 6748 6709 6719 6729 6739 6749 426 427 428 429 430 6250 6260 6270 6280 6290 6251 6261 6271 6281 6291 6252 6262 6272 6282 6292 6254 6264 6274 6284 6294 6255 6265 6275 6285 6295 6256 6266 6276 6286 6296 6257 6267 6277 6287 6297 6258 6268 6278 6288 6298 625...

Page 700: ...734 7744 7705 7715 7725 7735 7745 7706 7716 7726 7736 7746 7707 7717 7727 7737 7747 7708 7718 7728 7738 7748 7709 7719 7729 7739 7749 526 527 528 529 530 7250 7260 7270 7280 7290 7251 7261 7271 7281 7291 7252 7262 7272 7282 7292 7254 7264 7274 7284 7294 7255 7265 7275 7285 7295 7256 7266 7276 7286 7296 7257 7267 7277 7287 7297 7258 7268 7278 7288 7298 7259 7269 7279 7289 7299 576 577 578 579 580 7...

Page 701: ...4 225 4203 4213 4223 4233 4243 271 272 273 274 275 4703 4713 4723 4733 4743 26 27 28 29 30 2253 2263 2273 2283 2293 76 77 78 79 80 2753 2763 2773 2783 2793 126 127 128 129 130 3253 3263 3273 3283 3293 176 177 178 179 180 3753 3763 3773 3783 3793 226 227 228 229 230 4253 4263 4273 4283 4293 276 277 278 279 280 4753 4763 4773 4783 4793 31 32 33 34 35 2303 2313 2323 2333 2343 81 82 83 84 85 2803 2813...

Page 702: ...3 7713 7723 7733 7743 326 327 328 329 330 5253 5263 5273 5283 5293 376 377 378 379 380 5753 5763 5773 5783 5793 426 427 428 429 430 6253 6263 6273 6283 6293 476 477 478 479 480 6753 6763 6773 6783 6793 526 527 528 529 530 7253 7263 7273 7283 7293 576 577 578 579 580 7753 7763 7773 7783 7793 331 332 333 334 335 5303 5313 5323 5333 5343 381 382 383 384 385 5803 5813 5823 5833 5843 431 432 433 434 43...

Page 703: ...41 8702 8712 8722 8732 8742 8704 8714 8724 8734 8744 8705 8715 8725 8735 8745 8706 8716 8726 8736 8746 8707 8717 8727 8737 8747 8708 8718 8728 8738 8748 8709 8719 8729 8739 8749 26 27 28 29 30 8250 8260 8270 8280 8290 8251 8261 8271 8281 8291 8252 8262 8272 8282 8292 8254 8264 8274 8284 8294 8255 8265 8275 8285 8295 8256 8266 8276 8286 8296 8257 8267 8277 8287 8297 8258 8268 8278 8288 8298 8259 82...

Page 704: ...734 9744 9705 9715 9725 9735 9745 9706 9716 9726 9736 9746 9707 9717 9727 9737 9747 9708 9718 9728 9738 9748 9709 9719 9729 9739 9749 126 127 128 129 130 9250 9260 9270 9280 9290 9251 9261 9271 9281 9291 9252 9262 9272 9282 9292 9254 9264 9274 9284 9294 9255 9265 9275 9285 9295 9256 9266 9276 9286 9296 9257 9267 9277 9287 9297 9258 9268 9278 9288 9298 9259 9269 9279 9289 9299 176 177 178 179 180 9...

Page 705: ...04 10714 10724 10734 10744 10705 10715 10725 10735 10745 10706 10716 10726 10736 10746 10707 10717 10727 10737 10747 10708 10718 10728 10738 10748 10709 10719 10729 10739 10749 226 227 228 229 230 10250 10260 10270 10280 10290 10251 10261 10271 10281 10291 10252 10262 10272 10282 10292 10254 10264 10274 10284 10294 10255 10265 10275 10285 10295 10256 10266 10276 10286 10296 10257 10267 10277 10287...

Page 706: ...5 11735 11745 11706 11716 11726 11736 11746 11707 11717 11727 11737 11747 11708 11718 11728 11738 11748 11709 11719 11729 11739 11749 326 327 328 329 330 11250 11260 11270 11280 11290 11251 11261 11271 11281 11291 11252 11262 11272 11282 11292 11254 11264 11274 11284 11294 11255 11265 11275 11285 11295 11256 11266 11276 11286 11296 11257 11267 11277 11287 11297 11258 11268 11278 11288 11298 11259 ...

Page 707: ...04 12714 12724 12734 12744 12705 12715 12725 12735 12745 12706 12716 12726 12736 12746 12707 12717 12727 12737 12747 12708 12718 12728 12738 12748 12709 12719 12729 12739 12749 426 427 428 429 430 12250 12260 12270 12280 12290 12251 12261 12271 12281 12291 12252 12262 12272 12282 12292 12254 12264 12274 12284 12294 12255 12265 12275 12285 12295 12256 12266 12276 12286 12296 12257 12267 12277 12287...

Page 708: ...5 13735 13745 13706 13716 13726 13736 13746 13707 13717 13727 13737 13747 13708 13718 13728 13738 13748 13709 13719 13729 13739 13749 526 527 528 529 530 13250 13260 13270 13280 13290 13251 13261 13271 13281 13291 13252 13262 13272 13282 13292 13254 13264 13274 13284 13294 13255 13265 13275 13285 13295 13256 13266 13276 13286 13296 13257 13267 13277 13287 13297 13258 13268 13278 13288 13298 13259 ...

Page 709: ...3 10213 10223 10233 10243 271 272 273 274 275 10703 10713 10723 10733 10743 26 27 28 29 30 8253 8263 8273 8283 8293 76 77 78 79 80 8753 8763 8773 8783 8793 126 127 128 129 130 9253 9263 9273 9283 9293 176 177 178 179 180 9753 9763 9773 9783 9793 226 227 228 229 230 10253 10263 10273 10283 10293 276 277 278 279 280 10753 10763 10773 10783 10793 31 32 33 34 35 8303 8313 8323 8333 8343 81 82 83 84 85...

Page 710: ...713 13723 13733 13743 326 327 328 329 330 11253 11263 11273 11283 11293 376 377 378 379 380 11753 11763 11773 11783 11793 426 427 428 429 430 12253 12263 12273 12283 12293 476 477 478 479 480 12753 12763 12773 12783 12793 526 527 528 529 530 13253 13263 13273 13283 13293 576 577 578 579 580 13753 13763 13773 13783 13793 331 332 333 334 335 11303 11313 11323 11333 11343 381 382 383 384 385 11803 11...

Page 711: ...704 14714 14724 14734 14744 14705 14715 14725 14735 14745 14706 14716 14726 14736 14746 14707 14717 14727 14737 14747 14708 14718 14728 14738 14748 14709 14719 14729 14739 14749 26 27 28 29 30 14250 14260 14270 14280 14290 14251 14261 14271 14281 14291 14252 14262 14272 14282 14292 14254 14264 14274 14284 14294 14255 14265 14275 14285 14295 14256 14266 14276 14286 14296 14257 14267 14277 14287 142...

Page 712: ...5 15735 15745 15706 15716 15726 15736 15746 15707 15717 15727 15737 15747 15708 15718 15728 15738 15748 15709 15719 15729 15739 15749 126 127 128 129 130 15250 15260 15270 15280 15290 15251 15261 15271 15281 15291 15252 15262 15272 15282 15292 15254 15264 15274 15284 15294 15255 15265 15275 15285 15295 15256 15266 15276 15286 15296 15257 15267 15277 15287 15297 15258 15268 15278 15288 15298 15259 ...

Page 713: ...04 16714 16724 16734 16744 16705 16715 16725 16735 16745 16706 16716 16726 16736 16746 16707 16717 16727 16737 16747 16708 16718 16728 16738 16748 16709 16719 16729 16739 16749 226 227 228 229 230 16250 16260 16270 16280 16290 16251 16261 16271 16281 16291 16252 16262 16272 16282 16292 16254 16264 16274 16284 16294 16255 16265 16275 16285 16295 16256 16266 16276 16286 16296 16257 16267 16277 16287...

Page 714: ...5 17735 17745 17706 17716 17726 17736 17746 17707 17717 17727 17737 17747 17708 17718 17728 17738 17748 17709 17719 17729 17739 17749 326 327 328 329 330 17250 17260 17270 17280 17290 17251 17261 17271 17281 17291 17252 17262 17272 17282 17292 17254 17264 17274 17284 17294 17255 17265 17275 17285 17295 17256 17266 17276 17286 17296 17257 17267 17277 17287 17297 17258 17268 17278 17288 17298 17259 ...

Page 715: ...04 18714 18724 18734 18744 18705 18715 18725 18735 18745 18706 18716 18726 18736 18746 18707 18717 18727 18737 18747 18708 18718 18728 18738 18748 18709 18719 18729 18739 18749 426 427 428 429 430 18250 18260 18270 18280 18290 18251 18261 18271 18281 18291 18252 18262 18272 18282 18292 18254 18264 18274 18284 18294 18255 18265 18275 18285 18295 18256 18266 18276 18286 18296 18257 18267 18277 18287...

Page 716: ...5 19735 19745 19706 19716 19726 19736 19746 19707 19717 19727 19737 19747 19708 19718 19728 19738 19748 19709 19719 19729 19739 19749 526 527 528 529 530 19250 19260 19270 19280 19290 19251 19261 19271 19281 19291 19252 19262 19272 19282 19292 19254 19264 19274 19284 19294 19255 19265 19275 19285 19295 19256 19266 19276 19286 19296 19257 19267 19277 19287 19297 19258 19268 19278 19288 19298 19259 ...

Page 717: ...3 16213 16223 16233 16243 271 272 273 274 275 16703 16713 16723 16733 16743 26 27 28 29 30 14253 14263 14273 14283 14293 76 77 78 79 80 14753 14763 14773 14783 14793 126 127 128 129 130 15253 15263 15273 15283 15293 176 177 178 179 180 15753 15763 15773 15783 15793 226 227 228 229 230 16253 16263 16273 16283 16293 276 277 278 279 280 16753 16763 16773 16783 16793 31 32 33 34 35 14303 14313 14323 1...

Page 718: ...713 19723 19733 19743 326 327 328 329 330 17253 17263 17273 17283 17293 376 377 378 379 380 17753 17763 17773 17783 17793 426 427 428 429 430 18253 18263 18273 18283 18293 476 477 478 479 480 18753 18763 18773 18783 18793 526 527 528 529 530 19253 19263 19273 19283 19293 576 577 578 579 580 19753 19763 19773 19783 19793 331 332 333 334 335 17303 17313 17323 17333 17343 381 382 383 384 385 17803 17...

Page 719: ...704 20714 20724 20734 20744 20705 20715 20725 20735 20745 20706 20716 20726 20736 20746 20707 20717 20727 20737 20747 20708 20718 20728 20738 20748 20709 20719 20729 20739 20749 26 27 28 29 30 20250 20260 20270 20280 20290 20251 20261 20271 20281 20291 20252 20262 20272 20282 20292 20254 20264 20274 20284 20294 20255 20265 20275 20285 20295 20256 20266 20276 20286 20296 20257 20267 20277 20287 202...

Page 720: ...5 21735 21745 21706 21716 21726 21736 21746 21707 21717 21727 21737 21747 21708 21718 21728 21738 21748 21709 21719 21729 21739 21749 126 127 128 129 130 21250 21260 21270 21280 21290 21251 21261 21271 21281 21291 21252 21262 21272 21282 21292 21254 21264 21274 21284 21294 21255 21265 21275 21285 21295 21256 21266 21276 21286 21296 21257 21267 21277 21287 21297 21258 21268 21278 21288 21298 21259 ...

Page 721: ...04 22714 22724 22734 22744 22705 22715 22725 22735 22745 22706 22716 22726 22736 22746 22707 22717 22727 22737 22747 22708 22718 22728 22738 22748 22709 22719 22729 22739 22749 226 227 228 229 230 22250 22260 22270 22280 22290 22251 22261 22271 22281 22291 22252 22262 22272 22282 22292 22254 22264 22274 22284 22294 22255 22265 22275 22285 22295 22256 22266 22276 22286 22296 22257 22267 22277 22287...

Page 722: ...5 23735 23745 23706 23716 23726 23736 23746 23707 23717 23727 23737 23747 23708 23718 23728 23738 23748 23709 23719 23729 23739 23749 326 327 328 329 330 23250 23260 23270 23280 23290 23251 23261 23271 23281 23291 23252 23262 23272 23282 23292 23254 23264 23274 23284 23294 23255 23265 23275 23285 23295 23256 23266 23276 23286 23296 23257 23267 23277 23287 23297 23258 23268 23278 23288 23298 23259 ...

Page 723: ...04 24714 24724 24734 24744 24705 24715 24725 24735 24745 24706 24716 24726 24736 24746 24707 24717 24727 24737 24747 24708 24718 24728 24738 24748 24709 24719 24729 24739 24749 426 427 428 429 430 24250 24260 24270 24280 24290 24251 24261 24271 24281 24291 24252 24262 24272 24282 24292 24254 24264 24274 24284 24294 24255 24265 24275 24285 24295 24256 24266 24276 24286 24296 24257 24267 24277 24287...

Page 724: ...5 25735 25745 25706 25716 25726 25736 25746 25707 25717 25727 25737 25747 25708 25718 25728 25738 25748 25709 25719 25729 25739 25749 526 527 528 529 530 25250 25260 25270 25280 25290 25251 25261 25271 25281 25291 25252 25262 25272 25282 25292 25254 25264 25274 25284 25294 25255 25265 25275 25285 25295 25256 25266 25276 25286 25296 25257 25267 25277 25287 25297 25258 25268 25278 25288 25298 25259 ...

Page 725: ...3 22213 22223 22233 22243 271 272 273 274 275 22703 22713 22723 22733 22743 26 27 28 29 30 20253 20263 20273 20283 20293 76 77 78 79 80 20753 20763 20773 20783 20793 126 127 128 129 130 21253 21263 21273 21283 21293 176 177 178 179 180 21753 21763 21773 21783 21793 226 227 228 229 230 22253 22263 22273 22283 22293 276 277 278 279 280 22753 22763 22773 22783 22793 31 32 33 34 35 20303 20313 20323 2...

Page 726: ...713 25723 25733 25743 326 327 328 329 330 23253 23263 23273 23283 23293 376 377 378 379 380 23753 23763 23773 23783 23793 426 427 428 429 430 24253 24263 24273 24283 24293 476 477 478 479 480 24753 24763 24773 24783 24793 526 527 528 529 530 25253 25263 25273 25283 25293 576 577 578 579 580 25753 25763 25773 25783 25793 331 332 333 334 335 23303 23313 23323 23333 23343 381 382 383 384 385 23803 23...

Page 727: ...brake Cutoff when a servo ON signal turns OFF and an alarm signal turns ON LD75D Personal computer 3 MO1 1 LG 2 MO2 EMG 42 SON 15 RES 19 PC 17 TL 18 LSP 43 LSN 44 DO COM 47 DI COM 21 ALM 48 ZSP 23 TLC 25 INP 24 P15R 1 TLA 27 LG 28 SD Plate CN2 SM U V W E U V W 24VDC B1 B2 PE PE EMG MR J3 A Monitor output Within 2m L1 L2 L3 N P1 P2 L11 L21 C D P CNP1 CNP2 CNP3 Within 2m Analog torque limit 10V max ...

Page 728: ...tion since differential driver connection is more excellent than open collector connection in max output pulse and max connection distance between servos Page 49 Section 3 1 FA CBLQ75M2J3 P cable can be used for connecting the LD75D and MR J3 A Page 47 Section 2 2 ...

Page 729: ...e between servos Page 49 Section 3 1 When connecting an open collector make connection as shown below LD75D PULSE F PULSE F PULSE R PULSE R CLEAR CLEAR COM PG05 PG0 COM READY RDY COM DOG FLS RLS STOP CHG PULSER A PULSER A PULSER B PULSER B COM COM Upper limit Stop External command 5V A B 0V 5V 5G 2 2 Near point dog Lower limit Manual pulse generator MR HDP01 Configure a sequence to turn OFF the MC...

Page 730: ... 2 4 5 A19 RLS STOP CHG PULSER A PULSER A PULSER B PULSER B B19 A20 B20 LD75D EMG 15 SON RES PC TL LSP LSN SG SG VDD COM ALM ZSP TLC P15R TLA LG SD 5 14 8 9 16 17 10 20 3 13 18 19 6 11 12 1 Plate OPC PP PG NP NG CR SG RD COM LZ LZR LG SD 11 3 13 2 12 8 10 19 9 5 15 1 Plate 1 Within 10m 4 CN1A L1 L2 L3 L11 L21 C TE2 D P CN1B U V W PE PE U V W E SM B1 B2 24VDC Electromagnetic brake CN2 MR J2S A TE1 ...

Page 731: ...r limit switches 3 Refer to the manual of the stepping motor drive for information on the stepping motor drive side wiring and various signal wire shields not shown above 4 Use the same logic positive logic negative logic for the LD75P and stepping motor The LD75P is initially set to negative logic 5 This indicates the distance between the LD75P and RK series 24G P5V 5G P24V 5V A B 0V 5G 2 2 5V PU...

Page 732: ...e 4 Use the same logic positive logic negative logic for the LD75P and stepping motor The LD75P is initially set to negative logic 5 This indicates the distance between the LD75P and AR series MR HDP01 P5V 5G 24G P24V 5V A B 0V 5G 2 2 5V PULSE F PULSE R CLEAR CLEAR COM READY PULSER A PULSER A PULSER B PULSER B B19 A20 B20 DOG FLS RLS STOP CHG COM COM 3 1 2 4 5 15 16 17 18 14 9 CW PLS 1 PULSE COM P...

Page 733: ...he servo amplifier limit switches 3 Refer to the manual of the servo amplifier for information on the servo amplifier side wiring and various signal wire shields not shown above 4 Use the same logic positive logic negative logic for the LD75D and servo amplifier The LD75D is initially set to negative logic 5 This indicates the distance between the LD75D and MINAS A4 series PULSE F PULSE R CLEAR CL...

Page 734: ...o amplifier side wiring and various signal wire shields not shown above 4 Use the same logic positive logic negative logic for the LD75D and servo amplifier The LD75D is initially set to negative logic 5 This indicates the distance between the LD75D and MINAS E series PULSE F PULSE R CLEAR CLEAR COM READY PULSER A PULSER A PULSER B PULSER B B19 A20 B20 DOG FLS RLS STOP CHG COM COM 3 1 2 4 5 15 16 ...

Page 735: ...er limit switches 3 Refer to the manual of the servo amplifier for information on the servo amplifier side wiring and various signal wire shields not shown above 4 Use the same logic positive logic negative logic for the LD75D and servo amplifier The LD75D is initially set to negative logic 5 This indicates the distance between the LD75D and R series PULSE F PULSE R CLEAR CLEAR COM READY PULSER A ...

Page 736: ...ion on the servo amplifier side wiring and various signal wire shields not shown above 4 Use the same logic positive logic negative logic for the LD75D and servo amplifier The LD75D is initially set to negative logic 5 This indicates the distance between the LD75D and V series V series 3 PULS PULS SIGN SIGN CLR CLR PL3 S ON P CON 7 8 11 12 PCO PCO 19 SG 1 S RDY 29 S RDY 30 20 14 15 18 40 41 P OT N...

Page 737: ...D75P N D N LD75 Max output pulse 1Mpulse s differential 4Mpulse s differential 4Mpulse s differential Speed command unit pulse 1 to 1000000pulse s 1 to 4000000pulse s 1 to 4000000pulse s Starting time 1 axis linear control Trapezoidal acceleration deceleration 6ms S curve acceleration deceleration 6 5ms Trapezoidal acceleration deceleration 1 5ms S curve acceleration deceleration 1 6ms Trapezoidal...

Page 738: ...736 Memo ...

Page 739: ...ge 756 Appendix 6 5 Page 763 Appendix 6 6 Page 765 Appendix 6 7 9 Page 746 Appendix 6 4 1 2 3 4 8 5 9 7 6 YES NO Start Starting operation End Configure parameters and positioning data with GX Works2 Starting GX Works2 Start GX Works2 Creating a new project Create a new project Adding a module Add a module for the project Setting parameters and auto refresh Configure each setting with GX Works2 Pro...

Page 740: ...t the following items Item Description Module Selection Module Type Select LD75 Type Positioning Module Module Name Select the model name of the module to be connected Mount Position Mounted Slot No Select the number of the slot where the module is mounted Specify start X Y address The start I O number hexadecimal of the module to be mounted on the slot set in Mounted Slot No is displayed The valu...

Page 741: ...ngs Double click the setting target item and select or enter a value For details on the setting items refer to the following Items with a pull down list Double click the item and select an item in the displayed pull down list Items without a pull down list Double click the item and enter a value Item Reference Basic parameters 1 Page 118 Section 5 2 1 Basic parameters 2 Page 125 Section 5 2 2 Deta...

Page 742: ...s the data displayed on Positioning_Axis_ _Data are only No 1 to No 100 of positioning data To display the data No 101 and later change the display range under Display Specification of Positioning data Tool Options QD75 LD75 Type Positioning Example To display No 1 to No 120 of positioning data Items with a pull down list Double click the item and select an item in the displayed pull down list Ite...

Page 743: ...741 APPENDICES A Appendix 6 When Using GX Works2 Appendix 6 2 Parameter setting b Sub function Offline Simulation The locus and waveform of configured positioning data can be checked ...

Page 744: ...742 Automatic Command Speed Calculation Constant speed is automatically calculated by setting the time for positioning from the starting position to the target position ...

Page 745: ...it For details on each function refer to the GX Works2 Version 1 Operating Manual Intelligent Function Module The circular interpolation control data for two positioning data interpolation is automatically created by selecting two positioning data and setting the radius Set and display M code comments of the positioning module ...

Page 746: ...ck_Starting_Data_Axis_ 2 Configure settings Double click the setting target item and select or enter a value For details on the setting items refer to Page 171 Section 5 4 Items with a pull down list Double click the item and select an item in the displayed pull down list Items without a pull down list Double click the item and enter a value ...

Page 747: ... CPU module By setting auto refresh reading by program is not needed 1 Operating procedure 1 Open the Auto_Refresh window Project window Intelligent Function Module Module name Auto_Refresh 2 Enter devices Click the text box of the item to be set and enter the auto refresh target device To validate the auto refresh data after writing them into the CPU module power off and then on or reset the CPU ...

Page 748: ...s can be monitored Warning History 16 warning history logs can be monitored Module Information List Signals and flag ON OFF status of each axis can be monitored 1 Axis Monitor a Operating procedure 1 Starting the Positioning Monitor window Display the Positioning Monitor window Tool Intelligent Function Module Tool QD75 LD75 POSITIONING MODULE Positioning Monitor By default the Axis Monitor window...

Page 749: ... Monitor type Operation monitor Operation monitor Axis control Operation monitor Speed position switching control Operation monitor Position speed switching control Operation monitor OPR monitor Operation monitor JOG manual pulse 4 Selecting the monitor axis and monitor item Click the Monitor Item Selection button The Monitor Item Selection window is displayed ...

Page 750: ... speed Md 28 Axis operation status Md 26 Target value Md 32 Machine feed value Md 21 New current value Cd 9 Page 213 Section 5 7 2 New speed value Cd 14 Positioning operation speed override Cd 13 Step mode Cd 34 Step valid flag Cd 35 Speed change being processed flag Md 40 Page 193 Section 5 6 2 Status speed change 0 flag Md 31 External command valid Cd 8 Page 213 Section 5 7 2 Skip command Cd 37 ...

Page 751: ... after near point dog ON Md 34 Torque limit stored value Md 35 Status command in position flag Md 31 Status OPR request flag Status OPR complete flag External I O signal lower limit Md 30 External I O signal upper limit External I O signal zero signal External I O signal near point dog signal External I O signal deviation counter clear For Operation monitor JOG manual pulse Monitor item Symbol of ...

Page 752: ...The selected items are reflected to the Axis Monitor window 2 Starting History a Operating procedure 1 Starting the Positioning Monitor window Display the Positioning Monitor window Tool Intelligent Function Module Tool QD75 LD75 POSITIONING MODULE Positioning Monitor ...

Page 753: ...tton on the toolbar The display switches to the Starting History window When the number of logs exceeds 16 the latest log overwrites the oldest log so that the latest 16 starting histories can be monitored all the time Also the error details can be confirmed by clicking the error number For details on the starting history refer to Page 182 Section 5 6 1 ...

Page 754: ...NING MODULE Positioning Monitor 2 Switching to the Error History window Click the Error History button on the toolbar The display switches to the Error History window When the number of logs exceeds 16 the latest log overwrites the oldest log so that the latest 16 error histories can be monitored all the time Also the error details can be confirmed by clicking the axis error No ...

Page 755: ...ction Module Tool QD75 LD75 POSITIONING MODULE Positioning Monitor 2 Switching to the Warning History window Click the Warning History button on the toolbar The display switches to the Warning History window When the number of logs exceeds 16 the latest log overwrites the oldest log so that the latest 16 warning histories can be monitored all the time Also the error details can be confirmed by cli...

Page 756: ... List a Operating procedure 1 Starting the Positioning Monitor window Display the Positioning Monitor window Tool Intelligent Function Module Tool QD75 LD75 POSITIONING MODULE Positioning Monitor Module Information List window ...

Page 757: ...1 X12 X13 Positioning complete X14 X15 X16 X17 PLC READY Y0 Y0 Page 68 Section 3 3 3 Axis stop Y4 Y5 Y6 Y7 Forward JOG start Y8 YA YC YE Reverse JOG start Y9 YB YD YF Positioning start Y10 Y11 Y12 Y13 Execution prohibition flag Y14 Y15 Y16 Y17 External I O signal lower limit Md 30 Page 193 Section 5 6 2 External I O signal upper limit External I O signal drive unit ready External I O signal stop s...

Page 758: ...formed by specifying the positioning data No or point No of the block start data a Operating procedure 1 Open the Positioning Test dialog box Display the Positioning Test window Tool Intelligent Function Module Tool QD75 LD75 Positioning Module Positioning Test 2 Select the test target axis Select the test target axis from the pull down menu of Target Axis Monitor current values such as the curren...

Page 759: ...ing for Start Type Click the Starting button to perform test operation Positioning Start Signal Set the positioning data No Block Start Set the block No and point No Multiple Axes Simultaneous Start Set the multiple axes simultaneous start data No Set Step and External Command as needed Step To perform test operation by step start check the Start step checkbox select a step mode from the pull down...

Page 760: ...ensation amount for forward reverse rotation Accurate address check and movement amount measurement In addition the OP is established and the OPR basic and detailed parameters are corrected by the OPR test a Operating procedure 1 Open the Positioning Test dialog box Display the Positioning Test window Tool Intelligent Function Module Tool QD75 LD75 Positioning Module Positioning Test 2 Select the ...

Page 761: ...m each operation JOG operation Set JOG speed to 1 or more Inching Movement Amount to 0 and click the Forward RUN or Reverse RUN button Manual pulse generator operation Set Manual pulse generator 1 pulse input magnification select Manual pulse generator enable flag and use the manual pulse generator OPR operation Select the OPR method from Machine OPR and Fast OPR and click the OPR button ...

Page 762: ...peration test is performed a Operating procedure 1 Open the Positioning Test dialog box Display the Positioning Test window Tool Intelligent Function Module Tool QD75 LD75 Positioning Module Positioning Test 2 Select the test target axis Select the test target axis from the pull down menu of Target Axis Monitor current values such as the current feed value and feedrate Test each function while che...

Page 763: ... change function New Speed Enter the new speed value during the startup of positioning start test or OPR test and click the New Speed button Override Enter the speed override value and click the Speed Override Change button Acceleration Deceleration Time Change Check the Acceleration deceleration time change enable checkbox set the acceleration time and deceleration time values and click the New S...

Page 764: ... QD75 LD75 Positioning Module Positioning Test 2 Select the test target axis Select the test target axis from the pull down menu of Target Axis 3 Select the function Select Current Value Changing from the pull down menu of Select Function Enter the new current value and click the Current Value Changing button Monitor current values such as the current feed value and feedrate Test each function whi...

Page 765: ...e speed command axis speed in positioning operation in waveform data 1 Operating procedure 1 Open the Wave Trace dialog box Tool Intelligent Function Module Tool QD75 LD75 Positioning Module Wave Trace 2 Select the module Click the Module Selection button Select the positioning module to trace waves and click the OK button ...

Page 766: ...t trace and display trace results Click the Start Trace button to start trace The trace result at that point can be displayed by clicking the Display Current Trace Result button during trace even if the trace completion conditions are not met When the completion conditions are met and the trace is completed the trace result is displayed ...

Page 767: ...s interpolation control and simultaneous start 2 axes in locus data 1 Operating procedure 1 Open the Location Trace dialog box Tool Intelligent Function Module Tool QD75 LD75 Positioning Module Location Trace 2 Select the module Click the Module Selection button Select the positioning module to trace locations and click the OK button ...

Page 768: ...t trace and display trace results Click the Start Trace button to start trace The trace result at that point can be displayed by clicking the Display Current Trace Result button during trace even if the trace completion conditions are not met When the completion conditions are met and the trace is completed the trace result is displayed ...

Page 769: ...Module User s Manual Hardware Design Maintenance and Inspection Appendix 7 1 Operation of GX Developer With GX Developer set the type of the module to be connected and the I O signal range in the I O assignment tab of the PLC parameter dialog box 1 I O assignment tab a Operating procedure 1 Open the L Parameter dialog box Parameter PLC parameter I O assignment 2 Configure settings Set the followin...

Page 770: ...rator QP GX Configurator QP supports the LD75P4 and LD75D4 The LD75P1 LD75P2 LD75D1 and LD75D2 are not supported For the functions and operation method of GX Configurator QP refer to the following GX Configurator QP Version 2 Operating Manual ...

Page 771: ...calculated as follows 2 PHASE PULSE An A phase and B phase double pulse There is a phase difference between the two phases so that difference can be automatically added and subtracted in the pulse count The standard phase difference is a 90 electrical angle If the B phase were to lag behind the A phase in a forward run B phase turns ON after the A phase the A phase would lag behind the B phase in ...

Page 772: ... path is a control method in which a path is followed without interrupting such as in uniform speed control CW Clockwise Rotation in the clockwise direction Rotation in the clockwise direction looking from the motor shaft end side D A CONVERTER Digital to Analog converter A device having a function to convert the digital value expressing the No of pulses to an analog value expressing the voltage o...

Page 773: ...ng control With this control method the points to be passed are designated at random locations on the path Movement only to a given target positioning is requested Path control is not required during movement from a given point to the next value P RATE Pulse Rate A coefficient that magnifies the feedback pulses per motor shaft rotation by 2 fold 3 fold 1 2 or 1 3 It is the ratio of the feed pulses...

Page 774: ...1 motor rotation to be output to an external destination Absolute encoders are generally able to output 360 in 8 to 12 bits Incremental encoders have a disadvantage in that the axis position is lost when a power failure occurs However with absolute encoders the axis position is not lost even when a power failure occurs Various codes such as a binary code and BCD code can be output Absolute encoder...

Page 775: ... is used in fixed feed etc Compare ABSOLUTE SYSTEM INTERLOCK In this condition the machine is blocked from moving to the next operation until the operation in progress is complete This function is used to prevent damage to devices and malfunctioning INVERTER This refers to a device to change a direct current DC to an alternating current AC The device actually changes the motor speed by changing 50...

Page 776: ...us positioning with differing designated speeds CREEP SPEED A speed at which the machine moves very slowly It is difficult for the machine to stop accurately when running at high speed so the movement must first be changed to the creep speed before stopping Refer to the term NEAR POINT DOG GAIN The changing of the ratio between two values having a proportional relation Seen on a graph the changing...

Page 777: ...l is often carried out SERVO LOCK In positioning using a servomotor stepping motor etc working power is required to hold the machine at the stop position The position will be lost if the machine is moved by external power This kind of state is called servo lock or servo lock torque SKIP FUNCTION When a SKIP signal is input the positioning being executed is interrupted the motor is deceleration sto...

Page 778: ...ne presses against the stopper STROKE The stroke is the variation in the operation by the distance from a stopped state to the next stopped state after a movement STROKE LIMIT This is the range in which a positioning operation is possible or the range in which the machine can be moved without damage occurring Movement outside this range is possible in the manual operation For operations using a wo...

Page 779: ...n can be reproduced DIGITAL BUS CONNECTION Commands are generally output from the positioning module to the servo amplifier as a pulse train Recently however devices are being digitalized Accompanying that a connection method has appeared in which the bus lines of both the positioning module and the servo amplifier CPUs are connected This has enabled the construction of higher accuracy higher spee...

Page 780: ...program and device statuses stored in the RAM memory of the CPU module so that they are not lost during power failures etc Functions for storing the current value in absolute position compatible systems so that it is not lost during power failures etc Functions for reading the CPU module data programs parameters positioning data etc by GX Works2 when the old CPU module is replaced and then write i...

Page 781: ...efer to the term ENCODER PULSE OUTPUT MODE There are two methods used to issue forward run and reverse run commands to the servomotor The type used differs according to the machine maker In type A the forward run pulses and reverse run pulses are output from separate terminals In type B the forward run pulses and reverse run pulses are output from the same terminal and a forward reverse run identi...

Page 782: ... the two voltages of the analog input Also called a 2 phase synchro For a 1 phase voltage input the axis rotation angle is converted into a perpendicular 2 phase voltage analog voltage and output WARNING A warning is output as a warning code in when an abnormality is detected that is not serious enough to require cancellation or stoppage of the positioning operation Warnings are handled differentl...

Page 783: ...et data No and starting the positioning The operation after the positioning is complete for that data No is determined by the data No s positioning pattern POSITIONING CONTINUED Refer to the term OPERATION PATTERN POSITIONING PARAMETER This is basic data for carrying out positioning control Types of data include control unit movement amount per pulse speed limit value upper lower stroke limit valu...

Page 784: ...celeration time is determined by factors such as machine inertia motor torque and load resistance torque REGENERATIVE BRAKE OPTION This function is an option It is used when carrying out highly repetitive acceleration deceleration Refer to the term EXTERNAL REGENERATIVE BRAKE RESISTOR ROTARY TABLE A round table on which the workpiece is placed Positioning control is carried out while rotating the ...

Page 785: ...ount method OPR PARAMETER This parameter is required when returning to the OP It is determined by the machine side design so subsequent changes of this parameter must be accompanied by changes in the machine design The OP is the reference for positioning operations so if the OP is lost due to a power failure during positioning or because the power is turned OFF and the machine is moved manually et...

Page 786: ... recognize the zero point To prevent the accumulated value from exceeding the stroke limit in fixed feed etc rewrite the current value to 0 after the fixed feed The current value can be changed during a positioning stop ERROR CORRECTION If a dimension error occurs in the machine and that error is actually smaller or larger than 1m 3 28feet in spite of a 1m 3 28feet command being issued from the LD...

Page 787: ...D PULSE MANUAL PULSE GENERATOR The handle of this device is manually rotated to generate pulses This device is used when manually carrying out accurate positioning OUTPUT TERMINAL This is a pin connector for outputting data from the LD75 to an external source It is connected to the motor drive unit This terminal is used to output the following Feed pulses for both forward run and reverse run Devia...

Page 788: ...t speed control Refer to the term POSITION LOOP MODE SPEED LIMIT VALUE This is the max speed for positioning Even if other data is mistakenly set to a higher speed than this the positioning will be carried out at this speed limit value when it is set in the parameters The acceleration time becomes the time to accelerate from a stopped state to the speed limit value and the deceleration time become...

Page 789: ...ced up to 1 3 that of standard motors The ideal load inertia ratio is 1 or less FIXED FEED This is the feeding of a set dimension for cutting sheet and bar workpieces into the designated dimensions Incremental system positioning is often used The current value is not incremented even when the feed operation is repeated MULTIPLYING RATE SETTING The P rate Refer to the term P RATE ELECTRONIC GEAR Th...

Page 790: ...eration deceleration time speed and other factors which are combined to move a target in a straight line circle etc Linear interpolation and circular interpolation are available The circular interpolation uses two motors DROOP PULSE Because of inertia GD2 in the machine it will lag behind and not be able to track if the positioning module speed commands are issued in their normal state Thus for a ...

Page 791: ...arried out Set movement amount per pulse in the LD75 using the three parameter values of Pr 2 to Pr 4 Try setting the values following the explanations for each parameter 7 Override Will an override setting value written before starting be valid It will be valid 8 During path control will the override still be valid after the point is passed It will still be valid 9 How can the override be cancele...

Page 792: ...owing measures 1 Separate the near point dog signal and zero signal detection positions 2 Lower the values in Pr 46 OPR speed and Pr 47 Creep speed 3 Confirm whether the zero signal and near point dog signal turn ON normally 4 Check that there is no play backlash in the machine system 20 Can the machine OPR be carried out with the OPR retry function when it is started with the near point dog ON an...

Page 793: ...t seem that the response is slow 32 The operation is not carried out at the set JOG speed although the speed limit value has not been reached Either of the following is possible 1 The JOG start signal may be chattering Monitor the JOG start signal to confirm whether it is chattering When using the BUSY signal in the JOG operation start circuit check the position of the BUSY signal 2 The Pr 31 JOG ...

Page 794: ... wire accordingly 49 The error Speed designation during OP shift error error code 997 appears when the PLC READY signal Y0 turns from OFF to ON A value besides 0 or 1 may be set in the Pr 56 Speed designation during OP shift Review the set program and reset the correct parameters 50 When the start signal was turned ON immediately after the stop signal ON the warning Start during operation warning ...

Page 795: ...64 165 314 315 464 465 Pr 10 Deceleration time 0 17 167 317 467 Pr 11 Backlash compensation amount Detailed parameters 1 18 19 168 169 318 319 468 469 Pr 12 Software stroke limit upper limit value 20 21 170 171 320 321 470 471 Pr 13 Software stroke limit lower limit value 22 172 322 472 Pr 14 Software stroke limit selection 23 173 323 473 Pr 15 Software stroke limit valid invalid setting 24 25 174...

Page 796: ...510 511 Pr 41 Allowable circular interpolation error width 62 212 362 512 Pr 42 External command function selection 70 220 370 520 Pr 43 OPR method OPR basic parameters OPR parameters 71 221 371 521 Pr 44 OPR direction 72 73 222 223 372 373 522 523 Pr 45 OP address 74 75 224 225 374 375 524 525 Pr 46 OPR speed 76 77 226 227 376 377 526 527 Pr 47 Creep speed 78 228 378 528 Pr 48 OPR retry 79 229 37...

Page 797: ...d 33 Target speed 824 825 924 925 1024 1025 1124 1125 Md 34 Movement amount after near point dog ON 826 926 1026 1126 Md 35 Torque limit stored value 827 927 1027 1127 Md 36 Special start data instruction parameter setting value 828 928 1028 1128 Md 37 Special start data instruction parameter setting value 829 929 1029 1129 Md 38 Start positioning data NO setting value 830 930 1030 1130 Md 39 In s...

Page 798: ... 1240 1245 1250 1255 1260 1265 1270 1275 1280 1285 1290 Md 6 Start Minute second 1216 1221 1226 1231 1236 1241 1246 1251 1256 1261 1266 1271 1276 1281 1286 1291 Md 7 Error judgment 1292 Md 8 Start history pointer 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Pointer No Error History 1293 1297 1301 1305 1309 1313 1317 1321 1325 1329 1333 1337 1341 1345 1349 1353 Md 9 Axis in which the error occurred 1294 1...

Page 799: ...11 1415 1419 Md 15 Axis warning No 1472 1473 1474 1475 1476 1477 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487 Md 52 Axis warning occurrence Year month 1360 1364 1368 1372 1376 1380 1384 1388 1392 1396 1400 1404 1408 1412 1416 1420 Md 16 Axis warning occurrence Day hour 1361 1365 1369 1373 1377 1381 1385 1389 1393 1397 1401 1405 1409 1413 1417 1421 Md 17 Axis warning occurrence Minute second 1...

Page 800: ... speed override 1514 1515 1614 1615 1714 1715 1814 1815 Cd 14 New speed value 1516 1616 1716 1816 Cd 15 Speed change request 1517 1617 1717 1817 Cd 16 Inching movement amount 1518 1519 1618 1619 1718 1719 1818 1819 Cd 17 JOG speed 1520 1620 1720 1820 Cd 18 Continuous operation interrupt request 1521 1621 1721 1821 Cd 19 OPR request flag OFF request 1522 1523 1622 1623 1722 1723 1822 1823 Cd 20 Man...

Page 801: ...g axis start data No axis 3 start data No 1543 1643 1743 1843 Cd 33 Simultaneous starting axis start data No axis 4 start data No 1544 1644 1744 1844 Cd 34 Step mode 1545 1645 1745 1845 Cd 35 Step valid flag 1546 1646 1746 1846 Cd 36 Step start information 1547 1647 1747 1847 Cd 37 Skip command 1548 1648 1748 1848 Cd 38 Teaching data selection 1549 1649 1749 1849 Cd 39 Teaching positioning data No...

Page 802: ...003 14003 20003 Da 27 M code ON signal output timing Da 28 ABS direction in degrees Da 29 Interpolation speed designation method 2004 2005 8004 8005 14004 14005 20004 20005 Da 8 Command speed 2006 2007 8006 8007 14006 14007 20006 20007 Da 6 Positioning address movement amount 2008 2009 8008 8009 14008 14009 20008 20009 Da 7 Arc address 2010 8010 14010 20010 No 2 2019 8019 14019 20019 2020 8020 140...

Page 803: ... 29119 No 2 26120 to 26129 27120 to 27129 28120 to 28129 29120 to 29129 No 3 26190 to 26199 27190 to 27199 28190 to 28199 29190 to 29199 No 10 26200 to 26299 27200 to 27299 28200 to 28299 29200 to 29299 Block start data Starting block 1 26300 to 26399 27300 to 27399 28300 to 28399 29300 to 29399 Condition data 26400 to 26499 27400 to 27499 28400 to 28499 29400 to 29499 Block start data Starting bl...

Page 804: ...802 Appendix 11 External Dimension Drawing 1 LD75P1 Unit mm 2 LD75P2 Unit mm 45 4 90 4 95 4 45 45 DIN rail center 45 4 90 4 95 4 45 45 DIN rail center ...

Page 805: ...803 APPENDICES A Appendix 11 External Dimension Drawing 3 LD75P4 Unit mm 4 LD75D1 Unit mm 45 4 90 4 95 4 45 45 DIN rail center 45 4 90 4 95 4 45 45 DIN rail center ...

Page 806: ...804 5 LD75D2 Unit mm 6 LD75D4 Unit mm 45 4 90 4 95 4 45 45 DIN rail center 45 4 90 4 95 4 45 45 DIN rail center ...

Page 807: ...ion restoration function 563 Absolute system 352 772 Acceleration time 782 Acceleration time 0 Pr 9 125 Acceleration time 1 Pr 25 133 Acceleration time 2 Pr 26 133 Acceleration time 3 Pr 27 133 Acceleration time No Da 3 157 Acceleration deceleration process selection Pr 34 135 Acceleration deceleration processing function 596 Acceleration deceleration time change during speed change enable disable...

Page 808: ... Cd 41 212 Deceleration stop 303 Deceleration time 784 Deceleration time 0 Pr 10 125 Deceleration time 1 Pr 28 133 Deceleration time 2 Pr 29 133 Deceleration time 3 Pr 30 133 Deceleration time No Da 4 157 Detailed parameters 1 126 Detailed parameters 2 133 Details of input signals LD75 to CPU module 67 Details of output signals CPU module to LD75 68 Deviation counter 788 Deviation counter clear 75...

Page 809: ...301 302 Interlock 619 773 Internal circuit 76 Internal current consumption 50 Interpolation axis 359 Interpolation control 359 Interpolation operation 788 Interpolation speed designation method Da 29 170 Interpolation speed designation method Pr 20 131 Inverter 773 J JOG 771 JOG operation 481 JOG operation acceleration time selection Pr 32 134 JOG operation deceleration time selection Pr 33 134 JO...

Page 810: ...address Pr 45 145 OP shift amount Pr 53 150 OP shift function 515 783 Operation pattern Da 1 157 Operation patterns 342 782 Operation principle 28 Operation timing and processing time during position speed switching control 443 Operation timing and processing time during speed position switching control ABS mode 437 Operation timing and processing time during speed position switching control INC m...

Page 811: ...1 Rotary table 782 Rotation direction setting Pr 6 123 S S curve acceleration deceleration 772 S curve acceleration deceleration processing method 597 S curve ratio Pr 35 136 Serial number 48 Servo amplifier 774 Servo lock 775 Servo ON 775 Servomotor 775 Setting auto refresh 745 Setting block starting data 744 Setting data 93 Setting for the movement amount after near point dog ON Pr 50 149 Settin...

Page 812: ... functions specifically for machine OPR 510 Sudden stop 303 783 Sudden stop deceleration time Pr 36 137 Synchronization flag 67 System control data 211 System Error History 641 System monitor data 182 T Target position change function 559 Target position change request flag Cd 29 229 Target position change value new address Cd 27 227 Target position change value new speed Cd 28 228 Target speed Md...

Page 813: ...autions 84 WITH mode 580 772 Written to flash ROM 612 X X0 LD75 READY 67 X1 Synchronization flag 67 XY table 772 Z Z phase 772 Z ABRST1 620 Z ABRST2 620 Z ABRST3 620 Z ABRST4 620 Zero signal 788 ZP PFWRT 633 ZP PINIT 637 ZP PSTRT1 625 ZP PSTRT2 625 ZP PSTRT3 625 ZP PSTRT4 625 ZP TEACH1 629 ZP TEACH2 629 ZP TEACH3 629 ZP TEACH4 629 ...

Page 814: ...1 1 2 3 Section 2 2 Section 3 1 3 2 4 3 3 3 3 4 1 to 3 4 4 Section 4 1 2 4 3 1 4 3 2 Section 5 1 7 5 2 1 to 5 2 5 5 3 to 5 5 Section 6 2 4 6 5 3 6 5 6 Section 8 2 5 8 3 1 Section 9 1 2 9 1 4 9 1 6 9 2 1 9 2 3 9 2 4 9 2 6 to 9 2 20 9 2 22 Section 10 5 Section 11 2 1 11 2 5 11 3 1 11 3 4 11 3 5 11 4 1 Section 12 3 1 12 3 2 12 4 3 12 5 4 12 6 12 7 3 12 7 7 13 2 13 3 Section 14 3 to 14 7 Section 15 4 ...

Page 815: ...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 816: ...d States and or other countries Unicode is either a registered trademark or a trademark of Unicode Inc in the United States and 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 SH NA 080911ENG I ...

Page 817: ......

Page 818: ...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 ...

Search results

Summary of Contents for MELSEC-L LD75D

Reviews:

Related manuals for MELSEC-L LD75D

Brands by name

Popular brands

Mitsubishi Electric MELSEC-L LD75D, User Manual

Search results

Summary of Contents for MELSEC-L LD75D

Reviews:

Related manuals for MELSEC-L LD75D

Brands by name

Popular brands