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Mitsubishi Electric MELSEC-L Series, User Manual

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Mitsubishi Electric MELSEC-L Series User Manual Download Page 358

 
 

6 - 16 

Chapter 6    Sequence Program Used for Positioning Control

 

6.3 Creating a program 

The "positioning control operation program" actually used is explained in this chapter. 
The functions and programs explained in "Section 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 Section 5.6 "List of 
monitor data" for details on the monitor items.) 

 

6.3.1 General configuration of program 

The general configuration of the "positioning control operation program" is shown 
below. 

 

Parameter and 
data are...

Set using
GX Works2

Set using the sequence program

Initialization program

Parameter and data setting program

Start details setting program

Start program

JOG operation program

Manual pulse generator 

operation program

Sub program

Stop program

Completion of program

creation

Start of program creation

Inching operation program

Program for carrying out initialization

Program required to carry out "OPR control", 
"major positioning control", "high-level positioning control" and "expansion control"

Program required to carry out "manual control"

Program required for 
"sub functions" and "common functions"

Program for stopping control

Servo parameter

 

Summary of Contents for MELSEC-L Series

Page 1: ...MELSEC L LD77MS Simple Motion Module User s Manual Positioning Control LD77MS2 LD77MS4 LD77MS16 ...

Page 2: ......

Page 3: ...he PLC system safety precautions In this manual the safety instructions are ranked as DANGER and CAUTION DANGER Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight personal injury or physical damage Depending on circumstances procedures indicated b...

Page 4: ... servomotor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not touch the module servo amplifier servomotor connector or terminal blocks while the power is ON as this may lead to electric shocks...

Page 5: ... stop circuit externally so that the operation can be stopped immediately and the power shut off Use the module servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults Use the CPU module and Simple Motion module with the correct combinations listed in the instruction manual Other combinations ...

Page 6: ... system application The protective functions may not function if the settings are incorrect The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode and servo amplifier The protective functions may not function if the settings are incorrect Set the mechanical brake output and dynamic brake output validity parameters to values that are compati...

Page 7: ...or removing the module or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the mass can be withstood Do not get on or place heavy objects on the product Always observe the installation direction Keep the designated clearance between the module or servo amplifier and control panel inner surface or the module and servo amplifier module or ser...

Page 8: ...ng time disconnect the power line from the module or servo amplifier Place the module and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative Also execute a trial operation Make sure that the connectors for the servo amplifier and peripheral devices have been securely installed until a click is heard Not do...

Page 9: ... output interface For the source output interface Do not connect or disconnect the connection cables between each unit the encoder cable or PLC expansion cable while the power is ON Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables combing off during operation Do not bundle the power line or cables Use applicable solderless terminal...

Page 10: ...lds etc Electromagnetic obstacles may affect the electronic devices used near the module or servo amplifier When using the CE Mark compliant equipment design refer to the EMC Installation Guidelines data number IB NA 67339 and refer to the corresponding EMC guideline information for the servo amplifiers and other equipment Note that when the reference axis speed is designated for interpolation ope...

Page 11: ...hine restarts suddenly 8 Maintenance inspection and part replacement CAUTION Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backing up the program and parameters for the module and servo amplifier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as b...

Page 12: ...move the module or terminal block more than 50 times IEC61131 2 compliant after the first use of the product Failure to do so may cause malfunction Do not burn or break a module and servo amplifier Doing so may cause a toxic gas 9 About processing of waste When you discard module servo amplifier a battery primary battery and other option articles please follow the law of each country area CAUTION ...

Page 13: ...se 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 Medi...

Page 14: ...ples introduced in this manual to the 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 REMARK 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 Simple Motion module I O number assignment is required for usi...

Page 15: ... No and version Parameters Monitor data Stop program Interpolation control Speed limit function Speed change function Override function Skip function Optional data monitor function Error and warning details WARRANTY Feb 2017 IB NA 0300211 D Additional function IAI electric actuator controller manufactured by IAI Corporation Additional correction partial correction Restrictions by the SERIAL No and...

Page 16: ... LD77MS and each module 1 20 1 2 Flow of system operation 1 24 1 2 1 Flow of all processes 1 24 1 2 2 Outline of starting 1 26 1 2 3 Outline of stopping 1 28 1 2 4 Outline for restarting 1 30 2 System Configuration 2 1 to 2 10 2 1 General image of system 2 2 2 2 Component list 2 3 2 3 Applicable system 2 7 2 4 How to check the function version and SERIAL No 2 8 2 5 Restrictions by the SERIAL No an...

Page 17: ...mpleted 4 20 4 5 Maintenance 4 21 4 5 1 Precautions for maintenance 4 21 4 5 2 Disposal instructions 4 21 5 Data Used for Positioning Control 5 1 to 5 202 5 1 Types of data 5 2 5 1 1 Parameters and data required for control 5 2 5 1 2 Setting items for positioning parameters 5 6 5 1 3 Setting items for OPR parameters 5 8 5 1 4 Setting items for expansion parameters 5 9 5 1 5 Setting items for servo...

Page 18: ...ogram 6 16 6 3 2 Positioning control operation program 6 17 6 4 Positioning program examples 6 21 6 5 Program details 6 53 6 5 1 Initialization program 6 53 6 5 2 Start details setting program 6 54 6 5 3 Start program 6 56 6 5 4 Continuous operation interrupt program 6 68 6 5 5 Restart program 6 70 6 5 6 Stop program 6 73 7 Memory Configuration and Data Process 7 1 to 7 20 7 1 Configuration and ro...

Page 19: ...rming the current value 9 16 9 1 5 Control unit degree handling 9 18 9 1 6 Interpolation control 9 21 9 2 Setting the positioning data 9 26 9 2 1 Relation between each control and positioning data 9 26 9 2 2 1 axis linear control 9 28 9 2 3 2 axis linear interpolation control 9 32 9 2 4 3 axis linear interpolation control 9 38 9 2 5 4 axis linear interpolation control 9 44 9 2 6 1 axis fixed feed ...

Page 20: ...tarting high level positioning control 10 26 10 6 2 Example of a start program for high level positioning control 10 27 11 Manual Control 11 1 to 11 32 11 1 Outline of manual control 11 2 11 1 1 Three manual control methods 11 2 11 2 JOG operation 11 4 11 2 1 Outline of JOG operation 11 4 11 2 2 JOG operation execution procedure 11 7 11 2 3 Setting the required parameters for JOG operation 11 8 11...

Page 21: ...ge the control details 13 41 13 5 1 Speed change function 13 41 13 5 2 Override function 13 48 13 5 3 Acceleration deceleration time change function 13 51 13 5 4 Torque change function 13 56 13 5 5 Target position change function 13 60 13 6 Absolute position system 13 64 13 7 Other functions 13 66 13 7 1 Step function 13 66 13 7 2 Skip function 13 71 13 7 3 M code output function 13 75 13 7 4 Teac...

Page 22: ...eshooting 16 5 16 4 Error and warning details 16 9 16 5 List of errors 16 16 16 5 1 LD77MS detection error 16 16 16 5 2 Servo amplifier detection error 16 50 16 6 List of warnings 16 52 16 6 1 LD77MS detection warning 16 52 16 6 2 Servo amplifier detection warning 16 64 Appendices Appendix 1 to Appendix 88 Appendix 1 List of buffer memory addresses Appendix 2 Appendix 2 Connection with servo ampli...

Page 23: ...tor driver manufactured by ORIENTAL MOTOR Co Ltd Appendix 68 Appendix 6 4 IAI electric actuator controller manufactured by IAI Corporation Appendix 77 Appendix 6 5 Connection with MR JE B Appendix 85 Appendix 7 External dimension drawing Appendix 86 ...

Page 24: ...EC L LD77MS Simple Motion Module User s Manual Positioning Control IB 0300211 1XB961 Specifications of the LD77MS and information on how to establish a system maintenance and inspection and troubleshooting Functions programming and buffer memory for the positioning control of the LD77MS MELSEC Q L QD77MS QD77GF LD77MS LD77MH Simple Motion Module User s Manual Synchronous Control IB 0300174 1XB943 ...

Page 25: ... J3 _B servo amplifier SSCNET Compatible Linear Servo MR J3 _B RJ004 U_ Instruction Manual SH 030054 1CW943 This manual explains the I O signals parts names parameters start up procedure and others for linear servo MR J3 _B RJ004 U_ SSCNET Fully Closed Loop Control MR J3 _B RJ006 Servo Amplifier Instruction Manual SH 030056 1CW304 This manual explains the I O signals parts names parameters start u...

Page 26: ...ol that indicates control data item LD77MS2 Symbol that indicates correspondence to only LD77MS2 LD77MS4 Symbol that indicates correspondence to only LD77MS4 LD77MS16 Symbol that indicates correspondence to only LD77MS16 Representation of numerical values used in this manual Buffer memory addresses error codes and warning codes are represented in decimal X Y devices are represented in hexadecimal ...

Page 27: ...ftware package for the MELSEC programmable controllers Version 1 493P or later MR Configurator2 The product name of the setup software for the servo amplifier Version 1 20W or later 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 Servo amplifier A generic term for a drive unit Unless specifie...

Page 28: ...ll the items are included 1 LD77MS2 P U L S E R CN1 LD77MS2 RUN ERR AX 1 2 Before Using the Product LD77MS2 2 LD77MS4 P U L S E R CN1 LD77MS4 RUN ERR AX 1 2 3 4 Before Using the Product LD77MS4 3 LD77MS16 LD77MS16 RUN ERR AX 1 9 10111213141516 2 3 4 5 6 7 8 P U L S E R CN1 LD77MS16 Before Using the Product ...

Page 29: ...ration and data transmission process When diverting any of the program examples introduced in this manual to the actual system fully verify that there are no problems in the controllability of the target system Read Section 2 for details on each control Chapter 1 Product Outline 1 1 to 1 30 Chapter 2 System Configuration 2 1 to 2 10 Chapter 3 Specifications and Functions 3 1 to 3 48 Chapter 4 Inst...

Page 30: ...MEMO ...

Page 31: ...edure to use beforehand the positioning system can be structured smoothly 1 1 Positioning control 1 2 1 1 1 Features of LD77MS 1 2 1 1 2 Purpose and applications of positioning control 1 6 1 1 3 Mechanism of positioning control 1 8 1 1 4 Overview of positioning control functions 1 9 1 1 5 Outline design of positioning system 1 19 1 1 6 Communicating signals between LD77MS and each module 1 20 1 2 ...

Page 32: ...ry function The OPR retry function is provided so that the machine OPR control can be performed from any position regardless of the machine stop position when the system is powered on b Wide variety of control methods Positioning controls such as position control speed control speed position switching control position speed switching control and other controls are provided 1 Independent control of...

Page 33: ... detection function The mark detection to latch any data by the external command signal DI1 to DI4 can be performed 5 High maintainability Maintainability is enhanced in the LD77MS a Data retention without battery Data such as the positioning data and parameters can be stored in the flash ROM inside the LD77MS This feature allows the module retain the data without a battery b Module error collecti...

Page 34: ...servo amplifier with high speed synchronous network by SSCNET H The LD77MS can be directly connected to the Mitsubishi servo amplifiers of MR J4 B MR J3 B series using the SSCNET H Also it can be directly connected to the Mitsubishi servo amplifiers of MR JE B series using the SSCNET H a Because the high speed synchronous network by SSCNET H is used to connect the LD77MS and the servo amplifier or...

Page 35: ...at connecting the battery for absolute position system to the servo amplifier b Once the OP have been established the OPR operation is unnecessary at the system s power supply ON c With the absolute position system the data set method OPR is used to establish the OP The wiring of near point dog etc is unnecessary d When the setting unit is degree the absolute position system with unlimited length ...

Page 36: ...pattern is changed Palletizer Servo amplifier Conveyor Servomotor with a brake Reduction gear Ball screw Palletizer G Conveyor control Unloader control Position detector LD77MS 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 Compact machining center ATC magazine positioning Servomotor Servo...

Page 37: ...ears Index table Digital switch Servo amplifier LD77MS The index table is positioned at a high accuracy using the 1 axis servo Inner surface grinder LD77MS Servomotor Servo amplifier 220VAC 60Hz Inverter Grinding stone Workpiece Motor Fix the grinding stone feed the workpiece and grind Operation panel a Total feed amount m b Finishing feed amount m c Compensation amount m d Rough grind ing speed m...

Page 38: ...as the start signal external command signal and switching signal to the LD77MS LD77MS Simple Motion module External signal Manual pulse generator Incremental synchronous encoder Issues commands by pulse output 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 Servo amp...

Page 39: ... The following figure shows the operations when the start point address is 5000 and the positioning addresses are 2000 and 8000 2000 5000 8000 Positioning when the specified address is 2000 Start point address Positioning when the specified address is 8000 Control using the increment system 1 This performs positioning from the specified increment of travel from the start point address 2 The sign o...

Page 40: ...ection and the travel increment specified by each axis from the start point address 2 The sign of the travel increment determines the direction of travel For positive travel increment Positioning in the positive direction direction of address increase For negative travel increment Positioning in the negative direction direction of address decrease Example The operation when the start point address...

Page 41: ...Sub point End point Reverse direction Forward direction b Circular interpolation with the specified center point Circular interpolation is performed using the specified endpoint address and center point address Two methods are available absolute system and increment system Also the direction of movement can be selected from clockwise or counterclockwise End point Center point Stop position Reverse...

Page 42: ...position Movement direction for a positive movement amount Travel along axis 1 2 axis fixed feed control Forward direction Reverse direction Forward direction Forward direction Reverse direction Movement direction for a negative movement amount 4 Speed control After command is executed control continues with the command speed until the stop command is input V t ON ON ON OFF OFF OFF Positioning sta...

Page 43: ...ut of the Simple Motion module speed position switching signal and perform positioning for the specified increment of travel V Speed control Position control Specified travel increment Dwell time t ON ON ON OFF OFF OFF OFF Speed position switching signal BUSY signal Positioning start signal ON Speed position switching enable flag By the sequence program creation ...

Page 44: ...ositioning data by the user determines whether to perform positioning operation with one positioning data item or to perform continuous positioning operation with multiple positioning data items 1 Independent positioning control operation pattern 00 positioning complete The operation completed upon completion of positioning for the specified positioning data The positioning completion of this oper...

Page 45: ...a number This is specified when performing positioning in which the direction changes because of multiple positioning data items having consecutive positioning data numbers V Address direction Address direction Dwell time t Positioning complete 00 ON ON ON OFF OFF OFF OFF Positioning start signal Positioning start complete signal BUSY signal Positioning complete signal ON By the sequence program c...

Page 46: ...ntinues positioning This is specified when continuously executing multiple positioning data items having consecutive positioning data numbers at a specified speed ON ON ON OFF OFF OFF OFF V Address direction Address direction Dwell time t Positioning start signal Positioning start complete signal BUSY signal Positioning complete signal ON By the sequence program creation Positioning continue 11 Po...

Page 47: ...e start command from the PLC CPU or external complex positioning control can be performed The block positioning control can be performed by specifying the positioning start number and positioning start information in the buffer memory One block ON ON ON OFF OFF OFF OFF V V Address direction Address direction Dwell time t Positioning start signal Start complete signal BUSY signal Positioning comple...

Page 48: ...acceleration deceleration processing method This is a method in which linear acceleration deceleration is carried out based on the acceleration time deceleration time and speed limit value set by the user Velocity Time b S curve acceleration deceleration processing method This method reduces the load on the motor when starting and stopping This is a method in which acceleration deceleration is car...

Page 49: ...command signal Switching signal SSCNET H Positioning command Control command Monitor data External input signal of the servo amplifier Read and write etc PLC CPU Simple Motion module OS Monitor data Interface Positioning command Control command Note The external input signal of servo amplifier or external input signal via CPU buffer memory of LD77MS can be used in the parameter setting Refer to Se...

Page 50: ...e interface Y9 YB YD YF X14 X15 X16 X17 XC XD XE XF X10 X11 X12 X13 Y4 Y5 Y6 Y7 X4 X5 X6 X7 X8 X9 XA XB Synchronization flag X1 Execution prohibition flag Y14 Y15 Y16 Y17 All axis servo ON signal Y1 Reverse run JOG start signal Positioning complete signal M code ON signal Interface with PLC CPU External interface PLC READY signal Data write read Positioning data write read Block start data write r...

Page 51: ...mmand Control command Servo parameter External input signal of the servo amplifier Manual pulse generator Incremental synchronous encoder A phase Manual pulse generator Incremental synchronous encoder B phase POINT 1 For LD77MS16 M code ON signal error detection signal start complete signal and positioning complete signal are assigned to the bit of Status 2 For LD77MS16 axis stop signal forward ru...

Page 52: ...Simple Motion module and GX Works2 communicate the following data via the PLC CPU Direction Communication Simple Motion module GX Works2 GX Works2 Simple Motion module Data read write Parameter Positioning data Parameter Positioning data Test operation OPR control start command Positioning control start command JOG Inching operation start command Teaching start command Manual pulse generator opera...

Page 53: ... encoder Manual pulse generator Incremental synchronous encoder Simple Motion module Pulse signal Manual pulse generator Incremental synchronous encoder A phase Manual pulse generator Incremental synchronous encoder B phase Simple Motion module External signal The Simple Motion module and external signal communicate the following data via the external input connection connector Direction Communica...

Page 54: ... Installation wiring Writing of program 4 Creation of sequence program for operation 3 5 6 Connection confirmation Test operation Actual operation Maintenance Disposal Monitor 9 10 11 8 7 Monitoring and debugging of operation program Monitoring and debugging of setting data with test function Writing of setting data Understand the functions and performance and determine the positioning operation m...

Page 55: ...oning data etc created with GX Works2 into the Simple Motion module Chapter 7 Simple Motion Module Setting Tool Help 6 Using GX Works2 write the created sequence program into the PLC CPU Chapter 7 GX Works2 Version1 Operating Manual Common 7 Carry out test operation and adjustments in the test function of GX Works2 to check the connection with the Simple Motion module and external connected device...

Page 56: ...Manual pulse generator operation Turn the All axis servo ON signal ON Y1 ON Turn the PLC READY signal ON Y0 ON Pr 100 Set the servo parameters PA PB PC PD PE PS PF Po PL Set the expansion parameters to Pr 91 Pr 94 Pr 96 to to Da 1 Da 10 Da 20 Da 22 Set the positioning data Set the block start data to to Da 11 Da 19 Da 23 Da 26 Operation Stop Operate the manual pulse generator Turn the LD77MS JOG s...

Page 57: ...ol mode to Cd 144 Cd 146 Write Set with Simple Motion Module Setting Tool Set with sequence program for setting data Operation sequence program Create sequence program for executing main function Set the acceleration deceleration time torque time constant forward direction reverse direction and speed limit value at continuous operation to torque control mode Cd 147 Cd 149 Cd 151 Cd 152 to to Cd 15...

Page 58: ...l Major positioning control High level positioning control Manual control Machine OPR control Fast OPR control JOG Inching operation Manual pulse generator operation Forced stop Forced stop input signal OFF from an external device All axes No change Servo OFF Immediate stop For the stop method of the servo amplifier refer to each servo amplifier instruction manual Servo READY OFF Servo amplifier p...

Page 59: ...ioning data It does not stop suddenly even the setting value is sudden stop in stop group 3 If any of the following error occurs the operation is performed up to the positioning data immediately before the positioning data where an error occurred and then stops immediately No command speed Error code 503 Outside linear movement amount range Error code 504 Large arc error deviation Error code 506 S...

Page 60: ...when the axis 1 movement amount is 300 and the axis 2 movement amount is 600 is shown below Start point address Stop position due to stop cause Designated end point position Axis 1 400 200 100 100 300 700 Axis 2 Stop position due to stop cause Stop position after restart Axis 1 400 200 100 100 300 700 Axis 2 Restart Operation during restart REMARK If the positioning start signal external command s...

Page 61: ... module the configuration devices applicable CPU and the precautions of configuring the system are explained Prepare the required configuration devices to match the positioning control system 2 1 General image of system 2 2 2 2 Component list 2 3 2 3 Applicable system 2 7 2 4 How to check the function version and SERIAL No 2 8 2 5 Restrictions by the SERIAL No and version 2 9 ...

Page 62: ... END cover Display unit Optional item Personal computer USB cable Ethernet cable External command signal Switching signal 4 points Forced stop input 24VDC Servo motor Servo motor MR J3 W B servo amplifier MR J4 W B servo amplifier MR JE B servo amplifier Synchronous encoder via servo amplifier Q171ENC W8 Up to 4 modules via MR J4 B RJ SSCNET cable LD77MS2 Up to 2 axes LD77MS4 Up to 4 axes LD77MS16...

Page 63: ... for connecting the Simple Motion module with a servo amplifier or between servo amplifiers 8 External input signal cable Note 1 Prepared by user Cables are needed for connecting the Simple Motion module with an external device Prepare them referring to the manuals for the connected devices and information given in 3 4 2 of this manual Note 1 The cables for connecting between the Simple Motion mod...

Page 64: ...Output method Voltage output Output current Max 20mA Power supply voltage 4 5 to 13 2VDC Current consumption 60mA Output level H level Power supply voltage Note 1 1V or more in no load L level 0 5V or less with maximum leading in Life time 1000000 revolutions at 200r min Permitted axial loads Radial load Max 19 6N Thrust load Max 9 8N Weight 0 4 kg Number of max revolution Instantaneous Max 600r m...

Page 65: ...oads Radial load Up to 19 6N Thrust load Up to 9 8N Runout at input shaft tip 0 02mm 0 00079 inch or less 15mm 0 59 inch from tip Start friction torque 0 04N m 20 C 68 F Recommended coupling Bellows coupling Permitted angular acceleration 40000rad s 2 Vibration resistance 5G 50 to 200Hz Shock resistance 50G 11ms or less Internal current consumption A 0 2 Mass kg 0 6 Connecting cable m ft Q170ENCCB...

Page 66: ... method Absolute ABS method Resolution 4194304PLS rev 22bit Number of modules 1 module MR J4 B RJ External connector type 20 pin connector Applicable connector for the external connection MR J3CN2 Optional Applicable wire J14B103715 00 12 pairs Connecting cable m ft Q170ENCCBL_M A _ Cable length 2 6 56 5 16 40 10 32 81 20 65 62 30 98 43 50 164 04 Cable length Up to 50m 164 04ft Back up the absolut...

Page 67: ...ent change the combination of the modules For the number of applicable modules refer to the MELSEC L CPU Module User s Manual Hardware Design Maintenance and Inspection 2 Programming tool The applicable programming tool s versions of the LD77MS are shown below For the applicable programming tool s versions of the CPU module refer to the MELSEC L CPU Module User s Manual Hardware Design Maintenance...

Page 68: ...ng methods 1 Checking on the front of the module The serial No on the rating plate is also indicated on the front of the module lower part P U L S E R CN1 LD77MS4 RUN ERR AX 1 2 3 4 SERIAL No 150411000000000 A Function version 2 Confirming by the software Check the function version and SERIAL No in Product Information displayed on System monitor Product Information List of GX Works2 ...

Page 69: ...river VPH series manufactured by Nikki Denso Co Ltd 17102 or later 1 540N or later 17102 or later 1 540N or later MR JE B 16102 or later 1 525X or later 16102 or later 1 525X or later Appendix 6 5 Hot line forced stop function 16102 or later 16102 or later Section 14 15 AlphaStep 5 phase stepping motor driver manufactured by ORIENTAL MOTOR Co Ltd SSCNET H 17072 or later 1 535H or later 17072 or la...

Page 70: ...2 10 Chapter 2 System Configuration MEMO ...

Page 71: ... functions 3 4 3 2 1 LD77MS control functions 3 4 3 2 2 LD77MS main functions 3 7 3 2 3 LD77MS sub functions 3 9 3 2 4 LD77MS common functions 3 11 3 2 5 Combination of LD77MS main functions and sub functions 3 14 3 3 Specifications of input output signals with PLC CPU 3 16 3 3 1 List of input output signals with PLC CPU 3 16 3 3 2 Details of input signals LD77MS PLC CPU 3 19 3 3 3 Details of outp...

Page 72: ...ental system absolute system Position speed switching control Incremental system Path control Incremental system absolute system Positioning range In absolute system 214748364 8 to 214748364 7 µm 21474 83648 to 21474 83647 inch 0 to 359 99999 degree 2147483648 to 2147483647 PLS In incremental system 214748364 8 to 214748364 7 µm 21474 83648 to 21474 83647 inch 21474 83648 to 21474 83647 degree 214...

Page 73: ... for outside panel 5m 16 40ft 10m 32 81ft 20m 65 62ft MR J3BUS_M B Note 5 Note 6 LD77MS MR J4 W B MR JE B MR J3 W B MR J4 W B MR JE B MR J3 W B MR J4 W B MR JE B MR J3 W B Long distance cable 30m 98 43ft 40m 131 23ft 50m 164 04ft Internal current consumption 5 V DC A 0 55 0 70 Flash ROM write count Max 100000 times Number of occupied I O points points 32 I O assignment Intelligent function module ...

Page 74: ... High level positioning control This control executes the positioning data stored in the Simple Motion module using the block start data The following types of applied positioning control can be carried out Random blocks handling several continuing positioning data items as blocks can be executed in the designated order Condition judgment can be added to position control and speed control The oper...

Page 75: ...functions control compensation limits and functions can be added Refer to Chapter 13 Control Sub Functions Common functions Common control using the Simple Motion module for parameter initialization or backup of execution data can be carried out Refer to Chapter 14 Common Functions ...

Page 76: ...tion function Execution data backup function Parameter initialization function Functions characteristic to machine OPR OPR retry function OP shift function Functions that compensate control Backlash compensation function Electronic gear function Near pass function Functions that limit control Speed limit function Software stroke limit function Forced stop function Hardware stroke limit function Sp...

Page 77: ... 2 7 9 2 8 9 2 9 2 axis circular interpolation control Positions a target using an arc path to the address set in the positioning data or to the position designated with the movement amount sub point or center point 9 2 10 9 2 11 Speed control Speed control 1 axis speed control 2 axis speed control 3 axis speed control 4 axis speed control Continuously outputs the command corresponding to the comm...

Page 78: ...5 Manual control JOG operation Outputs a command to servo amplifier while the JOG start signal is ON 11 2 Inching operation Outputs commands corresponding to minute movement amount by manual operation to servo amplifier Performs fine adjustment with the JOG start signal 11 3 Manual pulse generator operation Outputs pulses commanded with the manual pulse generator to servo amplifier 11 4 Expansion ...

Page 79: ...e 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 13 4 1 Torque limit function 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 13 4 2 Software ...

Page 80: ...se this function as a trigger for the sub work 13 7 5 Acceleration deceleration processing function This function adjusts the acceleration deceleration 13 7 6 Continuous operation interrupt function This function interrupts continuous operation When this request is accepted the operation stops when the execution of the current positioning data is completed 6 5 4 Pre reading start function This fun...

Page 81: ...ing control of Simple Motion module without connecting to the servo amplifiers It is used to debug the program at the start up of the device or simulate the positioning operation 14 7 Virtual servo amplifier function This function executes the operation as the axis virtual servo amplifier axis that operates only command instruction virtually without servo amplifiers 14 8 Driver communication funct...

Page 82: ...ons and Functions Common functions Details Reference section Hot line forced stop function This function is used to execute deceleration stop safety for other axes when the servo alarm occurs in the servo amplifier MR JE B 14 15 ...

Page 83: ...3 13 Chapter 3 Specifications and Functions MEMO ...

Page 84: ...control Only independent positioning control can be set Other control Current value changing Continuous path control cannot be set NOP instruction JUMP instruction LOOP to LEND Manual control JOG operation inching operation Manual pulse generator operation Expansion control Speed torque control 1 The operation pattern is one of the positioning data setting items 2 The near pass function is feature...

Page 85: ... Torque change function Target position change function Step function Skip function M code output function Teaching function Command in position function Acceleration deceleration processing function Pre reading start function Deceleration start flag function Stop command processing for deceleration stop function Speed control 10 x multiplier setting for degree axis function Operation setting for ...

Page 86: ...ation flag Y1 All axis servo ON X2 Use prohibited Y2 Use prohibited X3 Y3 X4 Axis 1 M code ON Y4 Axis 1 Axis stop X5 Axis 2 Y5 Axis 2 X6 Use prohibited Y6 Use prohibited X7 Y7 X8 Axis 1 Error detection Y8 Axis 1 Forward run JOG start X9 Axis 2 Y9 Reverse run JOG start XA Use prohibited YA Axis 2 Forward run JOG start XB YB Reverse run JOG start XC Axis 1 BUSY YC Use prohibited XD Axis 2 YD XE Use ...

Page 87: ... 4 YB Reverse run JOG start XC Axis 1 BUSY YC Axis 3 Forward run JOG start XD Axis 2 YD Reverse run JOG start XE Axis 3 YE Axis 4 Forward run JOG start XF Axis 4 YF Reverse run JOG start X10 Axis 1 Start complete Y10 Axis 1 Positioning start X11 Axis 2 Y11 Axis 2 X12 Axis 3 Y12 Axis 3 X13 Axis 4 Y13 Axis 4 X14 Axis 1 Positioning complete Y14 Axis 1 Execution prohibition flag X15 Axis 2 Y15 Axis 2 ...

Page 88: ... 7 Y16 Axis 7 X17 Axis 8 Y17 Axis 8 X18 Axis 9 Y18 Axis 9 X19 Axis 10 Y19 Axis 10 X1A Axis 11 Y1A Axis 11 X1B Axis 12 Y1B Axis 12 X1C Axis 13 Y1C Axis 13 X1D Axis 14 Y1D Axis 14 X1E Axis 15 Y1E Axis 15 X1F Axis 16 Y1F Axis 16 POINT 1 For LD77MS16 M code ON signal error detection signal start complete signal and positioning complete signal are assigned to the bit of Md 31 Status 2 For LD77MS16 axis...

Page 89: ...lso turn OFF If operation is started while the M code is ON an error 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 Section 16 4 occurs and turns OFF when the error is reset on Cd 5 Axis error reset XC XD XE XF Axis 1 Axis 2 Axis 3 Axis 4 BUSY Note 1 OFF Not BUSY ON BUSY This signal turns ON at the st...

Page 90: ...LC is turned ON or the CPU module is reset this signal turns ON if the access from the CPU module to the Simple Motion module is possible When Asynchronous is selected in the module synchronization setting of the CPU module this signal can be used as interlock for the access from a sequence program to the Simple Motion module X10 X11 X12 X13 X14 X15 X16 X17 X18 X19 X1A X1B X1C X1D X1E X1F Axis 1 A...

Page 91: ...tion inching operation manual pulse generator operation and speed torque control etc will stop By turning the axis stop signal ON during positioning operation the positioning operation will be stopped Whether to decelerate stop or suddenly stop can be selected with Pr 39 Stop group 3 sudden stop selection During interpolation control of the positioning operation if the axis stop signal of any axis...

Page 92: ... ON to OFF In these cases the OFF time should be set to 100ms or more The READY signal X0 turns OFF The operating axis stops The M code ON signal Md 31 Status b12 for each axis turns OFF and 0 is stored in Md 25 Valid M code e When parameters or positioning data No 1 to 600 are written from the GX Works2 or PLC CPU to the flash ROM this signal will turn OFF Y1 All axis servo ON OFF Servo OFF ON Se...

Page 93: ...t 17 5VDC or more 3 5mA or more OFF voltage current 5VDC or less 0 9mA or less Input resistance Approx 5 6k Response time OFF to ON 1ms or less ON to OFF Recommended wire size AWG24 0 2mm 2 2 Forced stop input a Specifications of forced stop input signal Item Specifications Number of input points 1 point Input method Positive common Negative common shared Common terminal arrangement 1 point common...

Page 94: ...output type Open collector type 5 V DC Maximum input pulse frequency 200kpps After magnification by 4 up to 800kpps Note 2 Pulse width 5µs or more Leading edge trailing edge time 1 2µs or less Phase difference 1 2µs or more Rated input voltage 5 5 V DC or less High voltage 3 0 to 5 25 V DC 2 mA or less Low voltage 0 to 1 0 V DC 5 mA or more Cable length Up to 10m 32 81ft Example of waveform Phase ...

Page 95: ...ctor The specifications of the connector section which is the input output interface for the Simple Motion module and external device are shown below P U L S E R CN1 LD77MS4 RUN ERR AX 1 2 3 4 LD77MS16 RUN ERR AX 1 9 10111213141516 2 3 4 5 6 7 8 P U L S E R CN1 P U L S E R CN1 LD77MS2 RUN ERR AX 1 2 ...

Page 96: ...erator Incremental synchronous encoder input type selection Only the value specified against the axis 1 is valid 0 Differential output type Default value 1 Voltage output open collector type Note 2 Set the signal input form in Pr 24 Manual pulse generator Incremental synchronous encoder input selection Note 3 Voltage output open collector type Connect the A phase PLS signal to HA and the B phase S...

Page 97: ...fication by 4 When increased When decreased Positioning address Positioning address 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 A phase B phase A phase B phase b Magnification by 2 When increased When decreased Positioning address Positioning address 1 1 1 1 1 1 1 1 A phase B phase A phase B phase 1 1 1 1 1 1 1 1 c Magnification by 1 1 Positive logic When increased When decreased Positioning address Positioni...

Page 98: ...ual pulse generator Incremental synchronous encoder B phase SIGN HB B 16 External command Switching signal DI1 11 Input a control switching signal during speed position or position speed switching control Use this signal as the input signal of positioning start speed change request skip request and mark detection from an external device Set the function to use this signal in Pr 42 External command...

Page 99: ...name Pin No Wiring example Internal circuit Description 1 2 3 4 Input External command Switching DI_ Note 1 11 24 12 25 External command signal Switching signal COM 13 26 Note 1 _ 1 to 4 Note 2 As for the 24VDC sign both and are possible 2 Interface between forced stop input signals Input or output Signal name Pin No Wiring example Internal circuit Description Output Forced stop input EMI 10 Force...

Page 100: ...ous encoder If a separate power supply is used use a stabilized power supply of voltage 5VDC Anything else may cause a failure Pr 24 Pr 89 5V Note 3 b Interface between manual pulse generator Incremental synchronous encoder Voltage output type open collector type Note 1 Set 1 Voltage output open collector type in Manual pulse generator Incremental synchronous encoder input type selection if the ma...

Page 101: ...lse generator incremental synchronous encoder In either case connect the 0 V of the manual pulse generator incremental synchronous encoder and the SG of the Simple Motion module Do not use the 5 V terminal of the Simple Motion module except for connecting the manual pulse generator incremental synchronous encoder It may cause a failure Also do not connect the manual pulse generator incremental syn...

Page 102: ...imple Motion module HA A HB B 5 V SG HA A HB B 5 V 0 V HA A HB B 5 V SG HA A HB B 5 V 0 V When using the internal Manual pulse generator Incremental synchronous Manual pulse generator Incremental synchronous External 5 V Twisted pair Shield Shield power supply encoder encoder power supply When using the external power supply Recommended Simple Motion module ...

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Page 104: ...tion OFF Alarm RA1 1 Surge suppressor SK SK SK 7 7 7 EMG 24V 24G 24VDC Power supply CP2 8 8 RA1 MC1 MC2 MC3 3 5 External circuit design Configure up the power supply circuit and main circuit which turn off the power supply after detection alarm occurrence and servo forced stop When designing the main circuit of the power supply make sure to use a circuit breaker MCCB The outline diagrams for the e...

Page 105: ...stop using forced stop terminal of the servo amplifier 4 4 Set the axis selection rotary switch of servo amplifier as follows to set the axis No of servo amplifier Axis 1 0 Axis 5 4 Axis 9 8 Axis 13 C Axis 2 1 Axis 6 5 Axis 10 9 Axis 14 D Axis 3 2 Axis 7 6 Axis 11 A Axis 15 E Axis 4 3 Axis 8 7 Axis 12 B Axis 16 F 5 5 The status of forced stop input signal can be confirmed with Md 50Forced stop inp...

Page 106: ...1 L21 Note 2 Be sure to shut off the both of main circuit power supply L1 L2 L3 and control power supply L11 L21 after disconnection of SSCNET communication by the connect disconnect function of SSCNET communication at the time of exchange of servo amplifier At this time it is not possible to communicate between the servo amplifier and Simple Motion module Therefore be sure to exchange the servo a...

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Page 108: ...MC3 2 Example when using the forced stop of the LD77MS For MR JE B Important The hot line forced stop function is enabled at the MR JE B factory set Only MR JE B This function is used to execute deceleration stop for all axes by outputting the hot line forced stop signal to all axes and generating E7 1 Controller forced stop input warning at the alarm occurrence This function can be disabled by th...

Page 109: ...orced stop terminal of the servo amplifier 4 4 Set the axis selection rotary switch of servo amplifier as follows to set the axis No of servo amplifier Axis 1 0 Axis 5 4 Axis 9 8 Axis 13 C Axis 2 1 Axis 6 5 Axis 10 9 Axis 14 D Axis 3 2 Axis 7 6 Axis 11 A Axis 15 E Axis 4 3 Axis 8 7 Axis 12 B Axis 16 F 5 5 The status of forced stop input signal can be confirmed with Md 50Forced stop input Be sure t...

Page 110: ...he emergency stop signal of Simple Motion module turns OFF when setting of Pr 82 Forced stop valid invalid selection to 0 Valid servomotor is stopped with dynamic brake The LED display of servo amplifier indicates E7 1 Controller forced stop input warning ...

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Page 112: ...24VDC Yn FG Power Supply L61P LnCPU PLC CPU FG LG Simple Motion module LD77MS END cover L6EC COM EMI MC1 to 3 Ready ON Operation OFF Alarm RA1 1 Surge suppressor SK SK SK 6 6 6 EMG 24V 24G 24VDC Power supply CP2 7 24V 24G 24VDC Power supply Emergency Stop EMG 7 RA1 RA2 MC1 MC2 MC3 3 Example when using the forced stop of the LD77MS and MR J4 B ...

Page 113: ... brake 3 3 Set the axis selection rotary switch of servo amplifier as follows to set the axis No of servo amplifier Axis 1 0 Axis 5 4 Axis 9 8 Axis 13 C Axis 2 1 Axis 6 5 Axis 10 9 Axis 14 D Axis 3 2 Axis 7 6 Axis 11 A Axis 15 E Axis 4 3 Axis 8 7 Axis 12 B Axis 16 F 4 4 Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor 5 5 The status...

Page 114: ...f the both of main circuit power supply L1 L2 L3 and control power supply L11 L21 after disconnection of SSCNET communication by the connect disconnect function of SSCNET communication at the time of exchange of servo amplifier At this time it is not possible to communicate between the servo amplifier and Simple Motion module Therefore be sure to exchange the servo amplifier after stopping the ope...

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Page 116: ...2 MC3 4 Example when using the forced stop of the LD77MS and MR JE B Important The hot line forced stop function is enabled at the MR JE B factory set Only MR JE B This function is used to execute deceleration stop for all axes by outputting the hot line forced stop signal to all axes and generating E7 1 Controller forced stop input warning at the alarm occurrence This function can be disabled by ...

Page 117: ...et the axis selection rotary switch of servo amplifier as follows to set the axis No of servo amplifier Axis 1 0 Axis 5 4 Axis 9 8 Axis 13 C Axis 2 1 Axis 6 5 Axis 10 9 Axis 14 D Axis 3 2 Axis 7 6 Axis 11 A Axis 15 E Axis 4 3 Axis 8 7 Axis 12 B Axis 16 F 4 4 Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor 5 5 The status of forced s...

Page 118: ...ervomotor occurs to the free run when EM1 forced stop of servo amplifier turn OFF At the time the display shows the servo forced stop warning E6 1 During ordinary operation do not used forced stop signal to alternate stop and run The service life of the servo amplifier may be shortened ...

Page 119: ...his chapter thoroughly before starting installation wiring or maintenance and always following the precautions 4 1 Outline of installation wiring and maintenance 4 2 4 1 1 Installation wiring and maintenance procedures 4 2 4 1 2 Names of each part 4 3 4 1 3 Handling precautions 4 5 4 2 Installation 4 7 4 2 1 Precautions for installation 4 7 4 3 Wiring 4 8 4 3 1 Precautions for wiring 4 8 4 4 Confi...

Page 120: ...trol Refer to Section 4 2 Installation Checking wiring Check wiring with GX Works2 Start Module mounting Mount the LD77MS to PLC CPU module Wiring Connect external devices to the LD77MS Perform parameter and data setting with GX Works2 YES NO Parameter setting and auto refresh setting Perform each setting with GX Works2 Programming and debugging Create and debug sequence programs Start operation M...

Page 121: ... 2 2 Axis display LED AX1 to AX2 3 Axis display LED AX1 to AX4 4 Axis display LED AX1 to AX16 5 External input connection connector Connector to connect the mechanical system input manual pulse generator incremental synchronous encoder or forced stop input 26 pin connector Refer to Section 3 4 2 for details 6 SSCNET cable connector Connector to connect the servo amplifier 7 FG terminal block Earth...

Page 122: ...normally Steady ERR LED display RUN ERR AX 1 2 RUN ERR AX 1 2 3 4 RUN ERR AX 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 System error Axis information 1 to 16 are OFF RUN ERR AX 1 2 RUN ERR AX 1 2 3 4 RUN ERR AX 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 During axis stop during axis standby Steady Axis information 1 or other axis LED display RUN ERR AX 1 2 RUN ERR AX 1 2 3 4 RUN ERR AX 1 2 3 4 5 6 7 8 9 10...

Page 123: ... the module s conductive parts and electronic components Doing so may could cause an operation failure or give damage to the module Be sure there are no foreign matters such as sawdust or wiring debris inside the module Such debris could cause fire damage or operation failure Never try to disassemble or modify the modules It may cause product failure operation failure injury or fire Completely tur...

Page 124: ...E R P U L S E R CN1 CN1 2 Cable Do not press on the cable with a sharp object Do not twist the cable with force Do not forcibly pull on the cable Do not step on the cable Do not place objects on the cable Do not damage the cable sheath 3 Installation environment Do not install the module in the following type of environment Where the ambient temperature exceeds the 0 to 55 C 32 to 131 F range Wher...

Page 125: ...ion failure or damage to the module 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 specifications in the manual Safety Guidelines the manual supplied with the PLC CPU module Using the programmable contro...

Page 126: ...lm until the wiring is complete Before operating the system be sure to remove the film to provide adequate ventilation Securely connect the connector for SSCNET cable to the front connector on the module When removing the cable from the module do not pull the cable Hold the connector that is connected to the module Pulling the cable that is still connected to the module may cause malfunction or da...

Page 127: ...ture such as radiator or regenerative option of servo amplifier or servomotor When laying the SSCNET cable be sure to secure the minimum cable bend radius or more Refer to this Section 2 Precautions for SSCNET cable wiring Put the SSCNET cable in the duct or fix the cable at the closest part to the Simple Motion module with bundle material in order to prevent SSCNET cable from putting its own weig...

Page 128: ...ap to protect light device inside connector from dust For this reason do not remove a cap until just before connecting SSCNET cable Then when removing SSCNET cable make sure to put a cap Keep the cap and the tube for protecting light cord end of SSCNET cable in a plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty When exchanging the Simple Motion module or servo amplifie...

Page 129: ... piping 4 Use the twisted pair shielded cable wire size AWG30 to AWG24 0 05 to 0 2 mm 2 The shielded must be grounded in the cable connector shell 5 Use separate shielded cables of the forced stop input signal EMI EMI COM external command signal switching signal DI1 DI2 DI3 DI4 COM and manual pulse generator incremental synchronous encoder input signal HAH HAL HBH HBL HA HB 5V SG for connecting to...

Page 130: ...ce of the Product Processing example of shielded cables Connections of FG wire and each shielded cable Wrap the coated part with a heat contractile tube Remove the covering from all shielded cables and bind the appeared shield with a conductive tape ...

Page 131: ...4 13 Chapter 4 Installation Wiring and Maintenance of the Product Assembling of connector LD77MHIOCON Mount the cable clamp with ground plate to the conductive tape ...

Page 132: ...inch LD77MS Inside control box How to ground shielded cable using AD75CK Shielded cable Shield Installation screw to control box M4 screw Ground terminal Ground terminal installation screw M4 8 screw Using the AD75CK you can tie four cables of about 7mm 0 28inch outside diameter together for grounding Refer to the AD75CK type Cable Clamping Instruction Manual IB 68682 CAUTION Do not ground the cab...

Page 133: ...le Motion module or servo amplifier When closing the door of control panel pay careful attention for avoiding the case that SSCNET cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius Model name of SSCNET cable Minimum bend radius mm inch MR J3BUS_M 25 0 98 MR J3BUS_M A Enforced covering cord 50 1 97 Cord 25 0 98 MR J3BUS_M B Enforced covering cord 50 1 97...

Page 134: ... may be generated For disposal of SSCNET cable request for specialized industrial waste disposal services that have incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas 6 Wiring process of SSCNET cable Put the SSCNET cable in the duct or fix the cable at the closest part to the Simple Motion module with bundle material in order to prevent SSCNET cable from putting its...

Page 135: ...oid from becoming smaller than the minimum bend radius and it should not be twisted When laying cable fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material Bundle material Recommended product NK clamp SP type NIX INC Cord Loose slack Cable Panel DIN rail LD77MS ...

Page 136: ...6 Note 1 AWG stands for American Wire Gauge AWG is a unit of the thickness of conducting wire 2 Grounding For grounding follow the steps a to c shown below a Use a dedicated grounding wire as far as possible Ground resistance 100 or less b When a dedicated grounding cannot be performed use 2 Common grounding shown below LD77MS L61P Another equipment LD77MS L61P Another equipment LD77MS L61P Anothe...

Page 137: ...ing the shielded twisted cable 6 Wire the cable connected to FG terminal of LD77MS as short as possible using the cable of 0 517 to 1 31mm2 and ground to the control panel 7 Wire the power supply and 24VDC power supply as short as possible using the cable of approx 2mm2 and ground to the control panel Control panel EC SCF25 78 Nitto Kogyo Corporation 1 Refer to this chapter or EMC and Low Voltage ...

Page 138: ...imple Motion module and external devices input signals correctly connected Are the servo amplifier and external wiring FLS RLS and DOG correctly connected Refer to the Simple Motion Module Setting Tool Help of GX Works2 for details of Positioning test function Note that the monitor data of the Md 30 External input signal in the GX Works2 may also be used to confirm the connection between the Simpl...

Page 139: ...electric shock damage to the module or operation failure 4 5 2 Disposal instructions When you discard a Simple Motion module a servo amplifier a battery primary battery and other option articles please follow the law of each country area CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life When considering this...

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Page 141: ...or positioning parameters 5 6 5 1 3 Setting items for OPR parameters 5 8 5 1 4 Setting items for expansion parameters 5 9 5 1 5 Setting items for servo parameters 5 9 5 1 6 Setting items for positioning data 5 10 5 1 7 Setting items for block start data 5 12 5 1 8 Setting items for condition data 5 13 5 1 9 Types and roles of monitor data 5 14 5 1 10 Types and roles of control data 5 19 5 2 List o...

Page 142: ... data is set beforehand according to the machine and application Set the data with programs or GX Works2 The data set for the buffer memory can also be saved in the flash ROM or internal memory nonvolatile in the Simple Motion module Important The setting data can be backed up only in the flash ROM internal memory nonvolatile of the Simple Motion module It cannot be backed up in the PLC CPU and th...

Page 143: ...ccording to the machine and applicable motor when the system is started up Positioning data Positioning data Set the data for major positioning control Block start data Set the block start data for high level positioning control Set the condition data for high level positioning control Set the condition judgment values for the condition data used in high level positioning control Block start data ...

Page 144: ...d servo parameter is transmitted from the Simple Motion module to the servo amplifier when the initialized communication carried out after the power supply is turned ON or the PLC CPU is reset The power supply is turned ON or the PLC CPU is reset after writing servo parameter in flash ROM of Simple Motion module if the servo parameter is transmitted to the servo amplifier The following servo param...

Page 145: ...tings related to the operation and controls the speed change during operation and stops restarts the operation for each axis Axis control data Control data Sets the data for synchronous control Synchronous control data Writes initializes the positioning data in the module Sets the setting for operation of all axes System control data Sets the data for mark detection control Mark detection control ...

Page 146: ...lses per rotation AP Unit PLS 13 3 2 Pr 3 Movement amount per rotation AL Pr 4 Unit magnification AM Pr 7 Bias speed at start Basic parameters 2 Pr 8 Speed limit value 13 4 1 Pr 9 Acceleration time 0 13 7 6 Pr 10 Deceleration time 0 Detailed parameters 1 Pr 11 Backlash compensation amount 13 3 1 Pr 12 Software stroke limit upper limit value 13 4 3 Pr 13 Software stroke limit lower limit value Pr 1...

Page 147: ... 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 13 5 1 13 7 2 Pr 83 Speed control 10 x multiplier setting for degree axis 13 7 10 Pr 84 Restart allowable range when servo OFF to ON 5 2 4 Pr 89 Man...

Page 148: ...cceleration time selection Pr 52 OPR deceleration time selection Pr 53 OP shift amount S S S S Pr 54 OPR torque limit value Pr 55 Operation setting for incompletion of OPR Pr 56 Speed designation during OP shift S S S S Pr 57 Dwell time during OPR retry R R R Always set Set as required Setting not required When the value is the default value or within the setting range there is no problem R Set wh...

Page 149: ...a type setting 2 Pr 93 Optional data monitor Data type setting 3 Pr 94 Optional data monitor Data type setting 4 Pr 96 Operation cycle setting Pr 97 SSCNET setting Pr 114 External command signal compensation valid invalid setting 5 1 5 Setting items for servo parameters The servo parameters are used to control the servo motor and the data that is determined by the specification of the servo amplif...

Page 150: ...Linear 1 Linear 2 Linear 3 Linear 4 Fixed feed 1 Fixed feed 2 Fixed feed 3 Fixed feed 4 Circular sub Circular right Circular left Forward run speed 1 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 NO...

Page 151: ...polated 1 LD77MS16 2 axes 3 axes 4 axes 1 axis Da 21 Axis to be interpolated 2 LD77MS16 3 axes 4 axes 1 axis 2 axes Da 22 Axis to be interpolated 3 LD77MS16 4 axes 1 axis 2 axes 3 axes Always set Set as required when not required Setting not possible If set the error Continuous path control not possible error code 516 will occur at start Setting not required When the value is the default value or ...

Page 152: ... and to Section 5 4 List of block start data for details on each setting item 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 Da 11 Shape end continue Da 12 Start data No Da 13 Special start instruction Da 14 Parameter Set as required when not required Setting not required Wh...

Page 153: ...l positioning control Other than JUMP instruction JUMP instruction Block start Normal start Condition start Wait start Simul taneous start Repeated start FOR loop Repeated start FOR condition Da 15 Condition target Da 16 Condition operator Da 17 Address Da 18 Parameter 1 Da 19 Parameter 2 Da 23 Number of simultaneous starting axes LD77MS16 Da 24 Simultaneous starting axis No 1 LD77MS16 Da 25 Simul...

Page 154: ... Year month Md 54 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 Servo alarm Md 57 Servo alarm Driv...

Page 155: ...ers Md 52 Communication between amplifiers axes searching flag Monitor the connect disconnect status of SSCNET communication Md 53 SSCNET control status Monitor the first five digits of product information Md 130 OS version Monitor the RUN status of digital oscilloscope Md 131 Digital oscilloscope running flag Monitor the current operation cycle Md 132 Operation cycle setting Monitor whether the o...

Page 156: ...ndicates the speed of each axis Md 22 Feedrate During interpolation control When 0 Composite speed is set for Pr 20 Interpolation speed designation method Indicates the composite speed When 1 Reference axis speed is set for Pr 20 Interpolation speed designation method Indicates the reference axis speed Monitor Da 8 Command speed currently being executed Md 27 Current speed Constantly indicates the...

Page 157: ... setting 1 at optional data monitor data type setting Md 109 Regenerative load ratio Optional data monitor output 1 Monitor the continuous effective load torque Monitor the content of Pr 92 Optional data monitor Data type setting 2 at optional data monitor data type setting Md 110 Effective load torque Optional data monitor output 2 Monitor the maximum generated torque Monitor the content of Pr 93...

Page 158: ...ommand torque at torque control mode or continuous operation to torque control mode in the speed torque control Md 123 Torque during command Monitor the switching status of control mode Md 124 Control mode switching status Monitor the instruction code of the special start data when using special start Md 36 Special start data instruction code setting value Monitor the instruction parameter of the ...

Page 159: ...trol data Cd 1 Cd 2 Cd 47 Controlling the operation Setting operation parameters changing speed during operation interrupting or restarting operation etc system control data Cd 41 Cd 42 Cd 44 Cd 102 Cd 137 axis control data Cd 3 to Cd 40 Cd 43 Cd 45 Cd 46 Cd 100 Cd 101 Cd 108 Cd 112 Cd 113 Cd 130 to Cd 133 Cd 136 to Cd 154 Cd 180 to Cd 183 1 Controlling the system data Setting and resetting the se...

Page 160: ... axis start data No LD77MS16 Set axis 2 start data Nos for axes that start up simultaneously Cd 31 Simultaneous starting axis start data No axis 2 start data No LD77MS2 LD77MS4 Set start data No 1 for axes that start up simultaneously Simultaneous starting axis start data No 1 LD77MS16 Set axis 3 start data Nos for axes that start up simultaneously Cd 32 Simultaneous starting axis start data No ax...

Page 161: ... changing current value Cd 9 New current value Validate switching signal set in Cd 45 Speed position switching device selection Cd 24 Speed position switching enable flag Change movement amount for position control during speed position switching control INC mode Cd 23 Speed position switching control movement amount change register Validate switching signal set in Cd 45 Speed position switching d...

Page 162: ...celeration time during speed control mode Cd 141 Acceleration time at speed control mode Set the deceleration time during speed control mode Cd 142 Deceleration time at speed control mode Set the command torque during torque control mode Cd 143 Command torque at torque control mode Set the time constant at driving of torque control mode Cd 144 Torque time constant at torque control mode Forward di...

Page 163: ...o 1 is valid in the LD77MS2 Note 3 The range from axis No 1 to 4 n 0 to 3 is valid in the LD77MS4 5 2 1 Basic parameters 1 Item Setting value setting range Default value Buffer memory address Value set with GX Works2 Value set with sequence program LD77MS2 LD77MS4 LD77MS16 Pr 1 Unit setting 0 mm 0 3 0 150n 1 inch 1 2 degree 2 3 PLS 3 Movement amount per pulse Pr 2 Number of pulses per rotation AP ...

Page 164: ...onic gear Number of pulses per rotation AP Movement amount per rotation AL Unit magnification AM When positioning has been performed an error mechanical system error may be produced between the specified movement amount and the actual movement amount Refer to Section 13 3 2 Electronic gear function POINT 1 Set the electronic gear within the following range If the value outside the setting range is...

Page 165: ...is determined by the mechanical structure If the worm gear lead m rev is PB and the deceleration rate is 1 n then Movement amount per rotation AL PB 1 n However the maximum value that can be set for this movement amount per rotation AL parameter is 20000000 0 m 20m Set the movement amount per rotation AL as shown below so that the movement amount per rotation AL does not exceed this maximum value ...

Page 166: ...multiplier setting for degree axis is set to valid 0 00 to 20000000 00 degree min 2 Range of speed limit value when Pr 83 Speed control 10 x multiplier setting for degree axis is set to valid 0 to 2000000000 10 2 degree min V t Trapezoidal acceleration deceleration S curve ratio is 0 V t Pr 9 Pr 25 Pr 26 Pr 27 Pr 10 Pr 28 Pr 29 Pr 30 S curve acceleration deceleration S curve ratio is other than 0 ...

Page 167: ... stepping motor driver c In synchronous control when Pr 7 Bias speed at start is set to the servo input axis the bias speed at start is applied to the servo input axis Note that the unexpected operation might be generated to the output axis d Set Pr 7 Bias speed at start within the following range Pr 8 Speed limit value Pr 46 OPR speed Pr 47 Creep speed Pr 7 Bias speed at start e If following data...

Page 168: ...ier setting for degree axis is set to valid 0 01 to 20000000 00 degree min 2 Range of speed limit value when Pr 83 Speed control 10 x multiplier setting for degree axis is set to valid 1 to 2000000000 10 2 degree min Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 Pr 9 Acceleration time 0 specifies the time for the speed to increase from zero to the Pr 8 Speed limit value Pr 31 JOG speed limit ...

Page 169: ...lid setting 0 Software stroke limit valid during JOG operation inching operation and manual pulse generator operation 0 0 23 150n 1 Software stroke limit invalid during JOG operation inching operation and manual pulse generator operation 1 Pr 16 Command in position width The setting value range differs depending on the Pr 1 Unit setting 100 24 150n 25 150n Pr 17 Torque limit setting value 1 to 100...

Page 170: ...nal command switching signal b5 Not used b6 Near point dog signal b7 Not used b8 Manual pulse generator input Note 1 b9 to b15 Not used Pr 80 External input signal selection 1 External input signal of servo amplifier 1 1 32 150n 2 Buffer memory of LD77MS 2 Pr 24 Manual pulse generator Incremental synchronous encoder input selection 0 A phase B phase multiplied by 4 0 0 33 1 A phase B phase multipl...

Page 171: ...tisfies the following 1 can be set up 0 Pr 11 Backlash compensation amount Pr 2 Number of pulses per rotation AP A 4194303 PLS 1 Pr 3 Movement amount per rotation AL Pr 4 Unit magnification AM round down after decimal point The error Backlash compensation amount error error code 920 occurs when the setting is outside the range of the calculation result of 1 A servo alarm error code 2031 2035 etc m...

Page 172: ...3 PLS 2147483648 to 2147483647 PLS 2147483648 to 2147483647 PLS Pr 13 Software stroke limit lower limit value Set the lower limit for the machine s movement range during positioning control Software stroke limit lower limit Software stroke limit upper limit OP Machine movement range Emergency stop limit switch Emergency stop limit switch 1 Generally the OP is set at the lower limit or upper limit ...

Page 173: ... used as a front loading signal of the positioning complete signal When positioning control is started the Command in position flag Md 31 Status b2 turns OFF and the command in position flag turns ON at the set position of the command in position signal ON OFF Pr 16 Command in position width Velocity Position control start Command in position flag Pr 1 setting value Value set with GX Works2 unit V...

Page 174: ...eration completes m1 m2 01 continuous 00 end Positioning complete signal X14 X15 X16 X17 BUSY signal XC XD XE XF Positioning M code ON signal X4 X5 X6 X7 M code OFF request 1504 1604 1704 1804 Cd 7 Operation pattern Da 1 Valid M code Md 25 1 1 1 m1 and m2 indicate set M codes Note Refer to Section 3 3 for input output signal of LD77MS16 and Chapter 5 for buffer memory address Note If AFTER mode is...

Page 175: ...n module 1 Reference axis speed The axis speed set for the reference axis is designated and the speed for the other axis carrying out interpolation is calculated by the Simple Motion module X axis Y axis Designate composite speed Calculated by Simple Motion module When composite speed is designated Designate speed for reference axis When reference axis speed is designated X axis Y axis Calculated ...

Page 176: ... ABS mode Pr 22 Input signal logic selection Set the input signal logic that matches the signaling specification of the connected external device Cd 44 External input signal operation device or external input signal of servo amplifier upper lower limit switch near point dog Negative logic 1 The current is not flowed through the input signal contact a FLS RLS Limit signal ON b DOG DI STOP Invalid 2...

Page 177: ...pulse generator Incremental synchronous encoder input selection Set the manual pulse generator incremental synchronous encoder input pulse mode Only the value specified against the axis 1 is valid 0 A phase B phase multiplied by 4 1 A phase B phase multiplied by 2 2 A phase B phase multiplied by 1 3 PLS SIGN Set the positive logic or negative logic in Pr 22 Input signal logic selection 1 A phase B...

Page 178: ...phase A B phase B 1 1 1 1 1 1 1 1 Positioning address Reverse run Forward run A phase A B phase B 1 1 1 1 1 1 1 1 Positioning address c A phase B phase multiplied by 1 The positioning address increases or decreases at twice rising or twice falling edges of A phase B phase Pr 22 Input signal logic selection Positive logic Negative logic 1 1 1 1 Reverse run Forward run A phase A B phase B Positionin...

Page 179: ...Speed position function selection Select the mode of speed position switching control 0 INC mode 2 ABS mode Note1 If the setting is other than 0 and 2 operation is performed in the INC mode with the setting regarded as 0 Pr 82 Forced stop valid invalid selection Set the forced stop valid invalid Only the value specified against the axis 1 is valid All axes of the servo amplifier are made to batch ...

Page 180: ...5 Acceleration time 1 1 2 Pr 26 Acceleration time 2 2 3 Pr 27 Acceleration time 3 3 Pr 33 JOG operation deceleration time selection 0 Pr 10 Deceleration time 0 0 0 51 150n 1 Pr 28 Deceleration time 1 1 2 Pr 29 Deceleration time 2 2 3 Pr 30 Deceleration time 3 3 Pr 34 Acceleration deceleration process selection 0 Trapezoid acceleration deceleration process 0 0 52 150n 1 S curve acceleration deceler...

Page 181: ...rator Incremental synchronous encoder input type selection 0 Differential output type 0 0 67 1 Voltage output open collector type 1 Pr 90 Operation setting for speed torque control mode b0 to b3 Not used b15 to b12b11 to b8 b7 to b4 b3 to b0 Always 0 is set to the part not used 0000H 68 150n b4 to b7 Torque initial value selection 0 Command torque 1 Feedback torque b8 to b11 Speed initial value se...

Page 182: ...0000000 10 3 degree min 2 3 PLS 1 to 1000000000 PLS s 1 to 1000000000 PLS s 1 The range of JOG speed limit value when Pr 83 Speed control 10 multiplier setting for degree axis is valid 0 01 to 20000000 00 degree min 2 The range of JOG speed limit value when Pr 83 Speed control 10 x multiplier setting for degree axis is valid 1 to 2000000000 10 2 degree min Pr 32 JOG operation acceleration time sel...

Page 183: ...ion are linear Velocity Time Trapezoid acceleration deceleration The acceleration and deceleration follow a Sin curve Velocity Time S curve acceleration deceleration Pr 35 S curve ratio Set the S curve ratio 1 to 100 for carrying out the S curve acceleration deceleration process The S curve ratio indicates where to draw the acceleration deceleration curve using the Sin curve as shown below A B B 2...

Page 184: ...speed Da 8 Pr 36 Sudden stop deceleration time Acceleration time 0 Pr 9 Acceleration time 1 Pr 25 Acceleration time 2 Pr 26 Acceleration time 3 Pr 27 Deceleration time 0 Pr 10 Deceleration time 1 Pr 28 Deceleration time 2 Pr 29 Deceleration time 3 Pr 30 Pr 37 Stop group 1 sudden stop selection to Pr 39 Stop group 3 sudden stop selection Set the method to stop when the stop causes in the following ...

Page 185: ...interpolation control the positioning completed signal of interpolation axis is output only during the time set to the reference axis LD77MS4 operation example M LD77MS Y10 Y11 Y12 Y13 PLC CPU Positioning start signal Positioning complete signal X14 X15 X16 X17 Positioning Positioning complete signal after dwell time has passed Output time Positioning start signal Start complete signal BUSY signal...

Page 186: ...eference axis set in the axis 1 buffer memory addresses 60 61 If axis 4 is the reference axis set in the axis 4 buffer memory addresses 510 511 Path with spiral interpolation Error End point address with calculation End point address Start point address Center point address 1 With circular interpolation control using the center point designation the arc path calculated with the start point address...

Page 187: ...ernal command signal input is used to execute the mark detection And also set to use the external command signal in the synchronous control POINT To enable the external command signal set the Cd 8 External command valid to 1 Pr 83 Speed control 10 x multiplier setting for degree axis Set the speed control 10 x multiplier setting for degree axis when you use command speed and speed limit value set ...

Page 188: ...d stop input or the servo forced stop input and the present value at the forced stop release or the servo forced stop release is greater than the value set in the buffer memory for the restart allowable range setting the positioning operation is judged as on standby and cannot be restarted Operation Servo OFF Last command position Servo ON Stop Wait Restart invalid Restart valid Axis operation sta...

Page 189: ...t the mechanical system by output once to the restart allowable range when switching servo OFF to ON b The restart at switching servo OFF to ON is valid only at switching servo OFF to ON at the first time At the second time or later the setting for restart allowable range when switching servo OFF to ON is disregarded c Execute servo OFF when the mechanical system is in complete stop state The rest...

Page 190: ...ergency stop input Operation at restart Emergency stop input Last command position Stop position at servo OFF Movement during servo OFF Restart operation Last command position Output at once at restart Present value at servo ON Stop position at servo OFF Pr 89 Manual pulse generator Incremental synchronous encoder input type selection Set the input type from the manual pulse generator incremental ...

Page 191: ...n to torque control mode 0 Command speed Speed that position command at switching is converted into the motor speed 1 Feedback speed Motor speed received from servo amplifier at switching 2 Automatic selection The lower speed between speed that position command at switching is converted into the motor speed and motor speed received from servo amplifier at switching This setting is valid only when ...

Page 192: ...iple axes 5 2 5 OPR basic parameters Item Setting value setting range Default value Buffer memory address Value set with GX Works2 Value set with sequence program LD77MS2 LD77MS4 LD77MS16 Pr 43 OPR method 0 Near point dog method 0 0 70 150n 4 Count method 1 4 5 Count method 2 5 6 Data set method 6 7 Scale origin signal detection method 7 8 Driver OPR method 8 Pr 44 OPR direction 0 Positive directi...

Page 193: ...ation stop at the near point dog ON move to the opposite direction against the OPR direction and move to the OPR direction after deceleration stop once at the detection of the first zero signal Then it stops at the detected nearest zero signal and completes the machine OPR 8 Driver OPR method Carry out the OPR operation on the driver side The OPR operation and parameters depend on the specificatio...

Page 194: ... Start machine OPR Start movement at the Pr 46 OPR speed in the Pr 44 OPR direction 2 Detect the near point dog ON and start deceleration 3 Decelerate to Pr 47 Creep speed and move with the creep 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 Simple Motion module stops with the first zero signal ...

Page 195: ...plifier has been turned ON and the servomotor has been rotated at least once using the JOG or similar operation However if selecting 1 Not need to pass servo motor Z phase after power on with Function selection C 4 PC17 it is possible to carry out the home position return OPR without passing the zero point 7 Scale origin signal detection method 1 Start machine OPR Start movement at the Pr 46 OPR s...

Page 196: ...ress decrements Arrow 1 Normally the OP is set near the lower limit or the upper limit so Pr 44 OPR direction is set as shown below Address decrement direction Lower limit OP Upper limit Address increment direction 1 2 Address decrement direction Lower limit OP Upper limit Address increment direction When the OP is set at the upper limit side the OPR direction is in the direction of arrow 2 Set 0 ...

Page 197: ...eed for OPR 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 will occur and OPR will not be executed The OPR speed should be equal to or faster than the Pr 7 Bias speed at start and Pr 47 Creep speed Pr 1 setting value Value set with GX Works2 unit Value set with sequence program unit 0 mm 0 01 ...

Page 198: ...alue set with GX Works2 unit Value set with sequence program unit 0 mm 0 01 to 20000000 00 mm min 1 to 2000000000 10 2 mm min 1 inch 0 001 to 2000000 000 inch min 1 to 2000000000 10 3 inch min 2 degree 0 001 to 2000000 000 degree min 1 1 to 2000000000 10 3 degree min 2 3 PLS 1 to 1000000000 PLS s 1 to 1000000000 PLS s 1 The range of home position return speed when Pr 83 Speed control 10 multiplier...

Page 199: ...e axis will decelerate to a stop 4 and then will carry out machine OPR again 5 6 ON Start position Near point dog signal Limit switch OFF state Zero signal 5 4 6 1 2 3 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 the limit signal OFF the axis moves at the...

Page 200: ...leration time 3 3 Pr 52 OPR deceleration time selection 0 Pr 10 Deceleration time 0 0 0 83 150n 1 Pr 28 Deceleration time 1 1 2 Pr 29 Deceleration time 2 2 3 Pr 30 Deceleration time 3 3 Pr 53 OP shift amount The setting value range differs depending on the Pr 1 Unit setting 0 84 150n 85 150n Pr 54 OPR torque limit value 1 to 1000 1 to 1000 300 86 150n Pr 55 Operation setting for incompletion of OP...

Page 201: ...LS s and deceleration time to 300 ms the minimum value of Pr 50 Setting for the movement amount after near point dog ON is calculated as follows Deceleration distance 1 2 Vz 1000 t 0 01 Vz Movement amount for 10ms at OPR speed Tb Vz Vp 0 01 Vz Vz 2000 300 10 10 200 10 10 10 2000 3 3 3 0 01 10 10 3 75 100 175 Setting for the movement amount after near point dog ON should be equal to or larger than ...

Page 202: ...at with machine OPR If there is a physical limit to the OP due to the relation of the near point dog installation position use this function to compensate the OP to an optimum position OPR direction When OP shift amount is positive Shift point Shift point When OP shift amount is negative Start point Near point dog signal Zero signal Pr 53 Pr 53 Pr 44 Pr 1 setting value Value set with GX Works2 uni...

Page 203: ...ng 0 Positioning control is not executed a Start possible Machine OPR JOG operation inching operation manual pulse generator operation and current value changing using current value changing start No 9003 b Start restart impossible control When the following cases at block start condition start wait start repeated start multiple axes simultaneous start and pre reading start 1 axis linear control 2...

Page 204: ...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 Pr 57 Dwell time during OPR retry When OPR retry is validated when 1 is set for Pr 48 set the stop time after decelerating in 2 and 4 in the following drawing Start position Temporarily stop for the time set in Pr 57 Temporarily stop for the time set in Pr 57 1 2 3 ...

Page 205: ...elected droop pulse Note 1 23 Module integral power consumption Note 1 24 Load side encoder information 1 Note 1 25 Load side encoder information 2 Note 1 26 Z phase counter Note 1 27 Servo motor side load side position deviation Note 1 28 Servo motor side load side speed deviation Note 1 29 External encoder counter value Note 1 30 Module power consumption 2 words Note 1 0 1 2 3 4 5 6 7 8 9 10 12 ...

Page 206: ...e 13 Disturbance torque Note 2 14 Overload alarm margin 15 Error excessive alarm margin 16 Settling time 17 Overshoot amount 18 Internal temperature of encoder 20 Position feedback 2 words 21 Encoder position within one revolution 22 Selected droop pulse 23 Module integral power consumption 24 Load side encoder information 1 25 Load side encoder information 2 26 Z phase counter 27 Servo motor side...

Page 207: ...ta monitor Data type setting 2 when the data type of used point 2 words is set in Pr 91 Optional data monitor Data type setting 1 and set 0 in Pr 94 Optional data monitor Data type setting 4 when the data type of used point 2 words is set in Pr 93 Optional data monitor Data type setting 3 When setting other than 0 the warning Optional data monitor data type setting error warning code 116 will occu...

Page 208: ...3 occurs and communication with the servo amplifier is not executed The following shows about this parameter and connectable servo amplifier setting value of Pr 100 Servo series Setting value of Pr 97 SSCNET setting Servo amplifier Setting value of Pr 100 Servo series 0 SSCNET MR J3 W B 1 MR J3 _B_ MR J3W _B 2 axis type 3 MR J3 _B_ RJ006 For fully closed loop control MR J3 _BS_ For safety servo 4 ...

Page 209: ...on of external command input signal valid invalid Only the value specified against the axis 1 is valid 0 Invalid 1 Valid The response time from the external command signal is compensated and the latch accuracy will be enhanced Note If the setting is other than 0 and 1 operation is performed with the setting regarded as 0 Invalid POINT In this parameter the value set in flash ROM of Simple Motion m...

Page 210: ...r direct drive motor 32 MR J4 _B_ RJ MR J4W_ _B 2 axis type and 3 axis type 48 MR JE _B 64 FR A700 series Inverter 96 VCII series manufactured by Nikki Denso Co Ltd 97 AlphaStep 5 Phase manufactured by ORIENTAL MOTOR Co Ltd 98 IAI electric actuator controller manufactured by IAI Corporation 99 VPH series manufactured by Nikki Denso Co Ltd 4097 Virtual servo amplifier MR J3 4128 Virtual servo ampli...

Page 211: ...n PA21 64401 250n 64401 70n PA06 30106 200n 28406 100n PA22 64402 250n 64402 70n PA07 30107 200n 28407 100n PA23 64403 250n 64403 70n PA08 30108 200n 28408 100n PA24 64404 250n 64404 70n PA09 30109 200n 28409 100n PA25 64405 250n 64405 70n PA10 30110 200n 28410 100n PA26 64406 250n 64406 70n PA11 30111 200n 28411 100n PA27 64407 250n 64407 70n PA12 30112 200n 28412 100n PA28 64408 250n 64408 70n P...

Page 212: ... 100n PB13 30131 200n 28431 100n PB45 30163 200n 28463 100n PB14 30132 200n 28432 100n PB46 64413 250n 64413 70n PB15 30133 200n 28433 100n PB47 64414 250n 64414 70n PB16 30134 200n 28434 100n PB48 64415 250n 64415 70n PB17 30135 200n 28435 100n PB49 64416 250n 64416 70n PB18 30136 200n 28436 100n PB50 64417 250n 64417 70n PB19 30137 200n 28437 100n PB51 64418 250n 64418 70n PB20 30138 200n 28438 ...

Page 213: ...C13 30176 200n 28476 100n PC45 64444 250n 64444 70n PC14 30177 200n 28477 100n PC46 64445 250n 64445 70n PC15 30178 200n 28478 100n PC47 64446 250n 64446 70n PC16 30179 200n 28479 100n PC48 64447 250n 64447 70n PC17 30180 200n 28480 100n PC49 64448 250n 64448 70n PC18 30181 200n 28481 100n PC50 64449 250n 64449 70n PC19 30182 200n 28482 100n PC51 64450 250n 64450 70n PC20 30183 200n 28483 100n PC5...

Page 214: ...0n PD06 30201 200n PD30 30225 200n PD07 30202 200n PD31 30226 200n PD08 30203 200n PD32 30227 200n PD09 30204 200n PD33 64464 250n PD10 30205 200n PD34 64465 250n PD11 30206 200n PD35 64466 250n PD12 30207 200n PD36 64467 250n PD13 30208 200n PD37 64468 250n PD14 30209 200n PD38 64469 250n PD15 30210 200n PD39 64470 250n PD16 30211 200n PD40 64471 250n PD17 30212 200n PD41 64472 250n PD18 30213 20...

Page 215: ...0 250n PE10 30237 200n PE42 64481 250n PE11 30238 200n PE43 64482 250n PE12 30239 200n PE44 64483 250n PE13 30240 200n PE45 64484 250n PE14 30241 200n PE46 64485 250n PE15 30242 200n PE47 64486 250n PE16 30243 200n PE48 64487 250n PE17 30244 200n PE49 64488 250n PE18 30245 200n PE50 64489 250n PE19 30246 200n PE51 64490 250n PE20 30247 200n PE52 64491 250n PE21 30248 200n PE53 64492 250n PE22 3024...

Page 216: ...o 1 g Extension setting 3 parameters Servo amplifier Parameter No Buffer memory address Servo amplifier Parameter No Buffer memory address LD77MS2 LD77MS4 LD77MS16 LD77MS2 LD77MS4 LD77MS16 PF01 30900 50n Set with GX Works2 PF25 64512 250n Set with GX Works2 PF02 30901 50n PF26 64513 250n PF03 30902 50n PF27 64514 250n PF04 30903 50n PF28 64515 250n PF05 30904 50n PF29 64516 250n PF06 30905 50n PF3...

Page 217: ...DD motor setting parameters Servo amplifier Parameter No Buffer memory address Servo amplifier Parameter No Buffer memory address LD77MS2 LD77MS4 LD77MS16 LD77MS2 LD77MS4 LD77MS16 PL01 64552 250n Set with GX Works2 PL25 64576 250n Set with GX Works2 PL02 64553 250n PL26 64577 250n PL03 64554 250n PL27 64578 250n PL04 64555 250n PL28 64579 250n PL05 64556 250n PL29 64580 250n PL06 64557 250n PL30 6...

Page 218: ...ction manual for details of setting items Do not change other than the buffer memory addresses of the parameters described in each servo amplifier instruction manual POINT Set the parameter value and switch power off once The parameter is transferred to servo amplifier from Simple Motion module and then switch it on again to make that parameter setting valid ...

Page 219: ...8442 100n PB02 30120 200n 28420 100n PB25 30143 200n 28443 100n PB03 30121 200n 28421 100n PB26 30144 200n 28444 100n PB04 30122 200n 28422 100n PB27 30145 200n 28445 100n PB05 30123 200n 28423 100n PB28 30146 200n 28446 100n PB06 30124 200n 28424 100n PB29 30147 200n 28447 100n PB07 30125 200n 28425 100n PB30 30148 200n 28448 100n PB08 30126 200n 28426 100n PB31 30149 200n 28449 100n PB09 30127 2...

Page 220: ...C12 30175 200n 28475 100n PC28 30191 200n 28491 100n PC13 30176 200n 28476 100n PC29 30192 200n 28492 100n PC14 30177 200n 28477 100n PC30 30193 200n 28493 100n PC15 30178 200n 28478 100n PC31 30194 200n 28494 100n PC16 30179 200n 28479 100n PC32 30195 200n 28495 100n n Axis No 1 d Input output setting parameters Servo amplifier Parameter No Buffer memory address Servo amplifier Parameter No Buffe...

Page 221: ...0n PE35 30262 200n PE16 30243 200n PE36 30263 200n PE17 30244 200n PE37 30264 200n PE18 30245 200n PE38 30265 200n PE19 30246 200n PE39 30266 200n PE20 30247 200n PE40 30267 200n n Axis No 1 f Special setting parameters Servo amplifier Parameter No Buffer memory address Servo amplifier Parameter No Buffer memory address LD77MS2 LD77MS4 LD77MS16 LD77MS2 LD77MS4 LD77MS16 PS01 30268 200n Set with GX ...

Page 222: ...30904 50n PF13 30912 50n PF06 30905 50n PF14 30913 50n PF07 30906 50n PF15 30914 50n PF08 30907 50n PF16 30915 50n n Axis No 1 h Option unit parameters Servo amplifier Parameter No Buffer memory address Servo amplifier Parameter No Buffer memory address LD77MS2 LD77MS4 LD77MS16 LD77MS2 LD77MS4 LD77MS16 Po01 30916 50n Set with GX Works2 Po09 30924 50n Set with GX Works2 Po02 30917 50n Po10 30925 50...

Page 223: ... Positioning address movement amount Positioning data No 1 data No Number of LOOP to LEND repetitions M code Condition LD77MS16 Positioning data No 100 6990 1000n 6991 1000n 6992 1000n 6994 1000n 6995 1000n 6996 1000n 6997 1000n 6998 1000n 6999 1000n 6993 1000n Positioning data No 99 6980 1000n 6981 1000n 6982 1000n 6984 1000n 6985 1000n 6986 1000n 6987 1000n 6988 1000n 6989 1000n 6983 1000n Da 1 ...

Page 224: ...lue corresponding to axis No such as the following table Axis No n Axis No n Axis No n Axis No n 1 0 5 4 9 8 13 12 2 1 6 5 10 9 14 13 3 2 7 6 11 10 15 14 4 3 8 7 12 11 16 15 Note 1 Calculate as follows for the buffer memory address corresponding to each axis Example For axis No 16 6001 1000n Da 10 M code Condition data No Number of LOOP to LEND repetitions 6001 1000 15 21001 Note 2 The range from ...

Page 225: ...h FWD P V 08H 09h RVS P V 09H 0Ah ABS Linear 2 0AH 0Bh INC Linear 2 0BH 0Ch Feed 2 0CH 0Dh ABS ArcMP 0DH 0Eh INC ArcMP 0EH 0Fh ABS ArcRGT 0FH 10h ABS ArcLFT 10H 11h INC ArcRGT 11H 12h INC ArcLFT 12H 13h FWD V2 13H 14h RVS V2 14H 15h ABS Linear 3 15H 16h INC Linear 3 16H 17h Feed 3 17H 18h FWD V3 18H 19h RVS V3 19H 1Ah ABS Linear 4 1AH 1Bh INC Linear 4 1BH 1Ch Feed 4 1CH 1Dh FWD V4 1DH 1Eh RVS V4 1...

Page 226: ...g value range differs according to the Da 2 Control method 0 2002 6000n 6002 1000n JUMP destination positioning data No Da 10 M code Condition data No Number of LOOP to LEND repetitions M code 0 2001 6000n 6001 1000n Condition data No Number of LOOP to LEND repetitions Axis to be interpolated Da 20 Axis to be interpolated No 1 LD77MS16 0 Axis 1 selected 1 Axis 2 selected 2 Axis 3 selected 3 Axis 4...

Page 227: ...Nos with one start signal The operation does not stop at each positioning data Da 2 Control method Set the control method for carrying out positioning control Note When JUMP instruction is set for the control method the Da 9 Dwell time JUMP destination positioning data No and Da 10 M code Condition data No Number of LOOP to LEND repetitions setting details will differ In case you selected LOOP as ...

Page 228: ...s 3 as the target axis partner axis 3 Selects the axis 4 as the target axis partner axis Note Do not specify the own axis number or any number except the above If you do the Illegal interpolation description command error will occur during the program execution error code 521 This item does not need to be set in case 3 or 4 axis interpolation is selected Da 6 Positioning address movement amount Se...

Page 229: ...t position Movement amount 30000 Movement amount 30000 Moves in negative direction Moves in positive direction 3 Speed position switching control INC mode Set the amount of movement after the switching from speed control to position control ABS mode Set the absolute address which will be the target value after speed control is switched to position control The unit is degree only Speed Movement amo...

Page 230: ...BH 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 speed 09H Set the movement amount 0 to 214748364 7 Set the movement amount 0 to 2...

Page 231: ...r 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 2 Forward run speed position 06H Reverse run speed position 07H In INC mode Set the movement amount 0 to 21474 83647 In ABS mode Set the address 0 to 359 99999 In INC mode S...

Page 232: ... 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 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 ...

Page 233: ...cular 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 Set the movement amount 2147483648 to 2147483647 1 Set an integer because the sequence program cannot handle fractions The value will be con...

Page 234: ...n control is possible is 536870912 10 1 m although the setting value can be input within the range shown in the above table as an arc address When Pr 1 Unit setting is degree No control method requires the setting of the arc address by degree When Pr 1 Unit setting is PLS The table below lists the control methods that require the setting of the arc address and shows the setting range With any cont...

Page 235: ...If the set command speed exceeds Pr 8 Speed limit value positioning will be carried out at the speed limit value 2 If 1 is set for the command speed the current speed speed set for previous positioning data No will be used for positioning control Use the current speed for uniform speed control etc If 1 is set for continuing positioning data and the speed is changed the following speed will also ch...

Page 236: ...tioning complete signal turns ON as the dwell time Positioning control Positioning complete signal OFF 2 When Da 1 Operation pattern is 01 Continuous positioning control Set the time from when positioning control ends to when the next positioning control starts as the dwell time Next positioning control 3 When Da 1 Operation pattern is 11 Continuous path control The setting value is irrelevant to ...

Page 237: ...nal JUMP to the positioning data specified by Da 9 1 to 10 JUMP performed according to the condition data No specified a number between 1 and 10 Make sure that you specify the number of LOOP to LEND repetitions by a number other than 0 The error Control method LOOP setting error error code 545 will occur if you specify 0 1 The condition data specifies the condition for the JUMP instruction to be e...

Page 238: ...s set as axis to be interpolated 0 Axis 1 8 Axis 9 1 Axis 2 9 Axis 10 2 Axis 3 A Axis 11 3 Axis 4 B Axis 12 4 Axis 5 C Axis 13 5 Axis 6 D Axis 14 6 Axis 7 E Axis 15 7 Axis 8 F Axis 16 Note Do not specify the own axis number If you do the error Illegal interpolation description command error code 521 will occur during the program execution When the same axis number or axis number of own axis is set...

Page 239: ...old frame Each axis has five start blocks block Nos 0 to 4 Note For information on the organization of the buffer memory addresses assigned to the start blocks 1 to 4 refer to Appendix 1 List of buffer memory addresses LD77MS16 22049 400n 22099 400n 50th point Setting item Buffer memory address 22001 400n 22051 400n 2nd point Setting item Buffer memory address n Axis No 1 22000 400n 22050 400n Sta...

Page 240: ...00 400n etc indicates a value corresponding to axis No such as the following table Axis No n Axis No n Axis No n Axis No n 1 0 5 4 9 8 13 12 2 1 6 5 10 9 14 13 3 2 7 6 11 10 15 14 4 3 8 7 12 11 16 15 Note 1 Calculate as follows for the buffer memory address corresponding to each axis Example For axis No 16 22000 400n Da 11 Shape 22000 400 15 28000 Note 2 The range from axis No 1 to 2 n 0 to 1 is v...

Page 241: ...on data 1 to 10 Supports the settings Supports the settings to to Maximum control axis No Condition data 1 to 10 7001 Axis 1 Start block 1 Condition data 1 to 10 to to Maximum control axis No Condition data 1 to 10 7002 Axis 1 Start block 2 Condition data 1 to 10 Supports the settings LD77MS2 LD77MS4 LD77MS16 to to Maximum control axis No Condition data 1 to 10 7003 Axis 1 Start block 3 Condition ...

Page 242: ...00 400n 1 Continue 1 Da 12 Start data No Positioning data No 1 to 600 01H to 258H 01H to 258H Da 13 Special start instruction 0 Block start normal start 00H b15 b11 b7 b0 b3 Special start instruction Parameter 0000H 26050 1000n 22050 400n 1 Condition start 01H 2 Wait start 02H 3 Simultaneous start 03H 4 FOR loop 04H 5 FOR condition 05H 6 NEXT start 06H Da 14 Parameter Condition data No 1 to 10 01H...

Page 243: ... conditions are established execute the block start data If not established stop the control wait until the conditions are established 03H Simultaneous start Simultaneous execute output command at same timing the positioning data with the No designated for the axis designated in the condition data Up to four axes can start simultaneously 04H Repeated start FOR loop Repeat the program from the bloc...

Page 244: ...mation on the organization of the buffer memory addresses assigned to the start blocks 1 to 4 refer to Appendix 1 List of buffer memory addresses LD77MS16 22190 400n 22191 400n 22192 400n 22193 400n 22194 400n 22195 400n 22196 400n 22197 400n No 10 Setting item Buffer memory address 22110 400n 22111 400n 22112 400n 22113 400n 22114 400n 22115 400n 22116 400n 22117 400n No 2 Setting item Buffer mem...

Page 245: ...n 22100 400n etc indicates a value corresponding to axis No such as the following table Axis No n Axis No n Axis No n Axis No n 1 0 5 4 9 8 13 12 2 1 6 5 10 9 14 13 3 2 7 6 11 10 15 14 4 3 8 7 12 11 16 15 Note 1 Calculate as follows for the buffer memory address corresponding to each axis Example For axis No 16 22100 400n Da 16 Condition operator 22100 400 15 28100 Note 2 The range from axis No 1 ...

Page 246: ...on data 1 to 10 Supports the settings Supports the settings to to Maximum control axis No Condition data 1 to 10 7001 Axis 1 Start block 1 Condition data 1 to 10 to to Maximum control axis No Condition data 1 to 10 7002 Axis 1 Start block 2 Condition data 1 to 10 Supports the settings LD77MS2 LD77MS4 LD77MS16 to to Maximum control axis No Condition data 1 to 10 7003 Axis 1 Start block 3 Condition ...

Page 247: ... 20H 30 Axis 1 and 2 selected 30H 40 Axis 3 selected 40H 50 Axis 1 and 3 selected 50H 60 Axis 2 and 3 selected 60H 70 Axis 1 2 and 3 selected 70H 80 Axis 4 selected 80H 90 Axis 1 and 4 selected 90H A0 Axis 2 and 4 selected A0H B0 Axis 1 2 and 4 selected B0H C0 Axis 3 and 4 selected C0H D0 Axis 1 3 and 4 selected D0H E0 Axis 2 3 and 4 selected E0H Da 17 Address Buffer memory address b0 b15 b16 b31 ...

Page 248: ...101 400n 3 3 axes 3H 4 4 axes 4H Da 24 Simultaneous starting axis No 1 LD77MS16 0 Axis 1 selected 1 Axis 2 selected 2 Axis 3 selected 3 Axis 4 selected 4 Axis 5 selected 5 Axis 6 selected 6 Axis 7 selected 7 Axis 8 selected 8 Axis 9 selected 9 Axis 10 selected A Axis 11 selected B Axis 12 selected C Axis 13 selected D Axis 14 selected E Axis 15 selected F Axis 16 selected 0H 1H 2H 3H 4H 5H 6H 7H 8...

Page 249: ...memory 2 word 01H P1 Select how to use the value in the buffer memory as a part of the condition 02H P1 03H P1 04H P1 05H P1 P2 06H P1 P2 05H Positioning data No 10H Axis 1 selected If simultaneous start is specified select the axis or axes that should start simultaneously LD77MS2 LD77MS4 20H Axis 2 selected 30H Axis 1 and 2 selected 40H Axis 3 selected 50H Axis 1 and 3 selected 60H Axis 2 and 3 s...

Page 250: ... 1 to 600 01H to 258H E0H Axis 2 3 and 4 selected LD77MS16 Set the parameters as required for the Da 16 Condition operator and Da 23 Number of simultaneous starting axes Da 16 Condition operator Da 23 Number of simultaneous starting axes Setting value Setting details 01H P1 Value The value of P1 should be equal to or smaller than the value of P2 P1 P2 If P1 is greater than P2 P1 P2 the error Condi...

Page 251: ...1 and 3 selected 60H Axis 2 and 3 selected 70H Axis 1 2 and 3 selected 80H Axis 4 selected 90H Axis 1 and 4 selected A0H Axis 2 and 4 selected B0H Axis 1 2 and 4 selected C0H Axis 3 and 4 selected D0H Axis 1 3 and 4 selected E0H Axis 2 3 and 4 selected LD77MS16 Set the parameters as required for the Da 16 Condition operator and Da 23 Number of simultaneous starting axes Da 16 Condition operator Da...

Page 252: ...ing axis No 1 3 axis interpolation Set the target axis number in Da 24 Simultaneous starting axis No 1 and Da 25 Simultaneous starting axis No 2 4 axis interpolation Set the target axis number in Da 24 Simultaneous starting axis No 1 to Da 26 Simultaneous starting axis No 3 Set the axis set as simultaneous starting axis 0 Axis 1 8 Axis 9 1 Axis 2 9 Axis 10 2 Axis 3 A Axis 11 3 Axis 4 B Axis 12 4 A...

Page 253: ...5 113 Chapter 5 Data Used for Positioning Control MEMO ...

Page 254: ... 9 14 13 3 2 7 6 11 10 15 14 4 3 8 7 12 11 16 15 Note 1 Calculate as follows for the buffer memory address corresponding to each axis Example For axis No 16 2406 100n Md 23 Axis error No 2406 100 15 3906 Note 2 The range from axis No 1 to 2 n 0 to 1 is valid in the LD77MS2 Note 3 The range from axis No 1 to 4 n 0 to 3 is valid in the LD77MS4 5 6 1 System monitor data Storage item Storage details M...

Page 255: ... value Default value Buffer memory address common for all axes LD77MS2 LD77MS4 LD77MS16 Monitoring is carried out with a decimal Storage value 0 Not in test mode 1 In test mode Monitor value 0 1200 4000 Unless noted in particular the monitor value is saved as binary data ...

Page 256: ...ast OPR Current value changing b15 b12 b8 b4 b0 B A C D Buffer memory Monitor value Positioning operation Stored contents Storage value Reference Decimal Start No A 0 0 0 to B C D 1 001 2 3 2 C 9004 2 3 3 2 9010 2 3 3 3 9011 2 3 2 9 9001 2 3 2 A 9002 2 3 2 B 9003 1 B 5 8 0 2 5 8 7000 1 B 5 9 7001 1 B 5 A 7002 1 B 5 B 7003 1 B 5 C 7004 600 Position control mode speed control mode switching Position...

Page 257: ...cord when a pointer No is reassigned Start history pointer Md 3 Start information Start Year month Start Day hour Start Minute second Error judgment 4092 Start No Indicates a pointer No that is next to the pointer No assigned to the latest of the existing starting history records Pointer No Md 4 Md 5 Md 6 Md 7 Md 54 1292 Md 8 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1213 1440 1214 1218 1441 1219 1220...

Page 258: ... 0 to 5 0 to 9 00 to 59 minute 0 to 9 Monitor value 9 4 0 7 Md 7 Error judgment Storage details This area stores the following results of the error judgment performed upon starting Warning flag BUSY start Control mode switching during BUSY Control mode switching during zero speed OFF Outside control mode range Control mode switching Error flag Error code Refresh cycle At start Reading the monitor ...

Page 259: ...en a pointer No is reassigned Start history pointer Md 3 Start information Start Year month Start Day hour Start Minute second Error judgment 4092 Start No Indicates a pointer No that is next to the pointer No assigned to the latest of the existing starting history records Pointer No Md 4 Md 5 Md 6 Md 7 Md 54 1292 Md 8 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1213 1440 1214 1218 1441 1219 1220 1223 1...

Page 260: ...decimal display Monitor value Detailed number Driver operation alarm Example When the driver operation alarm is 10H and the detailed number is 23H 1023H is displayed Md 55 Axis error occurrence Year month Stores the time Year month at which an axis error was detected Refresh cycle Immediate Monitoring is carried out with a hexadecimal display 0 b15 b12 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 b8 b4 b0 8 0 6 ...

Page 261: ... is assigned a pointer No Example Pointer No 0 Buffer memory addresses 1293 to 1296 1456 31300 Pointer No 1 Buffer memory addresses 1297 to 1300 1457 31301 4157 Md 13 Pointer No 15 Buffer memory addresses 4153 to 4156 4271 31315 Each group of buffer memory addresses storing a complete error history record is assigned a pointer No Example Pointer No 0 Buffer memory addresses 4093 to 4096 4256 31300...

Page 262: ...T setting is SSCNET Md 56 Axis warning occurrence Year month Stores the time Year month at which an axis warning was detected Refresh cycle Immediate Monitoring is carried out with a hexadecimal display 0 b15 b12 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 b8 b4 b0 8 0 6 0 Buffer memory stored with BCD code 0 to 9 0 to 9 0 to 1 01 to 12 month 0 to 9 Monitor value 8 0 0 6 00 to 99 year Md 16 Axis warning occurre...

Page 263: ...d a pointer No in the range between 0 and 15 If the pointer No 15 has been assigned to a new record the next record will be assigned the pointer number 0 A new record replaces an older record when a pointer No is reassigned Each group of buffer memory addresses storing a complete warning history record is assigned a pointer No Example Pointer No 0 Buffer memory addresses 1358 to 1361 1472 31316 Po...

Page 264: ...ection status of axis that set communication between amplifiers Refresh cycle Immediate Monitoring is carried out with a decimal display Monitor value Storage value 0 Search end 1 Searching Md 53 SSCNET control status Stores the connect disconnect status of SSCNET communication Refresh cycle Immediate Monitoring is carried out with a decimal display Monitor value Storage value 1 Disconnected axis ...

Page 265: ...for all axes LD77MS2 LD77MS4 LD77MS16 0 1424 1425 4224 4225 0 1431 4231 0 1432 4232 0 1434 4234 0 1433 4233 LD77MS2 3000H LD77MS4 3001H LD77MS16 3002H 31332 Monitors this buffer memory address too LD77MS2 LD77MS4 1435 LD77MS16 4235 Factory set product information 1206 1207 4006 4007 0 1211 4011 ...

Page 266: ...cimal display Monitor value Storage value 0 OFF 1 ON Operation cycle over occurred POINT Latch status of operation cycle over is indicated When this flag turns ON correct the positioning detail or change the operation cycle longer than current setting Md 134 Operation time Stores the time that took for operation every operation cycle Refresh cycle Operation cycle Monitoring is carried out with a d...

Page 267: ...5 127 Chapter 5 Data Used for Positioning Control Default value Buffer memory address common for all axes LD77MS2 LD77MS4 LD77MS16 0 1438 4238 0 1439 4239 0 1208 4008 0 1209 4009 ...

Page 268: ... 0 at the beginning of fixed feed control Even if degree is selected as the unit the addresses will become a cumulative value They will not have a ring structure for values between 0 and 359 99999 degrees However the machine feed value is restored with cumulating the machine feed value before the power supply OFF the rounded value within the range of 0 to 359 99999 to the movement amount during th...

Page 269: ...imal integer value Converted from hexadecimal to decimal 1 5 5 0 m m inch degree PLS Unit mm min inch min degree min m 2 3 0 PLS s Unit Unit conversion table Unit conversion Actual value High order buffer memory Low order buffer memory R 10m Md 20 Md 21 Unit conversion table Md 22 Current feed value Md 20 Machine feed value Md 21 Feedrate Md 22 3 When Pr 83 Speed control 10 x multiplier setting fo...

Page 270: ... an axis warning is reported a related warning code is stored This area stores the latest warning 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 Refresh cycle Immediate Md 25 Valid M code This area stores an M code that is currently active i e set ...

Page 271: ... 0 808 100n 2408 100n Monitoring is carried out with a decimal display Axis operation status 2 Step standby 1 Error 0 Standby 1 Stopped 2 Interpolation 3 JOG operation 4 Manual pulse generator operation 5 Analyzing 6 Special start standby 7 OPR 8 Position control 9 Speed control 10 Speed control in speed position switching control 11 Position control in speed position switching control 12 Position...

Page 272: ...ea stores Cd 14 New speed value For details of change speed function refer to Section 13 5 1 Refresh cycle Immediate Md 28 Axis feedrate The speed which is actually output as a command at that time in each axis is stored May be different from the actual motor speed 0 is stored when the axis is at a stop Refresh cycle Operation cycle POINT Refer to Md 22 Feedrate Md 29 Speed position switching cont...

Page 273: ...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 m inch degree PLS 1 5 5 0 m Unit mm min inch min degree min m 2 3 3 0 PLS s Unit Unit conversion table Unit conversion Actual value High order buffer memory Low o...

Page 274: ...it signal Upper limit signal Stop signal External command signal switching signal Near point dog signal This area stores the states of the external input signal servo amplifier or buffer memory of LD77MS set by Pr 80 External input signal selection This area stores the states of the buffer memory of LD77MS regardless of the setting of Pr 80 External input signal selection Refresh cycle Operation c...

Page 275: ... carried out with a hexadecimal b15 b0 b4 b8 b12 0 0 0 0 0 0 0 0 0 OFF 1 ON 0 b0 b1 b2 b3 b4 b5 b6 b7 Monitor value Buffer memory Not used Default value Stored items Meaning Not used Not used Near point dog signal Stop signal Upper limit signal Lower limit signal External command signal switching signal 0 Not used 0000H 816 100n 2416 100n n Axis No 1 ...

Page 276: ...eration completes normally This signal goes OFF when the operation start Position speed switching latch flag This signal is used during the position speed switching control for interlocking the command speed change function During the position speed switching control this signal comes ON when speed control takes over This signal goes OFF when the next positioning data is processed and during JOG o...

Page 277: ...0 0 OFF 1 ON b0 b1 b2 b3 b4 b5 b9 b10 Monitor value Buffer memory Not used Stored items Meaning Not used In speed control flag Speed position switching latch flag Command in position flag OPR request flag OPR complete flag Axis warning detection Speed change 0 flag Position speed switching latch flag 0 0 0 8 Default value b12 b13 b14 b15 M code ON Error detection Start complete Positioning complet...

Page 278: ...address During interpolation of speed control The target speeds of each axis are stored in the monitor of the reference axis and interpolation axis During JOG operation The actual target speed considering the JOG speed limit value for the JOG speed is stored During manual pulse generator operation 0 is stored Refresh cycle Immediate POINT The target speed is when an override is made to the command...

Page 279: ...15 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 m inch degree PLS 1 5 5 0 m Unit mm min inch min degree min m 2 3 3 0 PLS s Unit Unit conversion table Unit conversion Actual value High order buffer memory Low order buffer memory R 10m Unit c...

Page 280: ...Torque limit setting value or Cd 101 Torque output setting value is stored However Pr 54 OPR torque limit value is stored after the speed reaches Pr 47 Creep speed Refresh cycle Immediate Md 36 Special start data instruction code setting value The instruction code used with special start and indicated by the start data pointer currently being executed is stored Refresh cycle Immediate Md 37 Specia...

Page 281: ...l start 01 Condition start 02 Wait start 03 Simultaneous start 04 FOR loop 05 FOR condition 06 NEXT Storage value Monitor value 0 827 100n 2427 100n Monitoring is carried out with a decimal display Storage value Monitor value setting value Md 36 00 06 01 02 03 05 04 1 to 10 0 to 255 Stored contents Storage value None None Condition data No Number of repetitions 0 828 100n 2428 100n Monitoring is c...

Page 282: ...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 Refresh cycle Immediate Md 42 Control system repetition counter This area stores the remaining number of repetitions during repetitions specific to control system The count is decremented by one 1 at the loop start The loop is terminated with the posit...

Page 283: ...nge ON 0 831 100n 2431 100n Monitoring is carried out with a decimal display Monitor value Storage value 0 to 255 0 832 100n 2432 100n Monitoring is carried out with a hexadecimal display Monitor value Storage value 0 to FFFF 0000H 833 100n 2433 100n Monitoring is carried out with a decimal display Monitor value Storage value 1 to 50 0 834 100n 2434 100n Monitoring is carried out with a decimal di...

Page 284: ...tioning data being executed The addresses shown to the right store details of the positioning data currently being executed positioning data No given by Md 44 Refresh cycle Immediate Md 48 Deceleration start flag 1 is stored when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is Positioning complete 0 is stored a...

Page 285: ...ng identifier Da 1 to Da 5 Da 1 to Da 4 839 100n 2439 100n M code Condition data No Number of LOOP to LEND repetitions Da 10 Da 10 840 100n 2440 100n Dwell time JUMP destination positioning data No Da 9 Da 9 2441 100n Axis to be interpolated Da 20 to Da 22 842 100n 2442 100n Command speed Da 8 Da 8 843 100n 2443 100n 844 100n 2444 100n Positioning address Da 6 Da 6 845 100n 2445 100n 846 100n 2446...

Page 286: ... cycle Operation cycle Md 102 Deviation counter value This area stores the droop pulse Buffer memory details PLS Refresh cycle Operation cycle Md 103 Motor rotation speed This area stores the motor speed updated in real time Buffer memory 0 1 r min 1 1 The unit is mm s at linear servo use Refresh cycle Operation cycle Md 104 Motor current value This area stores the present motor current value of t...

Page 287: ... Real current value Md 102 Deviation counter value Md 103 Motor rotation speed Unit conversion table Md 103 0 m Unit 1 m Unit 1 0000H 848 100n 849 100n 2448 100n 2449 100n 0000H 850 100n 851 100n 2450 100n 2451 100n 0000H 852 100n 853 100n 2452 100n 2453 100n 0000H 854 100n 855 100n 2454 100n 2455 100n Monitoring is carried out with a decimal display R Md 104 Motor current value Decimal integer va...

Page 288: ...r than the servo parameter zero speed Speed limit Turns ON during the speed limit in torque control mode PID control Turns ON when the servo amplifier is PID control READY ON Indicates the ready ON OFF Servo ON Indicates the servo ON OFF Control mode Indicates the control mode of the servo amplifier Gain switching Turns ON during the gain switching Fully closed loop control Turns ON during the ful...

Page 289: ...1 to PS32 232 PA19 0 870 100n 2470 100n Monitoring is carried out with a hexadecimal display b15 b12 b8 b4 b0 b0 b3 0 OFF 1 ON Zero point pass Zero speed Stored items Meaning b4 Speed limit b8 PID control 0000H 876 100n 2476 100n Monitoring is carried out with a hexadecimal display b15 b12 b8 b4 b0 b0 b1 0 OFF 1 ON Stored items Meaning READY ON Servo ON b3 b2 Control mode b7 b12 b13 b14 In positio...

Page 290: ...etting Refresh cycle Operation cycle Md 111 Peak torque ratio Optional data monitor output 3 The maximum torque is indicated Holding value The peak values for the past 15 seconds are indicated rated torque being 100 Buffer memory This area stores the content set in Pr 93 Optional data monitor Data type setting 3 at optional data monitor data type setting Refresh cycle Operation cycle Md 112 Option...

Page 291: ...ut with a decimal display Monitor value Peek torque ratio Optional data monitor output 3 0 880 100n 2480 100n Monitoring is carried out with a decimal display Monitor value Optional data monitor output 4 0 881 100n 2481 100n Monitoring is carried out with a decimal display Semi Fully closed loop status 0 In semi closed loop control 1 In fully closed loop control Monitor value 0 887 100n 2487 100n ...

Page 292: ...rator operation Pr 17 Torque limit setting value or Cd 101 Torque output setting value is stored When a value is set in Cd 22 New torque value forward new torque value or Cd 113 New reverse torque value during operation Cd 22 New torque value forward new torque value is stored when 0 is set in Cd 112 Torque change function switching request Cd 113 New reverse torque value is stored when 1 is set i...

Page 293: ...coder Connecting to magnetism type encoder 0 Multi revolution ABS INC 1 Single revolution ABS 0 No connection 1 Magnetism type encoder Servo amplifier compatible with direct drive motor use Refer to each servo amplifier instruction manual for details Compatible with continuous operation to torque control 0 Incompatible 1 Compatible Compatible with scale measurement mode 0 Incompatible 1 Compatible...

Page 294: ...g torque control mode Buffer memory 0 1 This area stores the command torque during continuous operation to torque control mode 0 is stored other than during torque control mode or continuous operation to torque control mode Refresh cycle Operation cycle Torque control mode and continuous operation to torque control mode only Md 124 Control mode switching status This area stores the switching statu...

Page 295: ...493 100n 0 894 100n 2494 100n Monitoring is carried out with a decimal display Control mode switching status 0 Not during control mode switching 1 Position control mode continuous operation to torque control mode speed control mode continuous operation to torque control mode switching 2 Waiting for the completion of control mode switching condition Monitor value 0 895 100n 2495 100n Monitoring is ...

Page 296: ...5 156 Chapter 5 Data Used for Positioning Control Storage item Storage details Md 502 Driver operation alarm number This area stores the driver operation alarm number Refresh cycle Immediate ...

Page 297: ... value Buffer memory address LD77MS2 LD77MS4 LD77MS16 Monitoring is carried out with a hexadecimal display Monitor value Detailed number Driver operation alarm Example When the driver operation alarm is 10H and the detailed number is 23H 1023H is displayed 0000H 59302 100n n Axis No 1 ...

Page 298: ...y area but also parameters and servo parameters to the flash ROM internal memory nonvolatile Fetch cycle 103 ms POINT 1 Do not turn the power OFF or reset the PLC CPU while writing to the flash ROM If the power is turned OFF or the PLC CPU is reset to forcibly end the process the data backed up in the flash ROM will be lost 2 Do not write the data to the buffer memory before writing to the flash R...

Page 299: ...ash ROM The Simple Motion module resets the value to 0 automatically when the write access completes This indicates the completion of write operation 1 0 1900 5900 Set with a decimal Setting value K Parameter initialization request 1 Requests parameter initialization The Simple Motion module resets the value to 0 automatically when the initialization completes This indicates the completion of para...

Page 300: ...id Fetch cycle At PLC READY ON POINT The Cd 41 Deceleration start flag valid become valid when the PLC READY signal Y0 turns from OFF to ON Cd 42 Stop command processing for deceleration stop selection Set the stop command processing for deceleration stop function deceleration curve re processing deceleration curve continuation Fetch cycle At deceleration stop causes occurrence ...

Page 301: ...D77MS4 LD77MS16 Set with a decimal Setting value K Deceleration start flag valid 0 Deceleration start flag invalid 1 Deceleration start flag valid 0 1905 5905 Set with a decimal Setting value K Stop command processing for deceleration stop selection 0 Deceleration curve re processing 1 Deceleration curve continuation 0 1907 5907 ...

Page 302: ...n device Axis 1 to 16 Operate the stop signal input status of LD77MS when 1 is set in Pr 80 External input signal selection Operate the external input signal status Upper lower limit signal near point dog signal stop signal of LD77MS when 2 is set in Pr 80 External input signal selection Fetch cycle Operation cycle ...

Page 303: ...limit signal FLS Axis 12 Lower limit signal RLS Axis 12 Near point dog signal DOG Axis 12 STOP signal STOP Axis 13 Upper limit signal FLS Axis 13 Lower limit signal RLS Axis 13 Near point dog signal DOG Axis 13 STOP signal STOP Axis 14 Upper limit signal FLS Axis 14 Lower limit signal RLS Axis 14 Near point dog signal DOG Axis 14 STOP signal STOP Axis 15 Upper limit signal FLS Axis 15 Lower limit ...

Page 304: ...nitialized setting data Fetch cycle 103 ms Note After completing the initialization of setting data switch the power ON or reset the PLC CPU Cd 102 SSCNET control command Set the connect disconnect command of SSCNET communication Fetch cycle 3 5 ms Cd 137 Amplifier less operation mode switching request Set the switching request of the normal operation mode and amplifier less operation mode Fetch c...

Page 305: ...H initial value setting 0 1909 5909 Set with a decimal SSCNET control command 0 No command Axis No Note 1 Disconnect command of SSCNET communication Axis No to be disconnected 2 Execute command 10 Connect command of SSCNET communication Except above setting Invalid Note 1 LD77MS2 1 to 2 LD77MS4 1 to 4 LD77MS16 1 to 16 Setting value K 0 1932 5932 Set with a hexadecimal Setting value Amplifier less ...

Page 306: ...xis operation state of Simple Motion module is in error occurrence the error is cleared and the Simple Motion module is returned to the waiting state Clears the both of Simple Motion module errors and servo amplifier errors by axis error reset Some servo amplifier alarms cannot be reset even if error reset is requested At the time 0 is not stored in Cd 5 by the Simple Motion module It remains 1 Se...

Page 307: ... The Simple Motion module resets the value to 0 automatically when the continuous operation is interrupted 1 to 50 0 1501 100n 4301 100n Set with a decimal K 1 Error reset request Setting value The Simple Motion module resets the value to 0 automatically after the axis error reset is completed Indicates that the axis error reset is completed 1 Axis error is reset 0 1502 100n 4302 100n Set with a d...

Page 308: ... to the Pr 1 Unit setting Pr 1 Unit setting mm 10 1 µm inch 10 5 inch degree 10 5 degree PLS PLS Setting range 2147483648 to 2147483647 2147483648 to 2147483647 0 to 35999999 2147483648 to 2147483647 Fetch cycle At change request Cd 10 New acceleration time value When changing the acceleration time during a speed change use this data item to specify a new acceleration time Cd 10 setting range unit...

Page 309: ...and valid 0 Invalidates an external command 1 Validates an external command K 0 1505 100n 4305 100n Set with a decimal Actual value Conversion into an integer value Cd 9 New current value 10m Unit conversion table Cd 9 m 1 5 5 0 inch degree PLS Unit R Setting value Decimal m 0 1506 100n 1507 100n 4306 100n 4307 100n Set with a decimal Cd 10 New acceleration time value Cd 11 New deceleration time v...

Page 310: ...d to the minimum unit and the warning Less than minimum speed warning code 110 occurs Fetch cycle Operation cycle Cd 14 New speed value When changing the speed use this data item to specify a new speed The operation halts if you specify 0 The setting value range differs according to the Pr 1 Unit setting Pr 1 Unit setting mm 10 2 mm min inch 10 3 inch min degree 10 3 degree min PLS PLS s Setting r...

Page 311: ...th a decimal Actual value Conversion into an integer value Cd 14 New speed value 10m Unit conversion table Cd 14 m mm min inch min degree min 2 3 3 0 PLS s Unit R Setting value Decimal Example When the Cd 14 New speed value is set as 20000 00mm min the buffer memory stores 2000000 When Pr 83 Speed control 10 x multiplier setting for degree axis is valid 2 0 1514 100n 1515 100n 4314 100n 4315 100n ...

Page 312: ...t the JOG speed The setting value range differs according to the Pr 1 Unit setting Pr 1 Unit setting mm 10 2 mm min inch 10 3 inch min degree 10 3 degree min PLS PLS s Setting range 1 to 2000000000 1 to 2000000000 1 to 2000000000 1 to 1000000000 When Pr 83 Speed control 10 x multiplier setting for degree axis is valid this will be the setting range 1 to 2000000000 10 2 degree min Fetch cycle At st...

Page 313: ...speed 10m Unit conversion table Cd 17 mm min inch min degree min m 2 3 3 0 PLS s Unit R Setting value Decimal Example When the Cd 17 JOG speed is set as 20000 00mm min the buffer memory stores 2000000 When Pr 83 Speed control 10 x multiplier setting for degree axis is valid 2 0 1518 100n 1519 100n 4318 100n 4319 100n Set with a decimal Setting value Interruption request continuous operation 1 Inte...

Page 314: ...ual pulse generator enable flag This data item enables or disables operations using a manual pulse generator Fetch cycle Operation cycle Cd 22 New torque value forward new torque value When 0 is set to Cd 112 Torque change function switching request a new torque limit value is set This value is set to the forward torque limit value and reverse torque limit value When 1 is set to Cd 112 Torque chan...

Page 315: ...dicates the completion of OPR request flag OFF request 1 0 1521 100n 4321 100n Set with a decimal K Manual pulse generator 1 pulse input magnification 1 to 10000 Setting value 1 1522 100n 1523 100n 4322 100n 4323 100n Set with a decimal Setting value Manual pulse generator enable flag 0 Disable manual pulse generator operation 1 Enable manual pulse generator operation K 0 1524 100n 4324 100n Set w...

Page 316: ...position switching enable flag Set whether the switching signal set in Cd 45 Speed position switching device selection is enabled or not Fetch cycle At switching request Cd 25 Position speed switching control speed change register During the position control stage of the position speed switching control it is possible to change the specification of the speed during the speed control stage For that...

Page 317: ...ag 0 Speed control will not be taken over by position control even when the signal set in Speed position switching device selection comes ON 1 Speed control will be taken over by position control even when the signal set in Speed position switching device selection comes ON Cd 45 Cd 45 0 1528 100n 4328 100n Set with a decimal 10m Actual value mm min inch min degree min m 2 3 3 0 PLS s Unit R Setti...

Page 318: ...INC 2147483648 to 2147483647 2147483648 to 2147483647 2147483648 to 2147483647 2147483648 to 2147483647 Fetch cycle At change request Cd 28 Target position change value New speed When changing the target position during a positioning operation use this data item to specify a new speed The speed will not change if 0 is set The setting value range differs according to the Pr 1 Unit setting Pr 1 Unit...

Page 319: ...ree min m 2 3 3 0 PLS s Unit Conversion into an integer value Unit conversion table Cd 27 Unit conversion table Cd 28 Cd 27 Target position change value New address Cd 28 Target position change value New speed Example If Cd 28 Target position change value New speed is set as 10000 00 mm min the buffer memory stores 1000000 When Pr 83 Speed control 10 x multiplier setting for degree axis is valid 2...

Page 320: ...art data No axis 3 start data No LD77MS4 Use these data items to specify an axis 3 start data No for each axis that has to start simultaneously Set 0 to any axis that should not start simultaneously Fetch cycle At start Simultaneous starting axis start data No 2 LD77MS16 Use these data items to specify a start data No 2 for each axis that has to start simultaneously Note For 2 axis simultaneous st...

Page 321: ...600 LD77MS16 use Cd 30 Simultaneous starting own axis start data No Cd 31 Cd 33 to Simultaneous starting axis start data No 1 to 600 LD77MS2 use Cd 30 Cd 31 Simultaneous starting axis start data No 1 to 600 0 1540 100n 4340 100n 0 1541 100n 4341 100n 0 1542 100n 4342 100n 0 1543 100n 4343 100n Set with a decimal Setting value Step mode 0 Stepping by deceleration units 1 Stepping by data No units K...

Page 322: ...n this data item Fetch cycle Operation cycle During positioning operation Cd 38 Teaching data selection This data item specifies the teaching result write destination Data are cleared to zero when the teaching ends Fetch cycle At operation request Cd 39 Teaching positioning data No This data item specifies data to be produced by teaching If a value between 1 and 600 is set a teaching operation is ...

Page 323: ... step start request completes 0 1546 100n 4346 100n Set with a decimal Setting value Skip request 1 K The Simple Motion module resets the value to 0 automatically when processing of the skip request completes 1 Issues a skip request to have the machine decelerate stop and then start the next positioning operation 0 1547 100n 4347 100n Set with a decimal Setting value Teaching data selection K 0 Ta...

Page 324: ...s No or the value outside the range is set to the number of simultaneous starting axes the error Error before simultaneous start error code 501 occurs and the operation is not executed Note Do not set the simultaneous starting axis No 2 and 3 for 2 axis interpolation and do not set the simultaneous starting axis No 3 for 3 axis interpolation The setting value is ignored Fetch cycle At start Cd 45 ...

Page 325: ...for switching from speed control to position control 1 Use the near point dog signal for switching from speed control to position control 2 Use Speed position switching command for switching from speed control to position control Position speed switching control 0 Use the external command signal for switching from position control to speed control 1 Use the near point dog signal for switching from...

Page 326: ...t the PLC READY signal rising edge The Cd 101 Torque output setting value refer to the start axis control data can be changed at all times Therefore in the Cd 101 Torque output setting value is used when you must change Refer to Section 13 5 4 Torque change function Cd 108 Gain switching command flag The command required to carry out gain switching of the servo amplifier from the Simple Motion mod...

Page 327: ...351 100n Set with a decimal Setting value K Torque output setting 0 to 1000 0 1552 100n 4352 100n Set with a decimal Setting value Gain switching command flag 0 Gain switching command OFF 1 Gain switching command ON K 0 1559 100n 4359 100n Set with a decimal Setting value Torque change function switching request 0 Forward reverse torque limit value same setting 1 Forward reverse torque limit value...

Page 328: ...ue is invalid when 0 is set and Pr 17 Torque limit setting value or Cd 101 Torque output setting value becomes valid The range of torque change is 1 to Pr 17 Torque limit setting value Fetch cycle Operation cycle Cd 130 Servo parameter write request Set the write request of servo parameter Set 1 or 2 after setting Cd 131 Parameter No and Cd 132 Change data Fetch cycle Main cycle Note 1 Note 1 Cycl...

Page 329: ... 1 and 2 Not request The Simple Motion module resets the value to 0 automatically when the parameter write access completes The Simple Motion module resets the value to 3 at writing failure 0 1554 100n 4354 100n Set with a hexadecimal Writing mode 0 Write to RAM Setting value H Parameter No setting 01h to 40h 0 Parameter group 0 PA group 1 PB group 2 PC group 3 PD group 4 PE group 5 PF group 9 Po ...

Page 330: ...e data Set the change value of servo parameter set in Cd 131 Parameter No Fetch cycle At change request Cd 133 Semi Fully closed loop switching request Set the switching of semi closed control and fully closed control Fetch cycle Operation cycle Fully closed loop control servo amplifier only ...

Page 331: ... When 2 is set in Cd 130 Servo parameter write request set the change value to high order buffer memory and low order buffer memory A B C D E F G H b15 b12 b4 b0 b8 E F G H b15 b12 b4 b0 b8 A B C D Setting value Low order buffer memory Example 1556 High order buffer memory Example 1557 A B C D E F G H High order buffer memory Low order buffer memory 0 1556 100n 1557 100n 4356 100n 4357 100n Set wi...

Page 332: ...peed at speed control mode Set the command speed at speed control mode The setting value range differs according to the Pr 1 Unit setting Pr 1 Unit setting mm 10 2 mm min inch 10 3 inch min degree 10 3 degree min PLS PLS s Setting range 2000000000 to 2000000000 2000000000 to 2000000000 2000000000 to 2000000000 1000000000 to 1000000000 When Pr 83 Speed control 10 x multiplier setting for degree axi...

Page 333: ...ting value K Control mode setting 0 Position control mode 10 Speed control mode 20 Torque control mode 30 Continuous operation to torque control mode 0 1575 100n 4375 100n Set with a decimal Actual value Conversion into an integer value 10m mm min inch min degree min PLS s Unit R Setting value m 2 3 0 3 Cd 140 Command speed at speed control mode Unit conversion table Cd 140 Pr 83 When Speed contro...

Page 334: ...from 0 to Pr 17 Torque limit setting value 0 to 65535 ms Fetch cycle At control mode switching Cd 145 Torque time constant at torque control mode Negative direction Set the time constant at regeneration during torque control mode Set the time for the torque to decrease from Pr 17 Torque limit setting value to 0 0 to 65535 ms Fetch cycle At control mode switching Cd 146 Speed limit value at torque ...

Page 335: ...lue K Torque time constant at torque control mode Forward direction ms 0 to 65535 1000 1581 100n 4381 100n Set with a decimal Setting value K Torque time constant at torque control mode Negative direction ms 0 to 65535 1000 1582 100n 4382 100n Set with a decimal Actual value Conversion into an integer value 10m m 2 mm min 3 inch min degree min 0 PLS s Unit R Setting value 3 Cd 146 Speed limit valu...

Page 336: ...ous operation to torque control mode Set the time for the speed to increase from 0 to Pr 8 Speed limit value 0 to 65535 ms Fetch cycle At control mode switching Cd 149 Deceleration time at continuous operation to torque control mode Set the deceleration time at continuous operation to torque control mode Set the time for the speed to decrease from Pr 8 Speed limit value to 0 0 to 65535 ms Fetch cy...

Page 337: ... mode 0 1586 100n 1587 100n 4386 100n 4387 100n Set with a decimal Setting value K Acceleration time at continuous operation to torque control mode ms 0 to 65535 1000 1588 100n 4388 100n Set with a decimal Setting value K Deceleration time at continuous operation to torque control mode ms 0 to 65535 1000 1589 100n 4389 100n Set with a decimal Setting value K Target torque at continuous operation t...

Page 338: ... Cd 154 Control mode auto shift parameter after switching request to continuous operation to torque control mode 2 Real current value pass Switching is executed when Md 101 Real current value passes the address set in Cd 154 Control mode auto shift parameter after switching request to continuous operation to torque control mode Fetch cycle At control mode switching Cd 154 Control mode auto shift p...

Page 339: ...s 0 to 65535 1000 1592 100n 4392 100n Set with a decimal Setting value K Control mode auto shift selection 0 No switching condition 1 Current feed value pass 2 Real current value pass 0 1593 100n 4393 100n Set with a decimal Actual value Conversion into an integer value 10m R Setting value Unit conversion table Cd 154 Cd 154 Control mode auto shift parameter m inch degree m 1 5 5 0 PLS Unit 0 1594...

Page 340: ...s ON all axes in the interpolation control will decelerate and stop Fetch cycle Operation cycle Cd 181 Forward run JOG start LD77MS16 When the JOG start signal is ON JOG operation will be carried out at the Cd 17 JOG speed When the JOG start signal turns OFF the operation will decelerate and stop When inching movement amount is set the designated movement amount is output for one operation cycle a...

Page 341: ...is stop requested Other than 1 Axis stop not requested 0 30100 10n Set with a decimal Setting value K Forward run JOG start Reverse run JOG start 1 JOG started Other than 1 JOG not started 0 30101 10n 0 30102 10n Set with a decimal Setting value K Execution prohibition flag 1 During execution prohibition Other than 1 Not during execution prohibition 0 30103 10n n Axis No 1 ...

Page 342: ...5 202 Chapter 5 Data Used for Positioning Control MEMO ...

Page 343: ...ram for starting the various controls must be created The first half of this chapter explains the program configuration of general control and the latter half explains the program details Create the required program while referring to the various control details explained in Section 2 and to Chapter 5 Data Used for Positioning Control 6 1 Precautions for creating program 6 2 6 2 List of devices us...

Page 344: ...itioning data during continuous path control or continuous positioning control 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 m...

Page 345: ... Simple Motion module There are two methods for communication with the Simple Motion module using the sequence program a method using an intelligent function device and a method using a FROM TO command In the sequence program in this chapter and subsequent the program example using the intelligent function device is shown without using a FROM TO command for communication with the Simple Motion mod...

Page 346: ...D100 K1 H6 K1 X0C X0C U0 Set the same device 0 0 c When the circuit uses the intelligent function device for a COMPARISON command change the command to a FROM command and a COMPARISON command RST M0 M0 FROMP D102 M0 K1521 H0 K1 RST M0 G1521 K0 D102 K0 0 0 Data read out U0 d When the circuit uses the intelligent function device for a WAND command change the command to a FROM command and a WAND comm...

Page 347: ...100 0 M29 0 X10 Stop com mand pul se BUSY sig nal LD7 7MS16 ax is 1 b When using index modification Axis sto p signal LD77MS1 6 axis 1 M29 SET Y4Z0 0 X0CZ0 Stop com mand pul se Axis sto p signal LD77MS4 axis 1 BUSY sig nal LD7 7MS4 axi s 1 M29 0 X10Z0 Stop com mand pul se BUSY sig nal LD7 7MS16 ax is 1 MOV K1 G30100Z1 U0 Z0 Axis No 1 Z0 Axis No 1 Z1 Axis No 1 10 REMARK Refer to the MELSEC L CPU Mo...

Page 348: ...ADY signal PLC CPU preparation completed Y1 All axis servo ON signal All axis servo ON signal Y4 Y5 Y6 Y7 Axis stop signal Requesting stop Y8 YA YC YE Forward run JOG start signal Starting forward run JOG Y9 YB YD YF Reverse run JOG start signal Starting reverse run JOG Y10 Y11 Y12 Y13 Positioning start signal Requesting start Y14 Y15 Y16 Y17 Execution prohibition request Execution prohibition Ext...

Page 349: ...Commanding teaching X3A Continuous operation interrupt command Commanding continuous operation interrupt X3B Restart command Commanding restart X3C Parameter initialization command Commanding parameter initialization X3D Flash ROM write command Commanding flash ROM write X3E Error reset command Commanding error reset X3F Stop command Commanding stop X40 Position speed switching operation command P...

Page 350: ... override M14 Acceleration deceleration time change command Requesting acceleration deceleration time change M15 Torque change command Requesting torque change M16 Step operation command pulse Step operation commanded M17 Skip command pulse Skip commanded M18 Skip command storage Skip command held M19 Teaching command pulse Teaching commanded M20 Teaching command storage Teaching command held M21 ...

Page 351: ...ication Details of storage Axis 1 Axis 2 Axis 3 Axis 4 Data register D0 OPR request flag Md 31 Status b3 D1 Speed low order 16 bits Cd 25 Position speed switching control speed change register D2 Speed high order 16 bits D3 Movement amount low order 16 bits Cd 23 Speed position switching control movement amount change register D4 Movement amount high order 16 bits D5 Inching movement amount Cd 16 ...

Page 352: ...mode D21 Step valid flag Cd 35 Step valid flag D22 Step start information D23 Target position low order 16 bits Cd 27 Target position change value New address D24 Target position high order 16 bits D25 Target speed low order 16 bits Cd 28 Target position change value New speed D26 Target speed high order 16 bits D27 Target position change request Cd 29 Target position change request flag D30 ZP PS...

Page 353: ...ruction D74 Point 2 special start instruction D75 Point 3 special start instruction D76 Point 4 special start instruction D77 Point 5 special start instruction D78 Torque change value D79 Error code Md 23 Axis error No D80 Servo series Pr 100 Servo series D81 Absolute position system valid invalid Absolute position detection system PA03 D85 Return home position method Pr 43 OPR method D100 Positio...

Page 354: ... Axis to be interpolated Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP destination positioning data No Da 10 M code Condition data No Number of LOOP to LEND repetitions D121 M code D122 Dwell time D123 Dummy D124 Command speed low order 16 bits D125 Command speed high order 16 bits D126 Positioning address low order 16 bits D127 Positioning addre...

Page 355: ...Axis to be interpolated Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP destination positioning data No Da 10 M code Condition data No Number of LOOP to LEND repetitions D151 M code D152 Dwell time D153 Dummy D154 Command speed low order 16 bits D155 Command speed high order 16 bits D156 Positioning address low order 16 bits D157 Positioning addres...

Page 356: ...der 16 bits D207 Positioning address high order 16 bits D208 Arc address low order 16 bits D209 Arc address high order 16 bits D240 Positioning identifier Data No 15 Da 1 Operation pattern Da 2 Control method Da 3 Acceleration time No Da 4 Deceleration time No Da 5 Axis to be interpolated Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP destination ...

Page 357: ...U0 G1517 Inching movement amount Cd 16 Inching movement amount U0 G1520 Interrupt request during continuous operation Cd 18 Interrupt request during continuous operation U0 G1521 OPR request flag OFF request Cd 19 OPR request flag OFF request U0 G1524 Manual pulse generator enable flag Cd 21 Manual pulse generator enable flag U0 G1526 Speed position switching control movement amount Cd 23 Speed po...

Page 358: ...n of the positioning control operation program is shown below Parameter and data are Set using GX Works2 Set using the sequence program Initialization program Parameter and data setting program Start details setting program Start program JOG operation program Manual pulse generator operation program Sub program Stop program Completion of program creation Start of program creation Inching operation...

Page 359: ...tion program that matches the positioning system Numbers are assigned to the following programs Configuring the program in the order of these numbers is recommended No 1 No 2 No 3 Start of program creation Servo parameter No 4 Set using GX Works2 Set using sequence program TO command Parameter and data are Positioning data setting program Block start data setting program Parameter and data setting...

Page 360: ...e No 28 Error reset program Yes Absolute system No Continued on next page Carried out OPR request OFF program External command function valid setting program PLC READY signal Y0 ON program Refer to Section 6 5 1 Refer to Section 6 5 1 Not carried out OPR is Initialization program Required Required No Yes Continued from previous page ...

Page 361: ... 4 Refer to Section 11 4 4 Program to turn the M code ON signal OFF Start details setting program Start program JOG operation program Manual pulse generator operation program Continued on next page No 14 No 13 Inching operation program Refer to Section 11 3 4 Inching operation program No 14 Program required to carry out OPR control Major positioning control High level positioning control Expansion...

Page 362: ...ration interrupt program Refer to Section 13 5 1 Refer to Section 13 5 3 Refer to Section 13 5 4 Refer to Section 13 7 1 Refer to Section 13 7 2 Refer to Section 13 7 4 Refer to Section 6 5 4 Refer to Section 6 5 5 Refer to Section 14 2 Refer to Section 14 3 Refer to Section 13 5 2 Refer to Section 6 5 6 Program required to reset errors Sub program Continued from previous page Stop program End of ...

Page 363: ...gram DMOVP K50000 Movement amount low ord er 16 bi Changing of movement amount Setting of unit No 1 Parameter setting program For basic parameters Axis 1 OPR parameter DMOVP K9000 Speed low orde r 16 bit s Changing of speed setting D1 D3 MOVP K0 Unit set ting D50 Setting of unit magnification MOVP K1 Unit mag nificati on AM D51 Setting of No of pulses per ro DMOVP K4194304 No of pu lses per rotati...

Page 364: ...ters 1 setting compl SET M50 Paramete r settin g comple te devic Setting of movement amount per r K4 K9000000 K1 DTOP H0 Setting of Unit setting K0 K2 K1 TOP H0 Speed limit value K10 K20000000 K1 DTOP H0 S W stroke limit upper limit K18 K0 K1 DTOP H0 S W stroke limit lower limit K20 K0 K1 DTOP H0 Current feed value of the speed K30 K1 K1 TOP H0 Speed position function selectio K34 K2 K1 TOP H0 JOG...

Page 365: ... ABS Acceleration time No 1 deceleration time No 2 MOVP H190 Position ing iden tefier Setting of positioning indetifie D100 D101 MOVP K300 Dwell ti me D102 Dummy data MOVP K0 Dummy D103 Setting of command speed DMOVP K2000 Command speed D104 Command speed DMOVP K1200000 D104 Command speed K27000000 D106 Positioning address DMOVP SM402 ON for 1 scan onl y after RUN 138 Positioning address DMOVP K 1...

Page 366: ...attern Positioning terminated Control method Speed position switching control Forward Acceleration time No 0 deceleration time No 0 MOVP K0 M code Setting of M code Setting of dwell time MOVP H600 Setting of positioning identifie D110 D111 MOVP K300 Dwell ti me D112 Dummy data MOVP K0 Dummy D113 Setting of command speed DMOVP K18000 Command speed D114 Command speed SM402 ON for 1 scan onl y after ...

Page 367: ... terminated Control method Position speed switching control Forward Acceleration time No 0 deceleration time No 0 MOVP K0 M code Setting of M code Setting of dwell time MOVP H800 Setting of positioning identifie D120 D121 MOVP K300 Dwell ti me D122 Dummy data MOVP K0 Dummy D123 SM402 ON for 1 scan onl y after RUN 244 K2010 Position ing iden tifier Positioning address DMOVP K9000000 D116 For Unit d...

Page 368: ...trol method 1 axis linear control INC Acceleration time No 0 deceleration time No 0 MOVP K0 M code Setting of M code MOVP H200 Setting of positioning data sett D130 D131 SM402 ON for 1 scan onl y after RUN 297 K2020 Position ing iden tifier Positioning address DMOVP K72000000 D126 For Unit degree X4D DMOVP K0 Arc addr ess Setting of arc address D128 Position ing addr ess Position ing iden tifier C...

Page 369: ...H0 TOP K2030 Positioning address DMOVP K18000000 D136 For Unit degree X4D DMOVP K0 Arc addr ess Setting of arc address D138 Position ing addr ess Position ing iden tifier Command speed DMOVP K1800000 D134 For Unit degree X4D DMOVP K9000 Command speed Setting of command speed D134 Command speed Setting of dwell time MOVP K300 Dwell ti me D132 Dummy data MOVP K0 Dummy D133 ...

Page 370: ...eed Setting of command speed D144 Command speed Setting of dwell time MOVP K300 Dwell ti me D142 Dummy MOVP K0 Dummy D143 No 2 5 Positioning data setting program For positioning data No 5 Axis 1 Positioning identifier Operation pattern Positioning terminated Control method 1 axis liner control INC Acceleration time No 0 deceleration time No 0 MOVP K0 M code Setting of M code MOVP H201 Setting of p...

Page 371: ...ration pattern Positioning terminated Control method 1 axis liner control INC Acceleration time No 0 deceleration time No 0 MOVP K0 M code Setting of M code Setting of dwell time MOVP H200 Setting of positioning identifie D150 D151 MOVP K300 Dwell ti me D152 Dummy data MOVP K0 Dummy D153 Setting of command speed DMOVP K9000 Command speed D154 Command speed SM402 ON for 1 scan onl y after RUN 403 D...

Page 372: ...ous positioning control Control method 1 axis liner control INC Acceleration time No 0 deceleration time No 0 MOVP K0 M code Setting of M code Setting of dwell time MOVP H201 Setting of positioning identifie D190 D191 MOVP K300 Dwell ti me D192 Dummy data MOVP K0 Dummy D193 SM402 ON for 1 scan onl y after RUN 456 K2050 Position ing iden tifier Positioning address DMOVP K18000000 D156 For Unit degr...

Page 373: ...trol method 1 axis liner control INC Acceleration time No 0 deceleration time No 0 MOVP K0 M code Setting of M code MOVP H200 Setting of positioning identifie D200 D201 SM402 ON for 1 scan onl y after RUN 509 K2090 Position ing iden tifier Positioning address DMOVP K36000000 D196 For Unit degree X4D DMOVP K0 Arc addr ess Setting of arc address D198 Position ing addr ess Position ing iden tifier Co...

Page 374: ...H0 TOP K2100 Positioning address DMOVP K 36000000 D206 For Unit degree X4D DMOVP K0 Arc addr ess Setting of arc address D208 Position ing addr ess Position ing iden tifier Command speed DMOVP K3600000 D204 For Unit degree X4D DMOVP K18000 Command speed Setting of command speed D204 Command speed Setting of dwell time MOVP K300 Dwell ti me D202 Dummy data MOVP K0 Dummy D203 ...

Page 375: ... Setting of command speed D244 Command speed Setting of dwell time MOVP K0 Dwell ti me D242 Dummy data MOVP K0 Dummy D243 No 2 9 Positioning data setting program For positioning data No 15 Axis 1 Positioning identifier Operation pattern Positioning terminated Control method 1 axis liner control INC Acceleration time No 0 deceleration time No 0 MOVP K0 M code Setting of M code MOVP H200 Setting of ...

Page 376: ...ions Shape Continued at points 1 to 4 ended at points 5 Special start instruction Normal start Points 1 to 5 Positioning data are already preset Setting of shape and start data No MOVP H8004 Point 2 Continuous setting of start dat Continuous setting of start dat MOVP H8001 Continuous setting of start dat D68 D69 MOVP H8005 Point 3 D70 Continuous setting of start dat MOVP H800A Point 4 D71 End sett...

Page 377: ...etting of normal start MOVP H0 D74 Point 2 Setting of normal start MOVP H0 D75 Point 3 Setting of normal start MOVP H0 D76 Point 4 Setting of normal start MOVP H0 D77 Point 5 TOP H0 K5 D73 Point 1 K26050 Special start instruction to normal start Setting block start data to LD77 TOP H0 K5 D68 Point 1 K26000 Setting block start data to LD77 651 ...

Page 378: ...J3 B OPR requ est OFF command pulse Position ing star t signal Start co mplete s ignal M1 705 Y10 X10 OPR request OFF command hold OPR request OFF command ON OPR requ est OFF command storage SET M2 OPR request flag OFF command OFF OPR requ est OFF command SET M0 TOP H0 K1 H1 K30103 TOP H0 K1 H1 K30100 WANDP D0 H8 OPR requ est flag Status U0 G817 OPR requ est flag D0 K0 OPR request OFF write OPR re...

Page 379: ...WANDP D0 H8 X23 781 MOVP K9001 D32 No 9 Positioning start No setting program 1 Machine OPR 2 Fast OPR X4F 763 Y0 X1 No 8 All axis servo ON signal Y1 ON program No 7 PLC READY signal Y0 ON program In the synchronization mode contact of M50 is not needed X21 737 MOVP K1 U0 G1505 No 6 External command function valid setting program Y0 External command valid External command valid All axis servo O N s...

Page 380: ...ast OPR command hold MOVP K1 D32 Start No Setting of positioning data No 1 K0 OPR requ est flag D32 Fast OPR command hold 4 Speed position switching operation Positioning data No 2 In the ABS mode new movement amount write is not needed Speed po sition s witching enable X28 824 Speed po sition s witching disable X29 830 Movement amount changing command Speed po sition s witching enable DMOVP D3 U0...

Page 381: ...peed ch anging c ommand X41 X42 Position speed s witching disable Position speed s witching enable Position speed s witching control DMOVP D1 U0 G1530 New speed writing Position speed s witching control Speed low orde r 16 bit s MOVP K0 U0 G1532 Setting of position speed switch Positon speed s witching control Position ing star t comman d X25 6 High level positioning control High lev el posit ioni...

Page 382: ...BUSY sig nal Axi s 1 M7 In JOG i nching o peration flag M9 Manual p ulse gen erater o peration M3 M4 M3 Fast OPR command Fast OPR command Fast OPR command hold Positioning start execution M6 Position ing star t comman d storag PSTRT1 i nstructi on cnontr ol data 917 PSTRT1 i nstructi on compl ete devi ZP PSTRT1 M32 U0 D30 No 10 Positioning start program 1 When dedicated instruction ZP PSTRT1 is us...

Page 383: ... pulse Position ing star t comman d storag MOVP D32 U0 G1500 Position ing star t No Position ing star t signal Position ing star t comman d storag Position ing star t signal Start No Position ing star t signal Start co mplete s ignal BUSY sig nal Axi s 1 DX0C M9 Manual p ulse gen erater o peration Fast OPR command Fast OPR command Fast OPR command hold X10 2 When positioning start signal Y10 is us...

Page 384: ...o 12 JOG operation inching operation setting program JOG oper ation sp eed Inching movement amount DMOVP K1200000 H0 K1517 X44 1009 MOVP K100 D5 Setting of inching movement amou MOVP D5 U0 G1517 X4 For Unit degree X4D Inching movement amount setting X2D JOG oper ation sp eed sett ing comm JOG oper ation sp eed Setting of JOG operation Setting of 0 for inching movemen D6 D5 Setting of JOG operation...

Page 385: ...peration flag Reverse run JOG start si gnal Reverse run JOG inching operatio In JOG i nching o peration flag Forward run JOG start si gnal Forward run JOG inching operatio READY co mpletion signal BUSY sig nal Axi s 1 Reverse run JOG inching operatio X2F 1038 M7 Y8 Y9 In JOG inching operation flag ON JOG inching operation completed Forward run JOG inching operatio Reverse run JOG inching operatio ...

Page 386: ...o peration Manual pulse generator operation RST M9 Manual p ulse gen erator o peration Manual p ulse gen erator o peration Manual pulse generator operating Manual p ulse gen erator o peration Manual p ulse gen erator o peration 1082 X32 Speed change command pulse Speed ch ange com mand PLS M11 Speed ch ange com mand pul se Speed ch ange com mand pul se BUSY sig nal Axi s 1 SET M12 Speed ch ange co...

Page 387: ...rogram Speed ch ange com mand sto rage Speed change request storage OFF RST M12 D11 K3 TOP H0 K1514 Speed ch ange req uest K0 U0 G1516 Override command Override command Override value D14 1137 X48 M40 1141 X0C BUSY sig nal Axi s 1 MOV K100 Override command PLS M40 Override initial ization value co Setting of override value to 100 Override value write MOV D14 U0 G1513 Override Override initial izat...

Page 388: ...cel ti me chang e comman PLS M14 Accel d ecel ti me chang e comman Accel d ecel ti me chang e comman Setting of decel time to withou DMOV K0 Decel t ime sett ing The end D17 Accel decel time write MOVP K1 Accelera tion dec eleratio n time c D19 Accel decel time or change ena K1508 D15 Accel t ime sett ing low order K5 TOP H0 X35 1178 X34 Accel d ecel ti me chang e disabl Accel decel time change di...

Page 389: ...operation run selection Step mod e Data No unit step mode selectio Step val id flag Step start information Step sta rt infor mation Step operation command write To next positioning data Step sta rt infor mation Step ope ration c ommand Position ing star t signal Step ope ration co mmand p ulse MOVP D78 No 20 Step operation program U0 G1525 Torque c hange va lue M16 1229 Y10 MOVP K1 D20 MOVP K1 D21...

Page 390: ... Position ing star t comman d k10 MOVP K10 D32 Start No 1242 X38 Skip operation pulse Skip com mand PLS M17 Skip com mand pul se M17 1246 X0C BUSY sig nal Axi s 1 Skip command ON storage Skip com mand pul se SET M18 Skip com mand sto rage U0 G1547 K0 Skip com mand U0 G1547 1262 X39 Teaching command pulse Teaching command PLS M19 Teaching command pulse M19 1274 X0C BUSY sig nal Axi s 1 Teaching com...

Page 391: ...on int errupt r No 23 Continuous operation interrupt program No 21 Continuous operation interrupt program No 24 Target position change program 1313 X45 Target position change command p Target p osition change c ommand PLS M30 Target p osition change c ommand p M30 1320 X0C BUSY sig nal Axi s 1 Target position change command h SET M31 Target p osition change c omm Target p osition change c ommand p...

Page 392: ...eed value Setting of Target position chang Target position change write Restart command pulse Target p osition change r equest f Restart command Restart command Axis ope ration s tatus Restart command ON at the stoppi Restart request write Restart command Restart command Restart command storage OFF Restart command storage Target position change command s X3B MOVP K1 1355 DMOVP K0 D25 MOVP K1 D27 T...

Page 393: ...al M37 Parameter initialization command Parameter initialization command PLC READY output to LD77 standby Parameter initialization executi PINIT co mmand co mpletion device PINIT co mmand er ror comp letion d Parameter initialization command Flash RO M write command Flash ROM write program Flash RO M write command pulse BUSY sig nal Axi s 1 Flash ROM write command hold Flash RO M write command sto...

Page 394: ...nd X3F 1475 PLS M29 M29 1482 SET Y4 X3F 1486 No 29 Stop program Flash RO M write command storage PFWRT in structio n comple te devic Flash ROM write command storage M38 RST M27 PLCREAD Y signal OFF con firmatio Flash ROM write execution T1 1434 PFWRT in structio n error complete M39 Error re set Error reset clear execution MOVP K0 Error co de MOVP D79 Error re set MOVP K1 Error co de U0 G806 U0 G1...

Page 395: ...t for OPR OFF request OFF ON OFF 0 1 0 ON OFF PLC READY signal Y0 READY signal X0 OPR request OFF flag Md 31 Status b3 Cd 19 OPR request flag OFF request Fig 6 1 Time chart for OPR OFF request 2 External command function valid setting program This program is used to validate the external command signal beforehand when using the external command functions external start speed change speed position ...

Page 396: ... List of control data for details on the setting details 2 For high level positioning control set the positioning start point No of the block to be started in Cd 4 Positioning starting point No Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 4 Positioning starting point No 1 to 50 Point No of block start data 1501 100n 4301 100n n Axis No 1 Refer to Sec...

Page 397: ...ing details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 25 Position speed switching control speed change register Used to set a new value when speed is changed during positioning control 1530 100n 1531 100n 4330 100n 4331 100n Cd 26 Position speed switching enable flag 1 To validate position speed switching signal this is set to 1 1532 100n 4332 100n n Axis No 1 Refer to Section 5 7 List of ...

Page 398: ...amplifier Control with positioning data No 1 3 Note When starting positioning with the scan after the completion of positioning insert X10 as an interlock so that positioning is started after Y10 is turned OFF and X10 is turned OFF LD77MS Note 1 Note 1 Buffer memory of LD77MS16 4300 1 Set the positioning start No in Cd 3 Positioning start No according to the control to be started In the above exam...

Page 399: ...reparation completed X0 All axis servo ON ON All axis servo ON Y1 Synchronization flag ON LD77MS buffer memory Accessible X1 Axis stop signal OFF Axis stop signal is OFF Y4 to Y7 Cd 180 Axis stop M code ON signal OFF M code ON signal is OFF X4 to X7 Md 31 Status b12 Error detection signal OFF There is no error X8 to XB Md 31 Status b13 BUSY signal OFF BUSY signal is OFF XC to XF X10 to X1F Start c...

Page 400: ...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 positioning is completed the BUSY signal will turn OFF and the positioning complete signal will turn ON However when using speed control or when the positioning complete signal ON time is 0 the signal will not turn ON When the positioning complete signal ON time is passed th...

Page 401: ...e chart for starting each control is shown below 1 Time chart for starting machine OPR LD77MS4 operation example READY signal Start complete signal BUSY signal Error detection signal OFF OFF ON ON ON ON OFF OFF OFF 9001 ON ON OFF OFF Near point dog V t OPR request flag Md 31 Status b3 Cd 3 Positioning start No Positioning start signal Y10 PLC READY signal Y0 X0 X10 XC X8 OPR complete flag Md 31 St...

Page 402: ...FF 9002 V t ON OFF Positioning start signal PLC READY signal READY signal Start complete signal BUSY signal Error detection signal Cd 3 Positioning start No Y10 Y0 X0 X10 XC X8 OFF ON All axis servo ON Y1 Standby Axis operation status Md 26 Servo OFF Note Refer to Section 3 3 for input output signal of LD77MS16 Fig 6 5 Time chart for starting fast OPR ...

Page 403: ...n pattern 1 11 Positioning start signal PLC READY signal READY signal Start complete signal BUSY signal Error detection signal Cd 3 Positioning start No Positioning complete signal Y10 Y0 X0 X10 XC X14 X8 All axis servo ON Y1 Standby Servo OFF Md 26 Axis operation status Note Refer to Section 3 3 for input output signal of LD77MS16 Fig 6 6 Time chart for starting major positioning control ...

Page 404: ...art signal Y10 Speed position switching signal 0 1 1 PLC READY signal READY signal Start complete signal BUSY signal Error detection signal Positioning complete signal Cd 3 Positioning start No Cd 24 Speed position switching enable flag Y0 X0 X10 XC X14 X8 All axis servo ON Y1 Standby Servo OFF Md 26 Axis operation status Note Refer to Section 3 3 for input output signal of LD77MS16 Fig 6 7 Time c...

Page 405: ...10 PLC READY signal READY signal Start complete signal BUSY signal Positioning complete signal Error detection signal 0 1 Cd 3 Positioning start No Cd 26 Position speed switching enable flag 1 Y0 X0 X10 XC X14 X8 Stop command Position speed switching signal All axis servo ON Y1 Standby Servo OFF Md 26 Axis operation status Note Refer to Section 3 3 for input output signal of LD77MS16 Fig 6 8 Time ...

Page 406: ...d 31 Status b4 Note Refer to Section 3 3 for input output signal of LD77MS16 Fig 6 9 Machine OPR operation timing and process time Normal timing time Unit ms Operation cycle t1 t2 t3 t4 LD77MS2 0 88 0 2 to 0 3 1 8 to 2 7 0 to 0 9 0 to 0 9 1 77 0 2 to 0 3 2 5 to 4 2 0 to 1 8 0 to 0 9 LD77MS4 0 88 0 2 to 0 3 1 8 to 2 7 0 to 0 9 0 to 0 9 1 77 0 2 to 0 3 2 5 to 4 2 0 to 1 8 0 to 0 9 LD77MS16 0 88 0 3 ...

Page 407: ...and process time When the positioning start signal turns ON if the positioning complete signal or OPR complete flag are already ON the positioning complete signal or OPR complete flag will turn OFF when the positioning start signal turns ON Normal timing time Unit ms Operation cycle t1 t2 t3 t4 t5 t6 LD77MS2 0 88 0 2 to 0 3 0 to 0 9 0 to 0 9 2 0 to 2 7 0 to 0 9 Follows parameters 1 77 0 2 to 0 3 0...

Page 408: ...ing the external command signal the start complete signal will not turn ON Data required to be set Set the following data in advance Setting item Setting value Setting details Buffer memory address Pr 42 External command function selection 0 Set to 0 External positioning start 62 150n n Axis No 1 Set the external command signal DI in Pr 95 External command signal selection at LD77MS16 use Refer to...

Page 409: ...nal command signal 1 0 1 Cd 8 External command valid PLC READY signal READY signal Start complete signal BUSY signal Error detection signal Positioning complete signal Pr 42 External command function selection Cd 3 Positioning start No Y0 X0 X10 XC X14 X8 Standby Servo OFF Md 26 Axis operation status Note Refer to Section 3 3 for input output signal of LD77MS16 Fig 6 11 Time chart for starting wit...

Page 410: ...Interrupt request during continuous operation 1 Operation during continuous operation interruption Start Positioning data No 10 Positioning data No 11 Positioning data No 12 V t Stop process when stop command turns ON Start Positioning data No 10 Positioning data No 11 Positioning data No 12 V t Stop process at continuous operation interrupt request Cd 18 is set 1 ON Stop command ON For Stop comma...

Page 411: ...tioning data shown below Positioning data No have sufficient remaining distance Positioning data No for positioning complete pattern 00 Positioning data No for continuous positioning control pattern 01 Start V t Stop process when operation cannot stop at positioning data No 10 Positioning data No 10 Positioning data No 11 Positioning data No 12 Continuous operation interrupt request Even when the ...

Page 412: ...ation 2 Restrictions 1 Restarting can be executed only when the Md 26 Axis operation status is stopped the deceleration stop by stop command is completed If the axis operation is not stopped restarting is not possible In this case the warning Restart not possible warning code 104 will occur and the process at that time will be continued 2 Do not execute restart while the stop command is ON If rest...

Page 413: ... reference partner axes executes the positioning operation once after interpolation operation stop the warning Restart not possible warning code 104 will occur and the positioning cannot restarts 3 Control data requiring setting Set the following data to execute restart Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 6 Restart command 1 Set 1 Restarts 1...

Page 414: ...us b14 External signal Forced stop input signal ON There is no forced stop input Stop signal OFF Stop signal is OFF Upper limit FLS ON Within limit range Lower limit RLS ON Within limit range When the synchronous setting of the PLC CPU is made in the nonsynchronous mode this must be provided as an interlock When it is made in the synchronous mode no interlock must be provided in the program becaus...

Page 415: ...l High level positioning control Manual control Machine OPR control Fast OPR control JOG Inching operation Manual pulse generator operation Forced stop Forced stop input signal OFF from an external device All axes No change Servo OFF Immediate stop For the stop method of the servo amplifier refer to each servo amplifier instruction manual Servo READY OFF Servo amplifier power supply OFF Each axis ...

Page 416: ...erate The Simple Motion module immediately stops the command For the stop method of the servo amplifier refer to each servo amplifier instruction manual Actual deceleration time Set deceleration time Positioning speed Actual sudden stop deceleration time Pr 36 Sudden stop deceleration time Positioning speed Positioning speed 2 Sudden stop 1 Deceleration stop 3 Immediate stop Stop Stop cause Pr 8 S...

Page 417: ...eleration curve continuation The current deceleration curve is continued after stop cause occurrence For details refer to Section 13 7 9 Stop command processing for deceleration stop function 2 If the stop signal designated for sudden stop turns ON or a stop cause occurs during deceleration the sudden stop process will start from that point However if the sudden stop deceleration time is longer th...

Page 418: ...tion speed 2 If stop is input during deceleration for OPR the operation will stop at that deceleration speed If input at the creep speed the operation will stop immediately 3 If a stop cause designated for sudden stop occurs during deceleration the sudden stop process will start from that point The sudden stop process during deceleration is carried out only when the sudden stop time is shorter tha...

Page 419: ...ration and roles of two memories the internal data transmission process of Simple Motion module such as when the power is turned ON or when the PLC READY signal changes from OFF to ON can be easily understood This also allows the transmission process to be carried out correctly when saving or changing the data 7 1 Configuration and roles of LD77MS memory 7 2 7 1 1 Configuration and roles of LD77MS...

Page 420: ...y Area that can be set only with GX Works2 Not possible Area that can be set only using buffer memory Not possible Flash ROM Area for backing up data required for positioning Possible Internal memory nonvolatile Area for backing up servo parameter or cam data Possible LD77MS16 Buffer memory Area that can be directly accessed with sequence program with PLC CPU Not possible Internal memory Area that...

Page 421: ... to 7004 Area where information required only when carrying out block No 7000 to 7004 high level positioning is set and stored Servo parameter area Area where parameters such as servo parameters required for positioning control on servo amplifier are set and stored Synchronous control area Note 1 Area where parameters and control data required for synchronous control are set and stored Also the op...

Page 422: ...meter area b Parameter area c Parameter area a Parameter area b Parameter area c Area name Description Parameter area a Parameters validated when PLC READY signal Y0 changes from OFF to ON Pr 1 to Pr 7 Pr 11 to Pr 24 Pr 43 to Pr 57 Pr 80 to Pr 83 Pr 89 to Pr 95 Pr 100 Pr 801 Pr 805 to Pr 807 Parameter area b Parameters validated when the TO command is executed from the PLC CPU validated when the n...

Page 423: ...9 10n Mark detection control data 54640 10k to 54649 10k Positioning data area No 1 to 100 Positioning data 2000 6000n to 2999 6000n 6000 1000n to 6999 1000n Positioning data area No 101 to 600 3000 6000n to 7999 6000n Set with GX Works2 Block start data area No 7000 Block start data 26000 1000n to 26049 1000n 22000 400n to 22049 400n 26050 1000n to 26099 1000n 22050 400n to 22099 400n Condition d...

Page 424: ... encoder axis parameter 34720 20j to 34735 20j Possible Synchronous encoder axis control data 35040 10j to 35047 10j Possible Synchronous encoder axis monitor data 35200 20j to 35212 20j Not possible Synchronous control system control data 36320 36322 Possible Synchronous parameter 36400 200n to 36513 200n Possible Synchronous control monitor data 42800 40n to 42835 40n Not possible Control data f...

Page 425: ...ck start data area No 7000 to 7004 Flash ROM 1 Power supply ON PLC CPU reset Parameter area c Servo parameter area Internal memory nonvolatile Buffer memory Internal memory Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Monitor data area Control data area Servo parameter area 2 TO command 4 FROM command 5 Servo amplifier data read 2 Valid ...

Page 426: ...Block start data No 7002 to 7004 can be set with only GX Works2 in LD77MS16 3 For details of area refer to Section 7 1 1 Configuration and roles of LD77MS memory POINT When a value other than 0 has been set to the servo parameter Pr 100 Servo series inside the internal memory nonvolatile the power is turned ON or PLC CPU is reset to transmit the servo parameter inside the internal memory nonvolati...

Page 427: ... from OFF to ON 4 Accessing with FROM command from PLC CPU The data is read from the buffer memory to the PLC CPU using the FROM command 5 5 Servo parameter PA19 PD PE PS PF Po PL Positioning data No 101 to 600 and Block start data No 7002 to 7004 can be read with only GX Works2 in LD77MS16 5 Reading the servo parameter from the servo amplifier When the parameter of the servo amplifier is changed ...

Page 428: ... PLC CPU Servo amplifier LD77MS Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Flash ROM Parameter area c Servo parameter area Internal memory nonvolatile Buffer memory Internal memory Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Monitor data area Control data area Servo paramete...

Page 429: ...ck start data No 7000 to 7004 and servo parameter in the buffer memory internal memory area are transmitted to the flash ROM internal memory nonvolatile Note This transmission process is the same as 6 above Important 1 Do not turn the power OFF or reset the PLC CPU while writing to the flash ROM If the power is turned OFF or the PLC CPU is reset to forcibly end the process the data backed up in th...

Page 430: ...memory Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Flash ROM Parameter area c Servo parameter area Internal memory nonvolatile Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Monitor data area Control data area Servo parameter area Parameter area c ...

Page 431: ...d out with the Monitor from the GX Works2 2 The monitor data in the buffer memory area is transmitted to the GX Works2 via the PLC CPU 9 Writing data from GX Works2 to buffer memory internal memory The following transmission processes are carried out with the Write to module Write to LD77MS from the GX Works2 1 The parameters positioning data No 1 to 600 block start data No 7000 to 7004 and servo ...

Page 432: ...ng data area No 1 to 600 Block start data area No 7000 to 7004 Flash ROM Parameter area c Servo parameter area Internal memory nonvolatile Buffer memory Internal memory Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Monitor data area Control data area Servo parameter area Parameter area c ...

Page 433: ... 1205 occurs Rotation direction selection travel direction selection PA14 is changed by sequence program or the GX Works2 after the servo parameter is transmitted to servo amplifier LED of the servo amplifier is indicated b_ C_ or d_ When Rotation direction selection travel direction selection PA14 is changed transmit the servo parameter to servo amplifier About the communication start with servo ...

Page 434: ... servo amplifier Flash ROM writing carried out after the servo parameter is set up in the buffer memory internal memory After that when the power is turned ON or the PLC CPU is reset the servo parameters stored in the internal memory nonvolatile is transmitted to the buffer memory internal memory When the servo parameter is written in the internal memory nonvolatile it is unnecessary to use a setu...

Page 435: ...ication start Axis connection Md 26 Axis operation status Communication operation status with servo amplifier Servo parameter of buffer memory internal memory Indefinite value Value of internal memory nonvolatile Initialization completion of LD77MS A Buffer memory internal memory data setting Axis connection completion LD77MS power ON Fig 7 1 When the servo amplifier had started before the system ...

Page 436: ...ower supply is turned ON after the PLC READY signal Y0 is turned OFF to ON Fig 7 3 C Communication start timing to the servo amplifier When the servo amplifier had started Fig 7 3 B Transfer the servo parameter The data written from sequence program GX Works2 before the PLC READY signal Y0 ON Fig 7 3 A Servo parameter setting from sequence program GX Works2 A PLC CPU RUN Initialization completion ...

Page 437: ...eter No 1556 100n 1557 100n 4356 100n 4357 100n n Axis No 1 POINT 1 Both of the servo parameter area internal memory nonvolatile and buffer memory internal memory of Simple Motion module and the parameter of servo amplifier are changed 2 When the servo parameters that become valid by turning ON the servo amplifier s power supply are changed be sure to turn ON Note twice the servo amplifier s power...

Page 438: ...7 20 Chapter 7 Memory Configuration and Data Process MEMO ...

Page 439: ... Data Used for Positioning Control Also refer to Chapter 6 Sequence Program Used for Positioning Control when creating the sequence programs required in each control and consider the entire control program configuration when creating each program Chapter 8 OPR Control 8 1 to 8 20 Chapter 9 Major Positioning Control 9 1 to 9 134 Chapter 10 High Level Positioning Control 10 1 to 10 30 Chapter 11 Man...

Page 440: ...MEMO ...

Page 441: ...tion Module Setting Tool Help of GX Works2 for details on OPR using the GX Works2 8 1 Outline of OPR control 8 2 8 1 1 Two types of OPR control 8 2 8 2 Machine OPR 8 6 8 2 1 Outline of the machine OPR operation 8 6 8 2 2 Machine OPR method 8 7 8 2 3 OPR method 1 Near point dog method 8 8 8 2 4 OPR method 2 Count method 1 8 10 8 2 5 OPR method 3 Count method 2 8 12 8 2 6 OPR method 4 Data set metho...

Page 442: ...g start No 9002 prepared beforehand in the Simple Motion module to Cd 3 Positioning start 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 For details refer to Chapter 15 Dedicated Instructions 1 Establish a positioning control OP Machine OPR positioning start No 9001 2 Carry out posit...

Page 443: ...not turn off When an absolute position data in the Simple Motion module is erased due to a memory error etc occurrence of the error OPR data incorrect error code 1201 The servo alarm Absolute position erased alarm No 25 occurs Md 108 Servo status high order buffer memory address b14 ON The servo warning Absolute position counter warning warning No E3 occurs Md 108 Servo status high order buffer me...

Page 444: ...al for details on signal input availability and wiring Wire the MR J3 MR J4 series servo amplifier as shown in the following drawing As for the 24 V DC power supply the direction of current can be switched Example When Pr 22 Input signal logic selection is set to the initial value Servo amplifier DI3 DOG DICOM 24VDC Fig 8 2 Wiring when using the near point dog 2 External input signal via CPU buffe...

Page 445: ...R retry function Section 13 2 1 OP shift function Section 13 2 2 Combination possible Restricted Combination not possible 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 OPR from...

Page 446: ...on when starting a machine OPR When Pr 43 OPR method is set to other than Driver OPR method 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 OPR method and the machine stops Refer to Sections 8 2 2 to 8 2 7 4 If a is set as Pr 45 OP address a will be stored as the cur...

Page 447: ...he near point dog OFF ON position and stops at that position The machine OPR is then regarded as completed Data set method The position where the machine OPR has been performed becomes an OP The current feed value and feed machine value are overwritten to the OP address Scale origin signal detection method The machine moves in the opposite direction against of Pr 44 OPR direction at the Pr 46 OPR ...

Page 448: ... ON and the OPR request flag Md 31 Status b3 turns from ON to OFF OPR request flag t Machine OPR start Positioning start signal ON OFF OPR speed Deceleration at the near point dog ON Creep speed ON OFF OFF ON OPR Standby Axis operation status Inconsistent 0 Movement amount after near point dog ON Value of the machine moved is stored OP address Current feed value Machine feed value V Zero signal Va...

Page 449: ...ed at least once before point A is reached However if selecting 1 Not need to pass servo motor Z phase after power on with Function selection C 4 PC17 it is possible to carry out the home position return OPR without passing the zero point The workpiece will continue decelerating and stop if the near point dog is turned OFF before it has decelerated to the creep speed thus causing the error Dog det...

Page 450: ...3 turns from ON to OFF t ON OFF ON OFF OFF ON 0 V ON Pr 47 Creep speed Pr 46 OPR speed Pr 50 Setting for the movement amount after near point dog ON Md 34 Movement amount after near point dog ON Zero signal Near point dog OFF Leave sufficient distance from the home position to the near point dog OFF Machine OPR start Positioning start signal Standby OPR Md 26 Axis operation status Inconsistent Val...

Page 451: ...irection 5 The machine OPR is completed on detection of the first zero signal after the travel of the movement amount set to Pr 50 Setting for the movement amount after near point dog ON on detection of the near point dog signal ON Fig 8 7 Count method 1 machine OPR on the near point dog ON position 4 Turn OFF the near point dog at a sufficient distance from the OP Although there is no harm in ope...

Page 452: ... speed and subsequently moves at that speed 4 The command from the Simple Motion module 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 Md 21 Machine feed value t V ON OFF ON OFF ON ON OFF 0 OFF Pr 46 OPR speed Pr 47 Creep speed Pr 50 Setting for the m...

Page 453: ...ation when an OPR is started at the near point dog ON position 1 A machine OPR is started 2 The machine moves at the OPR speed in the opposite direction of an OPR 3 Deceleration processing is carried out 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...

Page 454: ...o point not passed error code 210 occurs perform the JOG or similar operation so that the servomotor makes more than one revolution after an error reset before carrying out the machine OPR again However if selecting 1 Not need to pass servo motor Z phase after power on with Function selection C 4 PC17 it is possible to carry out the home position return OPR without passing the zero point 2 The OPR...

Page 455: ...ration is completed 2 The machine begins decelerating when the near point dog ON is detected 3 After deceleration stop the machine moves in the opposite direction against of OPR at the Pr 46 OPR speed 4 During movement the machine begins decelerating when the first zero signal is detected 5 After deceleration stop the operation moves in direction of OPR at the Pr 47 Creep speed and then stops at t...

Page 456: ...is in the near point dog ON position deceleration stop 2 is started at the zero signal without waiting for the near point dog OFF Fig 8 12 Operation when a machine OPR is started from the near point dog ON position 3 When the stop signal stops the machine OPR carry out the machine OPR again When restart command is turned ON after the stop signal stops the OPR the error OPR restart not possible err...

Page 457: ... OPR V Zero signal Near point dog 1 Pr 47 Creep speed OPR direction Pr 44 Pr 46 OPR speed ON 2 3 OFF 5 6 4 Fig 8 13 Operation when the zero signal is detected again during deceleration with detection of zero signal 7 Do not use the scale origin signal detection method OPR for the machine with the backlash 8 When using the direct drive motor make it passed the Z phase once before reaching 3 of Fig ...

Page 458: ... or a zero signal The following shows the operation during a basic fast OPR start Machine OP OP Pr 46 OPR speed Fast OPR start Positioning start signal Md 26 Axis operation status Position control Standby OP Positioning to the OP M Standby Fig 8 14 Fast OPR 1 The fast OPR is started 2 Positioning control to the OP established by a machine OPR begins at speed set in Pr 46 OPR speed 3 The fast OPR i...

Page 459: ...7 0 to 0 9 1 77 0 2 to 0 3 2 5 to 4 2 0 to 1 8 LD77MS16 0 88 0 3 to 1 4 2 8 to 3 5 0 to 0 9 1 77 0 3 to 1 4 3 8 to 5 2 0 to 1 8 The t1 timing time could be delayed by the operation state of other axes Operating restrictions 1 The fast OPR can only be executed after the OP is established by executing the Machine OPR If not the error OPR request ON error code 207 will occur OPR request flag Md 31 St...

Page 460: ...er buffer memory address b0 ON without passing the zero point Buffer memory address low order LD77MS2 LD77MS4 LD77MS16 Md 108 Servo status b0 876 100n 2476 100n n Axis No 1 Data setting To select the OPR setting condition set the servo amplifier shown in the following table Servo parameters are set for each axis The OPR setting condition is stored into the following buffer memory addresses Setting...

Page 461: ...ming the current value 9 16 9 1 5 Control unit degree handling 9 18 9 1 6 Interpolation control 9 21 9 2 Setting the positioning data 9 26 9 2 1 Relation between each control and positioning data 9 26 9 2 2 1 axis linear control 9 28 9 2 3 2 axis linear interpolation control 9 32 9 2 4 3 axis linear interpolation control 9 38 9 2 5 4 axis linear interpolation control 9 44 9 2 6 1 axis fixed feed c...

Page 462: ...ion control is carried out from the start address current stop position to the designated position 4 axis linear interpolation control Note 1 ABS Linear 4 INC Linear 4 Using the designated 4 axes linear interpolation control 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 the designated ...

Page 463: ...e control method When this instruction is set the operation is transferred to the next data operation and the instruction is not executed Current value changing Current value changing Md 20 Current feed value is changed to an address set in the positioning data This can be carried out by either of the following 2 methods Md 21 Machine feed value cannot be changed Current value changing using the c...

Page 464: ... JUMP destination positioning data No The time between the command pulse output is completed to the positioning completed signal is turned ON Set it for absorbing the delay of the mechanical system to the instruction such as the delay of the servo system deviation Da 10 M code Condition data No Number of LOOP to LEND repetitions Set this item when carrying out sub work clamp and drill stops tool r...

Page 465: ...n 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 V 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 The machine stops and then continues the ne...

Page 466: ...me is determined by Pr 40 Positioning complete signal output time 1 Independent positioning control Positioning complete This control is set when executing only one designated data item of positioning If a dwell time is designated the positioning completes after the designated time elapses This data operation pattern 00 data becomes the end of block data when carrying out block positioning The pos...

Page 467: ...rn 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 LD77MS4 operation example t OFF ON OFF ON ...

Page 468: ...y be carried out until the positioning data No 600 If the operation pattern of the positioning data No 600 is not complete the operation will be started again from the positioning data No 1 e The speed switching includes the front loading speed switching mode in which the speed is changed at the end of the current positioning side and the standard speed switching mode in which the speed is at the ...

Page 469: ...on will not occur using the near pass function when the positioning data No is switched Refer to Section 13 3 3 Near pass function 2 Deceleration stop conditions during continuous path control Deceleration stops are not carried out in continuous path control but the machine will carry out a deceleration stop to speed 0 in the following cases a to c a When the operation pattern of the positioning d...

Page 470: ...Reference axis operation Interpolation axis operation Interpola tion axis Positioning data No 1 Reference axis Positioning data No 2 Positioning data No 1 Continuous path control V Positioning data No 1 t Positioning data No 2 V Positioning data No 1 t Positioning data No 2 Suddenly reverse direction 2 When a 0 is set in the Da 6 Positioning address movement amount of the continuous path control p...

Page 471: ...ed of the first positioning data at start Relation between the command speed and current speed 3000 3000 1 3000 1 3000 1 3000 1000 1000 P2 P3 P4 P5 P1 2000 1000 3000 Command speed Da 8 Current speed Md 27 Speed 3000 3000 1 3000 1 3000 1 3000 1000 1000 P2 P3 P4 P5 P1 2000 1000 3000 Command speed Da 8 Current speed Md 27 Speed The current speed is changed even if the command speed is not reached in ...

Page 472: ...data currently being executed and the speed will change over to the speed set in the positioning data to carry out the next operation 2 The parameters used in acceleration deceleration to the command speed set in the positioning data to carry out the next operation are those of the positioning data to carry out acceleration deceleration Speed switching will not be carried out if the command speeds...

Page 473: ...2 When the movement amount is small during automatic deceleration The movement amount required to carry out the automatic deceleration cannot be secured so the machine immediately stops in a speed 0 status P1 P2 P3 P4 Positioning address Pn 1 Pn b Front loading speed switching mode 1 If the respective command speeds differ in the positioning data currently being executed and the positioning data t...

Page 474: ...he 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 etc the machine will immediately stop at the designated positioning address and the warning Insufficient movement amount warning code 513 wil...

Page 475: ...150 B point 300 C point Within the stroke limit range Address 150 Address 100 Address 100 Address 150 Start point End point OP Reference point Fig 9 6 Absolute system positioning Incremental system The position where 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 Movement amount 100 ...

Page 476: ...his 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 The current feed value and machine feed value are used in monitoring the current value display etc 0 1 to Md 20 Current feed value t V OP 20000 Current value changed to 20000 with current...

Page 477: ...om the PLC CPU Buffer memory addresses LD77MS2 LD77MS4 LD77MS16 Md 20 Current feed value 800 100n 801 100n 2400 100n 2401 100n Md 21 Machine feed value 802 100n 803 100n 2402 100n 2403 100n 1 The following shows the examples of programs to read out the current feed value of the LD77MS4 axis 1 to D104 and D105 when X40 is turned ON a For the DFRO P instruction X40 K800 D104 K1 H0 DFRO b For the DMO...

Page 478: ... 99999 359 99999 2 Software stroke limit valid invalid setting With the control unit set to degree the software stroke limit upper and lower limit values are 0 to 359 99999 a Setting to validate 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 Section A Section B 315 00000 90 00000 Clockwi...

Page 479: ... carrying out the shortcut control the shortcut control is invalidated and positioning in a designated direction is carried out by the Cd 40 ABS direction in degrees This function can perform only when the software stroke limit is invalid When the software stroke limit is valid the error Illegal setting of ABS direction in unit of degree error code 546 occurs and positioning is not started To desi...

Page 480: ...OINT Positioning addresses are within a range of 0 to 359 99999 Use the incremental system to carry out positioning of one rotation or more 2 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 di...

Page 481: ...nce axis and interpolation axis combinations Axis definition Interpolation of Da 2 Control method LD77MS2 LD77MS4 LD77MS16 Reference axis Interpolation axis Reference axis Interpolation axis Reference axis Interpolation axis 2 axis linear interpolation control 2 axis fixed feed control 2 axis circular interpolation control 2 axis speed control Any of axes 1 to 2 Axis to be interpolated set in refe...

Page 482: ...eft Da 8 Command speed Only during forward run speed 2 3 4 and reverse run speed 2 3 4 Da 9 Dwell time JUMP destination positioning data No Da 10 M code Condition data No Number of LOOP to LEND repetitions Da 20 Axis to be interpolated No 1 LD77MS16 2 Da 21 Axis to be interpolated No 2 LD77MS16 2 Da 22 Axis to be interpolated No 3 LD77MS16 2 Setting always required Set according to requirements Se...

Page 483: ... the positioning will stop Speed during interpolation control Either the composite speed or reference axis speed can be designated as the speed during interpolation control Pr 20 Interpolation speed designation method Only the Reference axis speed can be designated in the following interpolation control When a composite speed is set and positioning is started the error Interpolation mode error err...

Page 484: ...e axis speed Setting possible Setting not possible 1 mm and inch unit mix possible When mm and inch are mixed convert as follows for the positioning If interpolation control units are mm positioning is controlled by calculating position commands from the address travel value positioning speed and electronic gear which have been converted to mm using the formula inch setting value 25 4 mm setting v...

Page 485: ...9 25 Chapter 9 Major Positioning Control MEMO ...

Page 486: ...ed feed control 4 axis fixed feed control 2 axis circular interpolation control 1 axis 2 axis 3 axis 4 axis Speed control Da 1 Operation pattern Independent positioning control Positioning complete Continuous positioning control Continuous path control Da 2 Control method Linear 1 Linear 2 Linear 3 Linear 4 Fixed feed 1 Fixed feed 2 Fixed feed 3 Fixed feed 4 Circular sub Circular right Circular le...

Page 487: ...ondition data No Number of LOOP to LEND repetition Always set Set according to requirements when not set Setting not possible If set the error Continuous path control not possible error code 516 will occur at start Setting not required Use the initial value or a value within the setting range The ABS absolute system or INC incremental system can be used for the control system REMARK It is recommen...

Page 488: ... positioning is carried out from the current stop position start point address to the address end point address set in Da 6 Positioning address movement amount 0 1000 8000 Positioning control movement amount 7000 Start point address current stop position End point address positioning address Example When the start point address current stop position is 1000 and the end point address positioning ad...

Page 489: ...S4 Setting not required setting value is ignored Da 6 Positioning address movement amount 8000 0 m Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address Setting not required setting value is ignored Da 8 Command speed 6000 00mm min Set the speed during movement to the positioning address Da 9 Dwell time JUMP destination positioning data No 500ms Set the time the mach...

Page 490: ...ermined by the sign of the movement amount Reverse direction Forward direction Start point address current stop position Movement direction for a negative movement amount Movement direction for a positive movement amount 3000 2000 5000 Positioning control in the reverse direction movement amount 7000 Stop address after the positioning control Start point address current stop position 1000 0 1000 2...

Page 491: ...ted LD77MS2 LD77MS4 Setting not required setting value is ignored Da 6 Positioning address movement amount 7000 0 m Set the movement amount Assuming mm is set in Pr 1 Unit setting Da 7 Arc address Setting not required setting value is ignored Da 8 Command speed 6000 00mm min Set the speed during movement Da 9 Dwell time JUMP destination positioning data No 500ms Set the time the machine dwells aft...

Page 492: ...from the current stop position start point address to the address end point address set in Da 6 Positioning address movement amount X1 X2 Y1 Y2 Reverse direction Forward direction X axis Reverse direction Forward direction Y axis Movement by linear interpolation of the X axis and Y axis Start point address X1 Y1 current stop position Y axis movement X axis movement amount amount End point address ...

Page 493: ...xis linear interpolation control Da 3 Acceleration time No 1 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated LD77MS2 LD77MS4 Axis 2 Set the axis to be interpolated partner axis If the self axis is set an er...

Page 494: ...When the reference axis speed is set during 2 axis linear interpolation 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 ...

Page 495: ...ase direction Negative movement amount Positioning control to reverse direction Address decrease direction X1 X2 Y1 Y2 Reverse direction Forward direction X axis Reverse direction Forward direction Y axis Movement by linear interpolation positioning of the X axis and Y axis Start point address X1 Y1 current stop position Y axis movement X axis movement amount amount Stop address after the position...

Page 496: ...mental system 2 axis linear interpolation control Da 3 Acceleration time No 1 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated LD77MS2 LD77MS4 Axis 2 Set the axis to be interpolated partner axis If the self ...

Page 497: ...When the reference axis speed is set during 2 axis linear interpolation 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 ...

Page 498: ...ress end point address set in the Da 6 Positioning address movement amount 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 position Forward direction X axis Forward direction Z axis Reverse direction Forward direction Y axis X axis movement amount Z axis movement amount ...

Page 499: ...stem 3 axis linear interpolation control Da 3 Acceleration time No 1 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated LD77MS4 Setting not required setting value is ignored When axis 1 is used as a reference ...

Page 500: ...inear interpolation 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 Section 9 1 6 Interpolation control for the reference axis and interpolation axis combinations ...

Page 501: ... movement amount Positioning control to reverse direction Address decrease direction 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 direction Reverse direction W...

Page 502: ...system 3 axis linear interpolation control Da 3 Acceleration time No 1 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated LD77MS4 Setting not required setting value is ignored When axis 1 is used as a referenc...

Page 503: ...inear interpolation 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 Section 9 1 6 Interpolation control for the reference axis and interpolation axis combinations ...

Page 504: ...terpolation for the axis directions set in each axis Refer to Section 9 1 6 Interpolation control for details on interpolation control 1 4 axis linear interpolation control ABS linear 4 In the absolute system 4 axis linear interpolation control the designated 4 axes are used Linear interpolation positioning is carried out from the current stop position start point address to the address end point ...

Page 505: ...r 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated LD77MS4 Setting not required setting value is ignored When axis 1 is used as a reference axis the interpolation axes are axes 2 3 and 4 Da 6 Positioning address movement amount 4000 0 m 8000 0 m 4000 0 m 3000 0 m 4000 0 m 8000 0 m 4000 0 m 3000 0 m Set the end point address Assuming mm is set in Pr 1 Uni...

Page 506: ...axes are used Linear interpolation positioning is carried out from the current stop position start point address to a position at the end of the movement amount set in the Da 6 Positioning address movement amount The movement direction is determined by the sign of the movement amount Restrictions An error will occur and the positioning will not start in the following cases The machine will immedia...

Page 507: ... value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated LD77MS4 Setting not required setting value is ignored When axis 1 is used as a reference axis the interpolation axes are axes 2 3 and 4 Da 6 Positioning address movement amount 4000 0 m 8000 0 m 4000 0 m 3000 0 m 4000 0 m 8000 0 m 4000 0 m 3000 0 m Set the movement amount Assuming mm is se...

Page 508: ...inear interpolation 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 Section 9 1 6 Interpolation control for the reference axis and interpolation axis combinations ...

Page 509: ...ing control to reverse direction Address decrease direction 0 0 0 0 0 Md 20 Current feed value is set to 0 at the positioning start Positioning start Reverse direction Forward direction Stop position Movement direction for a negative movement amount Movement direction for a positive movement amount Designated movement amount Restrictions 1 The error Continuous path control not possible error code ...

Page 510: ...ained constant the command number of pulses is maintained constant the control is carried out after the fraction pulse is cleared to zero at start Accumulation cutoff for fractional pulses When movement amount per pulse is 1 0 m and movement for 2 5 m is executed two times Conversion to command pulses 2 5 m 1 0 2 5 PLS 2PLS 2PLS 2PLS 3PLS 2 5 0 5 Movement amount 0 5 PLS hold by the Simple Motion m...

Page 511: ...etting not required setting value is ignored Da 6 Positioning address movement amount 8000 0 m Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address Setting not required setting value is ignored Da 8 Command speed 6000 00mm min Set the speed during movement to the positioning address Da 9 Dwell time JUMP destination positioning data No 500ms Set the time the machine ...

Page 512: ...ol to reverse direction Address decrease direction Md 20 Current feed value of each axis is set to 0 at the positioning start 0 0 0 0 0 0 X axis Y axis Designated movement amount Designated movement amount Restrictions 1 The 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...

Page 513: ...MS4 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 8000 0 m 6000 0 m Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address Setting not required setting value is ignored Da 8 Command speed 6000 00 mm min 6000 00 mm min Set the speed during movement Designate the...

Page 514: ... the Simple Motion module is carried to next positioning INC Linear 1 Fixed feed 1 0 5 PLS hold by the Simple Motion module is cleared to 0 at start and not carried to next positioning 2 5 m 2 5 m When the reference 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 m...

Page 515: ...he movement amount set in Da 6 Positioning address movement amount The movement direction is determined by the sign of the movement amount Positive movement amount Positioning control to forward direction Address increase direction Negative movement amount Positioning control to reverse direction Address decrease direction Designated movement amount Designated movement amount Md 20 Designated move...

Page 516: ... code 504 occurs at a positioning start and positioning cannot be started The maximum movement amount that can be set in Da 6 Positioning address movement amount is 1073741824 2 30 3 Fixed feed cannot be set in Da 2 Control method in 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 patter...

Page 517: ...at deceleration Da 5 Axis to be interpolated LD77MS4 Setting not required setting value is ignored When axis 1 is used as a reference axis the interpolation axes are axes 2 and 3 Da 6 Positioning address movement amount 10000 0 m 5000 0 m 6000 0 m 10000 0 m 5000 0 m 6000 0 m Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address Setting not required setting value is i...

Page 518: ...ractional pulses When movement amount per pulse is 1 0 m and movement for 2 5 m is executed two times Conversion to command pulses 2 5 m 1 0 2 5 PLS 2PLS 2PLS 2PLS 3PLS 2 5 0 5 Movement amount 0 5 PLS hold by the Simple Motion module is carried to next positioning INC Linear 1 Fixed feed 1 0 5 PLS hold by the Simple Motion module is cleared to 0 at start and not carried to next positioning 2 5 m 2...

Page 519: ...he sign of the movement amount Positive movement amount Positioning control to forward direction Address increase direction Negative movement amount Positioning control to reverse direction Address decrease direction Restrictions 1 The 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 Cont...

Page 520: ...celeration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated LD77MS4 Setting not required setting value is ignored When axis 1 is used as a reference axis the interpolation axes are axes 2 3 and 4 Da 6 Positioning address movement amount 4000 0 m 8000 0 m 4000 0 m 3000 0 m 4000 0 m 8000 0 m 4000 0 m 3000 0 m Set the positioning address Assuming mm is set in Pr 1 Unit set...

Page 521: ...ractional pulses When movement amount per pulse is 1 0 m and movement for 2 5 m is executed two times Conversion to command pulses 2 5 m 1 0 2 5 PLS 2PLS 2PLS 2PLS 3PLS 2 5 0 5 Movement amount 0 5 PLS hold by the Simple Motion module is carried to next positioning INC Linear 1 Fixed feed 1 0 5 PLS hold by the Simple Motion module is cleared to 0 at start and not carried to next positioning 2 5 m 2...

Page 522: ...rol with sub point designation positioning is carried out from the current stop position start point address to the address end point address set in Da 6 Positioning 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 be...

Page 523: ...circular interpolation control is possible is 536870912 2 29 The error Outside radius range error code 544 will occur at positioning start When the center point address is outside the range of 2147483648 2 31 to 2147483647 2 31 1 The error Sub point setting error error code 525 will occur at positioning start When the start point address is the same as the end point address The error End point set...

Page 524: ... occur Da 6 Positioning address movement amount 8000 0 m 6000 0 m 8000 0 m 6000 0 m Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address 4000 0 m 3000 0 m 4000 0 m 3000 0 m Set the sub point address Assuming that the Pr 1 Unit setting is set to mm Da 8 Command speed 6000 00 mm min 6000 00 mm min Set the speed when moving to the end point address Designate the compos...

Page 525: ...e movement amount The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of the straight line between the start point address current stop position and sub point address arc address calculated from the movement amount to the sub point and a straight line between the sub point address arc address and end point address positioning address calculat...

Page 526: ...sub point address is outside the range of 2147483648 2 31 to 2147483647 2 31 1 The error Sub point setting error error code 525 will occur When the end point address is outside the range of 2147483648 2 31 to 2147483647 2 31 1 The error End point setting error error code 526 will occur When the center point address is outside the range of 2147483648 2 31 to 2147483647 2 31 1 The error Sub point se...

Page 527: ...error will occur Da 6 Positioning address movement amount 8000 0 m 6000 0 m 8000 0 m 6000 0 m Set the movement amount Assuming that the Pr 1 Unit setting is set to mm Da 7 Arc address 4000 0 m 3000 0 m 4000 0 m 3000 0 m Set the sub point address Assuming that the Pr 1 Unit setting is set to mm Da 8 Command speed 6000 00 mm min 6000 00 mm min Set the speed during movement Designate the composite sp...

Page 528: ...is Refer to Section 9 1 6 Interpolation control 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 methods Control method Rotation direction Arc center angle that can be controlled Positioning path ABS circular right Clockwise 0 360 Positioning path 0 360 Center point Start ...

Page 529: ...n 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 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 fr...

Page 530: ...ress of the center point set in Da 7 Arc address Radius Movement by circular interpolation Forward direction Reverse direction End point address Start point address current stop position Forward direction Reverse direction positioning address Arc center point Arc address Positioning of a complete round with a radius from the start point address to the arc center point can be carried out by setting...

Page 531: ...s reached Restrictions 1 2 axis circular interpolation control cannot be set in the following cases When degree is set in Pr 1 Unit setting When the units set in Pr 1 Unit setting 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 2 An error will occur and the positioning...

Page 532: ...olated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount 8000 0 m 6000 0 m 8000 0 m 6000 0 m Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address 4000 0 m 3000 0 m 4000 0 m 3000 0 m Set the arc address center point address Assuming that the Pr 1 Unit setting is set to mm Da 8 Command speed 6000 00 mm min 6000 00 mm min...

Page 533: ... arc path having as its center the address arc address of the center point set in Da 7 Arc address Radius Movement by circular interpolation Forward direction Reverse direction Forward direction Movement amount to the end point Start point address Current stop position Arc center point Arc address Movement amount to the end point Reverse direction Positioning of a complete round with a radius of t...

Page 534: ...et in the following cases When degree is set in Pr 1 Unit setting When the units set in Pr 1 Unit setting 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 2 An error will occur and the positioning start will not be possible in the following cases The machine will immedi...

Page 535: ...d partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount 8000 0 m 6000 0 m 8000 0 m 6000 0 m Set the movement amount Assuming that the Pr 1 Unit setting is set to mm Da 7 Arc address 4000 0 m 3000 0 m 4000 0 m 3000 0 m Set the center point address center point address Assuming that the Pr 1 Unit setting is set to mm Da 8 Command speed 6000 00 mm min 6000 ...

Page 536: ... which control starts in the reverse run direction 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 LD77MS4 operation example t V BUSY signal OFF ON Positioning start signal OFF ON Positioning complete ...

Page 537: ... t Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 In speed control In speed control V V Restrictions 1 Set Positioning complete in Da 1 Operation pattern The error Continuous path control not possible error code 516 will occur and the operation cannot start if continuous positioning control or continuous path control is set in Da 1 Operation patter...

Page 538: ...celeration time at deceleration Da 5 Axis to be interpolated LD77MS2 LD77MS4 Setting not required setting value is ignored Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed 6000 00mm min Set the speed to be commanded Da 9 Dwell time JUMP destination positioning data No Setting not required setting value is ignored Da 10 M code Condition data No Number of LOOP to LEND rep...

Page 539: ...nation of the reference axis with the interpolation axis 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 LD77MS4 operation example t V BUSY signal XC XD OFF ON Positioning start signal Y10...

Page 540: ...is maintained a Current feed value not updated t Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 In speed control In speed control V V Restrictions 1 Set Positioning complete in Da 1 Operation pattern The error Continuous path control not possible error code 516 will occur and the operation cannot start if continuous positioning control or continuou...

Page 541: ...hown 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 00 mm min Speed is limited at a 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 Pr 7 Bias speed at start is set the set value will be the minimum spe...

Page 542: ...leration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated LD77MS2 LD77MS4 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 Setting not required setting value is ignored Da 7 Arc address Da 8 Command speed 6000 00 mm min 3000 00 mm min 6000 00 mm min 3000 00 mm min Set the speed to be...

Page 543: ...ith the interpolation axes 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 LD77MS4 operation example t V BUSY signal XC XD XE OFF ON Positioning start signal Y10 OFF ON Positioning compl...

Page 544: ...is maintained a Current feed value not updated t Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 In speed control In speed control V V Restrictions 1 Set Positioning complete in Da 1 Operation pattern The error Continuous path control not possible error code 516 will occur and the operation cannot start if continuous positioning control or continuou...

Page 545: ...e the operation speed in speed control is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis 2 3000 00 mm min Speed is limited at ratios in axes 1 2 and 3 command speeds Axis 3 2000 00 mm 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 as a result of speed limit In addition when Pr 7 Bias speed at...

Page 546: ...eleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated LD77MS4 Setting not required setting value is 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 not required setting value is ignored Da 7 Arc address Da 8 Command speed 6000 00 mm min 3000 00 mm min 2000 00 mm min 6000 00 mm ...

Page 547: ...has been set by continuously outputting pulses for the speed set in Da 8 Command speed until the input of a stop command The two types of 4 axis speed control are Forward run speed 4 in which the control starts in the forward run direction and Reverse run speed 4 in which control starts in the reverse run direction Refer to Section 9 1 6 Interpolation control for the combination of the reference a...

Page 548: ...N Positioning start signal Y10 OFF ON Positioning complete signal X14 X15 X16 X17 OFF Axis stop signal stop command Either Y4 Y5 Y6 or Y7 OFF ON Does not turn ON even when control is stopped by stop command OFF ON Reference axis axis 1 t V Interpolation axis axis 3 t V Command speed Da 8 Interpolation axis axis 4 t V Interpolation axis axis 2 Command speed Da 8 Command speed Da 8 Command speed Da ...

Page 549: ...is maintained a Current feed value not updated t Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 In speed control In speed control V V Restrictions 1 Set Positioning complete in Da 1 Operation pattern The error Continuous path control not possible error code 516 will occur and the operation cannot start if continuous positioning control or continuou...

Page 550: ...n speed control is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis 2 3000 00 mm min Speed is limited at ratios in axes 1 2 3 and 4 command speeds Axis 3 2000 00 mm min Speed is limited at ratios in axes 1 2 3 and 4 command speeds Axis 4 750 00 mm 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 ...

Page 551: ...nate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated LD77MS4 Setting not required setting value is ignored When axis 1 is used as a reference axis the interpolation axes are axes 2 3 and 4 Da 6 Positioning address movement amount Setting not required setting value is ignored Da 7 Arc address Da 8 Command speed 6000 00 mm min 3000 00 ...

Page 552: ...Speed position switching control INC mode 34 150n Note If the set value is other than 0 and 2 it is regarded as 0 and operation is performed in the INC mode For details of the setting refer to Section 5 2 List of parameters Switching over from speed control to position control 1 The control is selected the switching method from speed control to position control by the setting value of Cd 45 Speed ...

Page 553: ... The control will be switched over from position control to speed control when the speed position switching signal turns from OFF to ON again Only position control will be carried out when the Cd 24 Speed position switching enable flag and speed position switching signal are ON at the operation start Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 24 Sp...

Page 554: ... ON BUSY signal OFF ON Positioning complete signal OFF ON Speed position switching signal External command signal DI ON Speed control Position control Dwell time In speed control flag Md 31 Status b0 Da 8 Command speed Movement amount set in Da 6 Positioning address movement amount OFF OFF OFF ON ON Y10 Y11 Y12 Y13 XC XD XE XF X14 X15 X16 X17 Cd 45 Speed position switching device selection Cd 24 S...

Page 555: ... degree during execution of Da 2 Control method Forward run speed 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 Speed position switching signal ON 90 00000 270 00000 360 00000 Stop at 0 00000 degree 0 00000 90 00000 0 00000 90 00000 ...

Page 556: ...n control Speed position switching command t6 Speed control carried out until speed position switching signal turns ON Position control movement amount is from the input position of the external speed position switching signal Md 26 Axis operation status Cd 23 Speed position switching control movement amount change register OPR complete flag Md 31 Status b4 Cd 7 M code OFF request Cd 7 M code OFF ...

Page 557: ... 0 2 Follows parameters 1 77 0 2 to 0 3 0 to 1 8 0 to 1 8 2 5 to 4 1 0 to 1 8 0 2 Follows parameters LD77MS16 0 88 0 3 to 1 4 0 to 0 9 0 to 0 9 2 5 to 3 3 0 to 0 9 0 2 Follows parameters 1 77 0 3 to 1 4 0 to 1 8 0 to 1 8 3 9 to 5 2 0 to 1 8 0 2 Follows parameters The t1 timing time could be delayed by the operation state of other axes When using the near point dog signal or Cd 46 Speed position sw...

Page 558: ...ent feed value zero cleared V V Current feed value Current feed value Current feed value 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 Speed position switching signal OFF ON OFF ON 1ms Speed position switching latch flag Speed position swi...

Page 559: ...ot required for Pr 42 External command function selection and Cd 8 External command valid Refer to Section 5 7 List of control data for information on the setting details Changing the position control movement amount In speed position switching control INC mode the position control movement amount can be changed during the speed control section 1 The position control movement amount can be changed...

Page 560: ...sition switching signal ON is ignored Fig 9 15 Position control movement amount change timing POINT 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 sequence program The new movement amount is validated after execution of the speed position switching control INC mode b...

Page 561: ...imit error code 508 will occur as soon as speed control is changed to position control and the axis will decelerate to a stop b When Pr 1 Unit setting is other than 2 degree If the unit is degree the software stroke limit range check is not performed 5 If the value set in Da 6 Positioning address movement amount is negative the error Outside address range error code 530 will occur 6 Deceleration p...

Page 562: ... LD77MS2 LD77MS4 Setting not required Setting value is ignored Da 6 Positioning address movement amount 10000 0 m INC mode Pr 81 0 Set the movement amount after the switching to position control Assuming that the Pr 1 Unit setting is set to mm Da 7 Arc address Setting not required Setting value is ignored Da 8 Command speed 6000 00mm min Set the speed to be controlled Da 9 Dwell time JUMP destinat...

Page 563: ...h starts the axis in the reverse run direction Speed position switching control ABS mode is valid only when Pr 1 Unit setting is 2 degree Pr 1 Unit setting Speed position function selection mm inch degree PLS INC mode ABS mode Setting allowed Setting disallowed If setting is made the error Speed position function selection error error code 935 will occur when the PLC READY signal Y0 turns ON Use t...

Page 564: ...Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 46 Speed position switching command 1 1 Switch from speed control to position control 1567 100n 4367 100n 2 Cd 24 Speed position switching enable flag must be turned ON to switch over from speed control to position control If the Cd 24 Speed position switching enable flag turns ON after the speed position switching signal turns ON t...

Page 565: ... OFF ON BUSY signal OFF ON Positioning complete signal OFF ON ON Speed control Position control Dwell time In speed control flag Md 31 Status b0 Cd 24 Speed position switching enable flag Da 8 Command speed OFF OFF OFF ON ON Y10 Y11 Y12 Y13 XC XD XE XF X14 X15 X16 X17 Address set in Da 6 Positioning address movement amount Speed position switching signal External command signal DI Cd 45 Speed posi...

Page 566: ... 90 00000 degree during execution of Da 2 Control method Forward run speed 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 Stop at 270 00000 degree Speed position switching signal ON 0 00000 90 00000 0 00000 90 00000 270 00000 ...

Page 567: ...for input output signal of LD77MS16 Fig 9 17 Operation timing and processing time during speed position switching control ABS mode Normal timing time Unit ms Operation cycle t1 t2 t3 t4 t5 t6 t7 LD77MS2 0 88 0 2 to 0 3 0 to 0 9 0 to 0 9 1 8 to 2 7 0 to 0 9 0 2 Follows parameters 1 77 0 2 to 0 3 0 to 1 8 0 to 1 8 2 5 to 4 1 0 to 1 8 0 2 Follows parameters LD77MS4 0 88 0 2 to 0 3 0 to 0 9 0 to 0 9 1...

Page 568: ...rol Only 1 Update current value is valid for the setting of Pr 21 Current feed value during speed control in speed position switching control ABS mode The error Speed position function selection error error code 935 will occur if the Pr 21 Current feed value during speed control setting is other than 1 t Speed Position control Speed control Updated Current feed value updated Switching time from sp...

Page 569: ...e set to use the near point dog signal DOG as speed position switching signals Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 45 Speed position switching device selection 1 Use the near point dog signal for switching from speed control to position control 1566 100n 4366 100n Note The setting is not required for Pr 42 External command function selection...

Page 570: ...witching control ABS mode the following conditions must be satisfied a Pr 1 Unit setting is 2 degree b The software stroke limit function is invalid upper limit value lower limit value c Pr 21 Current feed value during speed control is 1 Update current feed value d The Da 6 Positioning address movement amount setting range is 0 to 359 99999 degree If the value is outside of the range 0 to 359 9999...

Page 571: ...7MS2 LD77MS4 Setting not required Setting value is ignored Da 6 Positioning address movement amount 270 00000degree ABS mode Pr 81 2 Set the address after the switching to position control Assuming that the Pr 1 Unit setting is set to degree Da 7 Arc address Setting not required Setting value is ignored Da 8 Command speed 6000 000degree min Set the speed to be controlled Da 9 Dwell time JUMP desti...

Page 572: ...arts in the reverse run direction Switching over from position control to speed control 1 The control is selected the switching method from position control to speed control by the setting value of Cd 45 Speed position switching device selection Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 45 Speed position switching device selection The device used ...

Page 573: ...ol 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 speed control will be carried out when the Cd 26 Position speed switching enable flag and position speed switching signal are ON at the operation start Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 26 Pos...

Page 574: ...g 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 OFF ON Position control Speed control OFF ON OFF ON In speed control flag Md 31 Status b0 Da 8 OFF ON Axis stop signal stop command Y4 Y5 Y6 Y7 Does not turn ON even when control is stopped by stop command Position speed switching signal External command signal DI Cd 4...

Page 575: ... signal X14 X15 X16 X17 Speed control Position control Speed control Position speed switching command t6 Speed control command speed is from the input position of the external position speed switching signal Axis operation status Md 26 Position speed switching control speed change register Cd 25 Cd 7 OPR complete flag Md 31 Status b4 Axis stop signal Y4 Y5 Y6 Y7 t4 Position control carried out unt...

Page 576: ... to 0 9 1 8 to 2 7 0 2 1 77 0 2 to 0 3 0 to 1 8 0 to 1 8 2 5 to 3 9 0 2 LD77MS16 0 88 0 3 to 1 4 0 to 0 9 0 to 0 9 2 6 to 3 7 0 2 1 77 0 3 to 1 4 0 to 1 8 0 to 1 8 3 4 to 4 3 0 2 The t1 timing time could be delayed by the operation state of other axes When using the near point dog signal and Cd 46 Speed position switching command the t6 timing time could be delayed or vary influenced by the PLC sc...

Page 577: ...dated during position control and speed control 2 Zero clear current feed value The current feed value is updated during position control and the current feed value is cleared to 0 as soon as position control is switched to speed control t Speed control Updated c Current feed value zero cleared 0 Position control a Current feed value not updated V t Speed control Updated Maintained Position contro...

Page 578: ...e set to use the near point dog signal DOG as position speed switching signals Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 45 Speed position switching device selection 1 Use the near point dog signal for switching from position control to speed control 1566 100n 4366 100n Note The setting is not required for Pr 42 External command function selection...

Page 579: ...peed switching signal ON OFF Position control Speed control Position control start Position speed switching control start 0 V2 OFF Position speed switching latch flag Status b5 ON ON OFF V3 V2 becomes the speed control command speed Setting after the position speed switching signal ON is ignored Position speed switching control speed change register Md 31 ON Cd 25 OFF Fig 9 20 Speed control speed ...

Page 580: ...r code 507 or Software stroke limit error code 508 will occur and the operation cannot start if the start point address or end point address for position control exceeds the software stroke limit range 5 Deceleration stop will be carried out if the position speed switching signal is not input before the machine is moved by a specified movement amount When the position speed switching signal is inp...

Page 581: ...7MS4 Setting not required Setting value is ignored Da 6 Positioning address movement amount 10000 0 m Set the movement amount at the time of position control before the switching to speed control Assuming that the Pr 1 Unit setting is set to mm Da 7 Arc address Setting not required Setting value is ignored Da 8 Command speed 6000 00mm min Set the speed to be controlled Da 9 Dwell time JUMP destina...

Page 582: ...ged to the value set in Da 6 Positioning address movement amount when the positioning start signal turns ON LD77MS4 operation example Positioning start signal Md 20 50000 0 OFF ON Current feed value changes to the positioning address designated by the positioning data of the current value changing The above chart shows an example when the positioning address is 0 Current feed value Y10 Y11 Y12 Y13...

Page 583: ...is set in the positioning data No 1 of axis 1 Setting item Setting example Setting details LD77MS2 LD77MS4 LD77MS16 Axis 1 Positioning data No 1 Da 1 Operation pattern Positioning complete Set Positioning complete assuming that the next positioning data will be executed Continuous path control cannot be set by current value change Da 2 Control method Current value changing Set the current value ch...

Page 584: ...alue changing buffer memory The above chart shows an example when the positioning address is 0 Y10 Y11 Y12 Y13 Note Refer to Section 3 3 for input output signal of LD77MS16 Restrictions 1 The error Outside new current value range error code 514 will occur if the designated value is outside the setting range when degree is set in Unit setting 2 The error Software stroke limit error code 507 or Soft...

Page 585: ...rent value to a new value with the positioning start signal The Md 20 Current feed value value is changed to 5000 0 m in the example shown 1 Set the following data Set with the sequence program shown in 3 while referring to the start time chart shown in 2 Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 3 Positioning start No 9003 Set the start No 9003 f...

Page 586: ...9 New current value Note Refer to Section 3 3 for input output signal of LD77MS16 Fig 9 21 Changing to a new current value using the current value changing start No No 9003 3 Add the following sequence program to the control program and write it to the PLC CPU Current value changing Store new current feed value in D106 and D107 LD77MS4 program example X8 Y10 X10 DX0C 0 Pulsate current value changi...

Page 587: ...is to be interpolated LD77MS2 LD77MS4 Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP destination positioning data No Da 10 M code Condition data No Number of LOOP to LEND repetitions Da 20 Axis to be interpolated No 1 LD77MS16 Da 21 Axis to be interpolated No 2 LD77MS16 Da 22 Axis to be interpolated No 3 LD77MS16 Note Refer to Section 5 3 List of ...

Page 588: ...to 7004 is started Each block condition data is used When positioning data No 1 to 600 is started Start block 0 condition data is used When the execution conditions set in Da 10 M code Condition data No Number of LOOP to LEND repetitions 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 JUMP destin...

Page 589: ...ration pattern Setting not required Setting value is ignored Da 2 Control method JUMP instruction Set the JUMP instruction Da 3 Acceleration time No Setting not required Setting value is ignored Da 4 Deceleration time No Da 5 Axis to be interpolated LD77MS2 LD77MS4 Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP destination positioning data No 500 ...

Page 590: ...tioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP destination positioning data No Da 10 M code Condition data No Number of LOOP to LEND repetitions 5 Set the LOOP to LEND repeat cycles Da 20 Axis to be interpolated No 1 LD77MS16 Setting not required setting value is ignored Da 21 Axis to be interpolated No 2 LD77MS16 Da 22 Axis to be interpolated No 3 LD77MS1...

Page 591: ... Positioning data For the special start FOR to NEXT the positioning data is required for each of FOR and NEXT points For the control method loop can be executed even only by one data Also nesting is enabled by using the control method 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 wi...

Page 592: ...complete LOOP Number of loop cycles 2 3 Continuous path control ABS2 4 Continuous control ABS2 5 Positioning complete LEND 6 Positioning complete ABS2 Positioning data setting examples When LEND is set in positioning data No 8 of axis 1 Setting item Setting example Setting details LD77MS2 LD77MS4 LD77MS16 Axis 1 Positioning data No 1 Da 1 Operation pattern Setting not required Setting value is ign...

Page 593: ...ctions 1 Ignore the LEND before the LOOP is executed 2 When the operation pattern Positioning complete has been set between LOOP and LEND the positioning control is completed after the positioning data is executed and the LOOP control is not executed ...

Page 594: ...9 134 Chapter 9 Major Positioning Control MEMO ...

Page 595: ...ning control 10 3 10 1 2 Block start data and condition data configuration 10 4 10 2 High level positioning control execution procedure 10 6 10 3 Setting the block start data 10 7 10 3 1 Relation between various controls and block start data 10 7 10 3 2 Block start normal start 10 8 10 3 3 Condition start 10 10 10 3 4 Wait start 10 11 10 3 5 Simultaneous start 10 12 10 3 6 Repeated start FOR loop ...

Page 596: ...s the program from the block start data set with the FOR loop to the block start data set in NEXT for the designated number of times Repeated start FOR condition Repeats the program from the block start data set with the FOR condition to the block start data set in NEXT until the conditions set in the condition data are established High level positioning control sub functions High level positionin...

Page 597: ...ing 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 the positioning data set in Da 12 will be started Da 14 Parameter Set the conditions by which the start will be executed according to the commands set in Da 13 Design...

Page 598: ...2 Setting item Buffer memory address 26112 1000n 26113 1000n 26114 1000n 26115 1000n 26116 1000n 26117 1000n 26110 1000n Da 16 Da 15 Condition operator Condition target No 1 Setting item Buffer memory address Condition data b0 b8 b15 26102 1000n 26103 1000n Da 17 Da 18 Da 19 26104 1000n 26105 1000n 26106 1000n 26107 1000n Address Parameter 1 Parameter 2 26100 1000n b7 n Axis No 1 Note Set the bloc...

Page 599: ...Simultaneous starting axis No 2 Simultaneous starting axis No 3 Address Parameter 1 Parameter 2 Condition operator Condition target No 1 Setting item Buffer memory address Condition data b0 b8 b15 b4 b12 b0 b8 b15 b4 b12 22100 400n Low order buffer memory High order buffer memory n Axis No 1 Block No 7000 Note Set the block No with sequence program or GX Works2 22000 400n 22050 400n 1st point Sett...

Page 600: ... CPU Turn ON the positioning start command of the axis to be started Stopping the control STEP 8 Stop when control is completed Monitor the high level positioning control Refer to Section 6 5 3 Refer to Section 6 5 6 Create a sequence program in which the block start data point No to be started 1 to 50 is set in the Cd 4 Positioning starting point No Set the condition data for designation with the...

Page 601: ...s2 High level positioning control Block start data setting items Block start Normal start Condition start Wait start Simulta neous start Repeated start FOR loop Repeated start FOR condition NEXT start Da 11 Shape 0 End 1 Continue Da 12 Start data No 1 to 600 Da 13 Special start instruction 0 1 2 3 4 5 6 Da 14 Parameter Condition data No Number of repetitions Condition data No One of the two settin...

Page 602: ... start 2nd point 1 Continue 2 0 Block start 3rd point 1 Continue 5 0 Block start 4th point 1 Continue 10 0 Block start 5th point 0 End 15 0 Block start 2 Positioning data setting example Axis 1 positioning data No Da 1 Operation pattern 1 00 Positioning complete 2 11 Continuous path control 1 block Note 1 1 block 3 01 Continuous positioning control 4 00 Positioning complete 5 11 Continuous path co...

Page 603: ...t 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 point settings Positioning according to the 2nd point set...

Page 604: ...0 0 Block start Note The condition data Nos have been set in Da 14 Parameter 2 Positioning data setting example Axis 1 positioning data No Da 1 Operation pattern 1 01 Continuous positioning control 2 01 Continuous positioning control 3 00 Positioning complete 10 11 Continuous path control 11 11 Continuous path control 12 00 Positioning complete 50 00 Positioning complete 2 Control examples The fol...

Page 605: ...inue 10 0 Block start 3rd point 0 End 50 0 Block start Note The condition data Nos have been set in Da 14 Parameter 2 Positioning data setting example Axis 1 positioning data No Da 1 Operation pattern 1 01 Continuous positioning control 2 01 Continuous positioning control 3 00 Positioning complete 10 11 Continuous path control 11 11 Continuous path control 12 00 Positioning complete 50 00 Position...

Page 606: ...tion pattern 1 01 Continuous positioning control 2 01 Continuous positioning control 3 00 Positioning complete 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 Check the axis operation status of axis 2 which is regarded as the simultaneously started axis Axis 2 is standing by Go to 2 Axis 2 i...

Page 607: ...a Da 11 Shape Da 12 Start data No Da 13 Special start instruction Da 14 Parameter 1st point 1 Continue 1 4 FOR loop 2 2nd point 1 Continue 10 0 Block start 3rd point 0 End 50 6 NEXT start Note The condition data Nos have been set in Da 14 Parameter 2 Positioning data setting example Axis 1 positioning data No Da 1 Operation pattern 1 01 Continuous positioning control 2 01 Continuous positioning co...

Page 608: ...a No Da 13 Special start instruction Da 14 Parameter 1st point 1 Continue 1 5 FOR condition 5 2nd point 1 Continue 10 0 Block start 3rd point 0 End 50 6 NEXT start Note The condition data Nos have been set in Da 14 Parameter 2 Positioning data setting example Axis 1 positioning data No Da 1 Operation pattern 1 01 Continuous positioning control 2 01 Continuous positioning control 3 00 Positioning c...

Page 609: ... possible between 4 FOR loop and 6 NEXT start or between 5 FOR condition and 6 NEXT start The warning FOR to NEXT nest construction warning code 506 will occur if nesting is attempted Operating examples without nesting structure Operating examples with nesting structure Start block data Da 13 Special start instruction Start block data Da 13 Special start instruction 1st point Normal start 1st poin...

Page 610: ...ta Da 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 Control type Da 15 Setting item High level positioning control Major positioning control Block start Wait start Simultaneous start Repeated start For condition JUMP instruction 01H Device X Note 1 02H Device Y Note 1 03H Buffer memory 1...

Page 611: ... 2 selected 40H Axis 3 selected 50H Axis 1 and 3 selected 60H Axis 2 and 3 selected 70H Axis 1 2 and 3 selected 80H Axis 4 selected 90H Axis 1 and 4 selected A0H Axis 2 and 4 selected B0H Axis 1 2 and 4 selected C0H Axis 3 and 4 selected D0H Axis 1 3 and 4 selected E0H Axis 2 3 and 4 selected Low order 16 bits Axis 1 positioning data No Note 2 High order 16 bits Axis 2 positioning data No Note 2 L...

Page 612: ...g axis No 1 positioning data No High order 16 bits Da 25 Simultaneous starting axis No 2 positioning data No 3 4 Low order 16 bits Da 26 Simultaneous starting axis No 3 positioning data No High order 16 bits Unusable Set 0 Setting not required Set the initial value or a value within the setting range Value stored in buffer memory designated in Da 17 Note 1 Comparison of and is judged as signed val...

Page 613: ...alue stored in buffer memory addresses 800 801 Md 20 Current feed value is 1000 or larger Da 15 Condition target Da 16 Condition operator Da 17 Address Da 18 Parameter 1 Da 19 Parameter 2 04H Buffer memory 2 words 04H P1 800 1000 c Designating the axis and positioning data No to be simultaneously started in simultaneous start Condition Simultaneously starting axis 2 positioning data No 3 Da 15 Con...

Page 614: ...00 or larger Da 15 Condition target Da 16 Condition operator Da 17 Address Da 18 Parameter 1 Da 19 Parameter 2 Da 23 Number of simultaneous starting axes Da 24 Simultaneous starting axis No 1 Da 25 Simultaneous starting axis No 2 Da 26 Simultaneous starting axis No 3 04H Buffer memory 2 words 04H P1 2400 1000 c Designating the axis and positioning data No to be simultaneously started in simultaneo...

Page 615: ...aneous starting axis start data No axis 4 start data No LD77MS16 Set the number of axes to be started simultaneously and axis No in Cd 43 Simultaneous starting axis and the start data No of simultaneous starting axis positioning data No to be started simultaneously for each axis in Cd 30 Simultaneous starting own axis start data No and Cd 31 Simultaneous starting axis start data No 1 to Cd 33 Simu...

Page 616: ...d 31 Simultaneous starting axis start data No axis 2 start data No Cd 32 Simultaneous starting axis start data No axis 3 start data No Cd 33 Simultaneous starting axis start data No axis 4 start data No Set the following axis control data When LD77MS4 Write 9004 in Positioning start No Cd 3 Turn ON the positioning start signal to be started 1 2 3 Cd 30 Simultaneous starting own axis start data No ...

Page 617: ...start data No axis 1 start data No LD77MS2 LD77MS4 Set the simultaneously started axis start data No Set a 0 for the axis other than the simultaneously started axes 1540 100n Simultaneous starting own axis start data No LD77MS16 4340 100n Cd 31 Simultaneous starting axis start data No axis 2 start data No LD77MS2 LD77MS4 1541 100n Simultaneous starting axis start data No 1 LD77MS16 4341 100n Cd 32...

Page 618: ...er the start of the axis 1 the axis 4 starts the axis 4 positioning data No 300 1543 2 The following shows the setting examples in which the LD77MS16 axis 10 is used as the start axis and the simultaneously started axes are used as the axes 12 and 14 Setting item Setting value Setting details Buffer memory address Axis 10 Cd 3 Positioning start No 9004 Set the multiple axes simultaneous start cont...

Page 619: ... start data 2 The setting of the multiple axes simultaneous start control is easier than that of the simultaneous start using the block start data Setting items for simultaneous start using block start data Positioning start data block start data condition data and positioning data Setting items for multiple axes simultaneous start control Positioning data and axis control data ...

Page 620: ...uffer memory Control by designated positioning data When carrying out a positioning start with the next scan after a positioning operation is completed input signal X10 as an interlock so that the start is carried out once the X10 signal turns OFF after the Y10 signal turns OFF 1 3 2 4 1 Set 7000 in Cd 3 Positioning start No This establishes that the control as high level positioning control using...

Page 621: ...Start conditions The following conditions must be fulfilled when starting the control The required conditions must also be integrated into the sequence program and configured so the control does not start unless the conditions are fulfilled Signal name Signal state Device LD77MS2 LD77MS4 LD77MS16 Interface signal PLC READY signal ON PLC CPU preparation completed Y0 READY signal ON LD77MS preparati...

Page 622: ...omplete 10 11 Continuous path control 11 11 Continuous path control 12 00 Positioning complete 3 Start time chart LD77MS4 operation example Y10 PLC READY signal READY signal X10 XC Positioning complete signal V t Error detection signal Positioning data No Dwell time 12 00 Operation pattern 1 11 1st point buffer memory address 26000 2nd point buffer memory address 26001 11 11 10 11 2 00 7000 1 3276...

Page 623: ... positioning start 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 XC Set the block start data beforehand Y10 Positioning start signal XC BUSY signal M104 Positioning start command pulse Positioning start command LD77MS4 program example ...

Page 624: ...10 30 Chapter 10 High Level Positioning Control MEMO ...

Page 625: ...11 2 JOG operation 11 4 11 2 1 Outline of JOG operation 11 4 11 2 2 JOG operation execution procedure 11 7 11 2 3 Setting the required parameters for JOG operation 11 8 11 2 4 Creating start programs for JOG operation 11 10 11 2 5 JOG operation example 11 12 11 3 Inching operation 11 15 11 3 1 Outline of inching operation 11 15 11 3 2 Inching operation execution procedure 11 18 11 3 3 Setting the ...

Page 626: ...ation is stopped by turning the limit signal OFF to confirm the positioning system connection and obtain the positioning data address refer to Section 13 7 4 Teaching function M Movement continues while the JOG START signal is ON JOG START signal ON OFF Fig 11 1 JOG operation 2 Inching operation Inching operation is a control method in which a minute movement amount of command is output manually i...

Page 627: ...ns Refer to Section 3 2 5 Combination of LD77MS main functions and sub functions for details on sub functions that can be combined with manual control Also refer to Chapter 13 Control Sub Functions for details on each sub function Carrying out manual control from GX Works2 JOG operation Inching operation and enabling disabling of the manual pulse generator operation can be executed from GX Works2 ...

Page 628: ...me 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 START signal is turned OFF deceleration begins from the speed set in Cd 17 JOG speed and continues for the deceleration time designated in Pr 33 JOG operation deceleration time se...

Page 629: ...G speed limit value is set to a value larger than Pr 8 Speed limit value 4 If Cd 17 JOG speed exceeds the speed set in Pr 31 JOG speed limit value the workpiece will move at the Pr 31 JOG speed limit value and the warning JOG speed limit value warning code 301 will occur in the Simple Motion module 5 The JOG operation can be continued even if an Axis warning has occurred 6 Set a 0 in Cd 16 Inching...

Page 630: ... t2 Standby 0 JOG operation 3 t1 t3 t4 ON ON Standby 0 Note Refer to Section 3 3 for input output signal of LD77MS16 Fig 11 5 JOG operation timing and processing times Normal timing times Unit ms Operation cycle t1 t2 t3 t4 LD77MS2 0 88 0 8 to 1 4 0 to 0 9 2 7 to 3 6 0 to 0 9 1 77 0 8 to 2 1 0 to 1 8 3 9 to 4 2 0 to 1 8 LD77MS4 0 88 0 8 to 1 4 0 to 0 9 2 7 to 3 6 0 to 0 9 1 77 0 8 to 2 1 0 to 1 8 ...

Page 631: ...ration start JOG operation stop Set the parameters to Pr 1 Pr 39 One of the following two methods can be used Method 1 Directly set write the parameters in the Simple Motion module using GX Works2 Method 2 Set write the parameters from the PLC CPU to the Simple Motion module using the sequence program Create a sequence program for the following setting Set a 0 in Inching movement amount Cd 16 Cd 1...

Page 632: ...47 Pr 13 Software stroke limit lower limit value Unit PLS 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 25 Acceleration time 1 Unit ms 1000 Pr 26 Acceleration time 2 Unit ms 1000 Pr 27 Acceleration time 3 Unit ms 1000 Pr 28 Deceleration time 1 Unit ms 1000 Pr 29 Decelerati...

Page 633: ...ing the Simple Motion module When carrying out other controls major positioning control high level positioning control OPR positioning control set the respective setting items as well Parameters are set for each axis Refer to Chapter 5 Data Used for Positioning Control for the setting details ...

Page 634: ...program and the sequence program must be configured so the operation will not start if the conditions are not fulfilled Signal name Signal state Device LD77MS2 LD77MS4 LD77MS16 Interface signal PLC READY signal ON PLC CPU preparation completed Y0 READY signal ON LD77MS preparation completed X0 All axis servo ON ON All axis servo ON Y1 Synchronization flag ON LD77MS buffer memory The access is poss...

Page 635: ... signal of LD77MS16 Fig 11 6 JOG operation start time chart Creating the program Write JOG operation speed MOVP K0 H0 K1517 D5 TOP D5 K3 Set a 0 for inching movement amount No 10 JOG operation setting program X2D 224 DMOVP K10000 D6 Set JOG operation speed 100 00mm min Execute forward JOG inching operation No 12 JOG operation inching operation execution program RST M7 X2E 287 X2F JOG inching opera...

Page 636: ...r The operation can be started by turning the stop signal OFF and turning the JOG start signal from OFF to ON again LD77MS4 operation example OFF ON BUSY signal XC XD XE XF OFF ON Ignores that the JOG start signal is turned ON from OFF while the stop signal is ON Axis stop signal Y4 Y5 Y6 Y7 OFF ON OFF ON Forward run JOG start signal Y8 YA YC YE READY signal X0 PLC READY signal Y0 OFF ON OFF ON Al...

Page 637: ...ed OFF If the forward run JOG operation is stopped due to stop by a stop signal or axis error the reverse run JOG operation will not be executed even if the reverse run JOG start signal turns ON LD77MS4 operation example OFF ON OFF ON BUSY signal XC XD XE XF OFF ON Forward run JOG operation t The reverse run JOG start signal is ignored Reverse run JOG operation Forward run JOG start signal Y8 YA Y...

Page 638: ...peration when the JOG start signal is turned ON during deceleration When the JOG start signal is turned ON while the test function of GX Works2 is used When the JOG start signal is turned ON while the test function of GX Works2 is used it will be ignored and the JOG operation will not be carried out LD77MS4 operation example In test mode flag ON t Forward run JOG start signal Y8 YA YC YE OFF ON OF...

Page 639: ... the start signal In this case BUSY signal is turned 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 complete signal is turned from OFF to ON 4 The positioning complete signal is turned from ON to OFF after a time set in Pr 40 P...

Page 640: ... it is set The error Inching movement amount error error code 301 will occur in the following case Cd 16 Inching movement amount x A Pr 31 JOG speed limit value However A is as follows Unit ms Operation cycle 0 88 1 77 When unit is set to PLS 1125 562 5 When unit is set to degree and the Pr 83 Speed control 10 x multiplier setting for degree axis is valid 67 5 33 75 When unit setting is other than...

Page 641: ...ndby 0 1 JOG operation is set in Md 26 Axis operation status even during inching operation Note Refer to Section 3 3 for input output signal of LD77MS16 Fig 11 12 Inching operation timing and processing times Normal timing times Unit ms Operation cycle t1 t2 t3 t4 LD77MS2 0 88 0 4 to 1 1 2 5 to 3 4 0 to 0 9 Follows parameters 1 77 0 4 to 1 8 3 9 to 4 2 0 to 1 8 Follows parameters LD77MS4 0 88 0 4 ...

Page 642: ...rted Monitoring of the inching operation STEP 6 Turn OFF the JOG start signal that is ON Monitor the inching operation status Refer to Chapter 6 Inching operation start Inching operation stop End the inching operation after moving a workpiece by an inching movement amount with the sequence program created in STEP 2 Create a sequence program in which the JOG start signal is turned ON by an inching ...

Page 643: ... 1 1 times Pr 11 Backlash compensation amount Unit PLS 0 Pr 12 Software stroke limit upper limit value Unit PLS 2147483647 Pr 13 Software stroke limit lower limit value Unit PLS 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 31 JOG speed limit value Unit PLS s 20000 Setting...

Page 644: ...uence program must be configured so the operation will not start if the conditions are not fulfilled Signal name Signal state Device LD77MS2 LD77MS4 LD77MS16 Interface signal PLC READY signal ON PLC CPU preparation completed Y0 READY signal ON LD77MS preparation completed X0 All axis servo ON ON All axis servo ON Y1 Synchronization flag ON Accessible to LD77MS buffer memory X1 Axis stop signal OFF...

Page 645: ... ON Y1 OFF Note Refer to Section 3 3 for input output signal of LD77MS16 Fig 11 13 Inching operation start time chart Creating the program MOVP D5 Write inching movement amount No 11 Inching operation setting program X44 482 MOVP K100 D5 Set inching movement amount 10 0µm Execute forward JOG inching operation No 12 JOG operation inching operation execution program RST M7 X2E 514 X2F JOG inching op...

Page 646: ...e stop signal is turned OFF and then re turned ON LD77MS4 operation example PLC READY signal Y0 OFF ON BUSY signal XC XD XE XF OFF ON Ignores that the JOG start signal is turned ON from OFF while the stop signal is ON Axis stop signal Y4 Y5 Y6 Y7 OFF ON READY signal X0 ON OFF Forward run JOG start signal Y8 YA YC YE OFF ON All axis servo ON Y1 ON OFF t v Note Refer to Section 3 3 for input output ...

Page 647: ... LD77MS4 operation example In test mode flag ON t Forward run JOG start signal Y8 YA YC YE OFF ON OFF Forward run inching operation execution Inching operation not possible because the test function is being used Inching operation not possible because this is not the rising edge of the JOG start signal Note Refer to Section 3 3 for input output signal of LD77MS16 Fig 11 15 Operation when the JOG s...

Page 648: ...tor 4 When Cd 21 Manual pulse generator enable flag is set to 0 the BUSY signal turns OFF and the manual pulse generator operation is disabled LD77MS4 operation example Manual pulse generator operation stops t BUSY signal XC XD YE XF Manual pulse generator input Start complete signal X10 X11 X12 X13 Manual pulse generator operation enabled 0 OFF ON OFF 1 2 3 4 1 0 Cd 21 Manual pulse generator enab...

Page 649: ...error 4 Command will not be output if an error occurs when the manual pulse generator operation starts Important The speed command is issued according to the input from the manual pulse generator irrelevant of the speed limit setting When the speed command is larger than 62914560 PLS s the servo alarm Command frequency error alarm No 35 will occur The following calculation formula is used to judge...

Page 650: ...ation again Cd 21 Manual pulse generator enable flag must be turned OFF once and turn ON Upper lower limit signal Manual pulse generator operation possible Manual pulse generator operation not possible V Manual pulse generator operation ON OFF Manual pulse generator operation timing and processing time The following drawing shows details of the manual pulse generator operation timing and processin...

Page 651: ...1 Unit setting is mm and Cd 20 Manual pulse generator 1 pulse input magnification is 2 and 100 pulses are input from the manual pulse generator the current feed value is as follows 100 2 0 1 20 µm Md 20 Current feed value 200 The number of pulses output actually to the servo amplifier is Manual pulse generator 1pulse movement amount movement amount per pulse The movement amount per pulse can be ca...

Page 652: ...P 5 STEP 6 Create a sequence program in which the Manual pulse generator 1 pulse input magnification is set Control data setting Cd 20 End the input from the manual pulse generator and issue a command to disable the manual pulse generator operation Monitor the manual pulse generator operation Issue a command to enable the manual pulse generator operation and input the signals from the manual pulse...

Page 653: ...e limit lower limit value Unit PLS 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 22 Input signal logic selection 0 Manual pulse generator input is negative logic Pr 24 Manual pulse generator Incremental synchronous encoder input selection 0 4 times multiplication of A phas...

Page 654: ...e following conditions must be fulfilled when starting The required conditions must also be assembled in the sequence program and the sequence program must be configured so the operation will not start if the conditions are not fulfilled Signal name Signal state Device LD77MS2 LD77MS4 LD77MS16 Interface signal PLC READY signal ON PLC CPU preparation completed Y0 READY signal ON LD77MS preparation ...

Page 655: ...16 Fig 11 18 Manual pulse generator operation start time chart Creating the program LD77MS4 program example No 13 Manual pulse generator operation program Pulsate manual pulse generator operation 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 pu...

Page 656: ...11 32 Chapter 11 Manual Control MEMO ...

Page 657: ...to synchronize with input axis using software with synchronous control parameter instead of controlling mechanically with gear shaft speed change gear or cam etc Execute the required settings to match each control 12 1 Speed torque control 12 2 12 1 1 Outline of speed torque control 12 2 12 1 2 Setting the required parameters for speed torque control 12 4 12 1 3 Setting the required data for speed...

Page 658: ...tion loop for the command to servo amplifier Control mode can be switched during positioning control or speed control Use the servo amplifiers whose software versions are compatible with each control mode to execute the Speed torque control Servo amplifier software versions that are compatible with each control mode are shown below For the support information not listed in the table below refer to...

Page 659: ...s torque more than 100 of the rating is performed with an abnormally high frequency in a servomotor stop status servo lock status or in a 30r min or less low speed operation status the servo amplifier may malfunction regardless of the electronic thermal relay protection ...

Page 660: ...Speed limit value Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value Pr 14 Software stroke limit selection Pr 22 Input signal logic selection Pr 82 Forced stop valid invalid selection Pr 83 Speed control 10 x multiplier setting for degree axis Pr 90 Operation setting for speed torque control mode Setting always required Set according to requirements Set the...

Page 661: ... Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 153 Control mode auto shift selection Set the switching condition when switching to continuous operation to torque control mode 0 No switching condition 1 Current feed value pass 2 Real current value pass 1593 100n 4393 100n Cd 154 Control mode auto shift parameter Set the condition value when setting the control mode...

Page 662: ...ue control Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 147 Speed limit value at continuous operation to torque control mode Set the speed limit value at continuous operation to torque control mode 1586 100n 1587 100n 4386 100n 4387 100n Cd 148 Acceleration time at continuous operation to torque control mode Set the acceleration time at continuous op...

Page 663: ...he control mode is not be switched The following shows the switching condition of each control mode Position control mode Speed control mode Torque control mode 3 4 2 1 5 6 Switching operation Switching condition 1 Position control mode Speed control mode Not during positioning Note 1 and during motor stop Note 2 Note 3 2 Speed control mode Position control mode During motor stop Note 2 Note 3 3 P...

Page 664: ...a workpiece Do not execute the continuous operation to torque control in the speed control mode Otherwise an unexpected operation might occur at switching to the position control mode 5 In speed control flag Md 31 Status b0 does not turn ON during the speed control mode in the speed torque control Operation for Position control mode Speed control mode switching When the position control mode is sw...

Page 665: ... 1 0 0 0 t V Control mode Servo status b2 b3 Md 108 ON OFF 30000 20000 6 to 11ms 6 to 11ms BUSY signal XC Axis operation status Md 26 Cd 140 Cd 139 Cd 138 Control mode switching request Control mode setting Command speed at speed control mode Position control mode Speed control mode Position control mode 0 Note Refer to Section 3 3 for input output signal of LD77MS16 and Chapter 5 for buffer memor...

Page 666: ... will occur at control mode switching and the command value immediately after switching is the same as the case of selecting 0 Command torque If the feedback torque is selected set 1 Disabled in the servo parameter Function selection C B POL reflection selection at torque control PC29 When the torque control mode is switched to the position control mode the command position immediately after the s...

Page 667: ...ol mode 0 Command torque The value of Cd 143 Command torque at torque control mode at switching 1 Feedback torque Motor torque value at switching POINT When the servo parameter Function selection C B POL reflection selection at torque control PC29 is set to 0 Enabled and Torque initial value selection is set to 1 Feedback torque the warning Torque initial value selection invalid warning code 521 w...

Page 668: ...1 0 t 20 0 50000 t V 30000 20000 0 30000 20000 0 Torque Speed control mode Torque control mode Speed control mode 6 to 11ms 6 to 11ms BUSY signal XC Control mode Servo status b2 b3 Md 108 Axis operation status Md 26 Cd 140 Command speed at speed control mode Cd 138 Control mode switching request Cd 139 Control mode setting Cd 146 Speed limit value at torque control mode Cd 143 Command torque at to...

Page 669: ...n to torque control mode Not during positioning Note 1 or during following positioning synchronous mode ABS1 1 axis linear control ABS INC1 1 axis linear control INC FEED1 1 axis fixed feed control VF1 1 axis speed control Forward VR1 1 axis speed control Reverse VPF Speed position switching control Forward VPR Speed position switching control Reverse PVF Position speed switching control Forward P...

Page 670: ...rol mode only the switching from continuous operation to torque control mode to speed control mode is possible If the mode is switched to other control modes the warning Control mode switching not possible warning code 125 will occur and the control mode is not switched Precautions at control mode switching 1 The start complete signal and positioning complete signal do not turn ON at control mode ...

Page 671: ...tion b8 to b11 of Pr 90 Operation setting for speed torque control mode Torque initial value selection Pr 90 b4 to b7 Command torque to servo amplifier immediately after switching from position control mode to continuous operation to torque control mode 0 Command torque The value of Cd 150 Target torque at continuous operation to torque control mode at switching 1 Feedback torque Motor torque valu...

Page 672: ...operation to torque control Servo status3 b14 OFF OFF ON 300 0 0 Depending on the positioning method 0 0 Cd 138 Control mode switching request Cd 139 Control mode setting Axis operation status Md 26 BUSY signal XC Md 124 Control mode switching status Md 125 Md 108 Cd 147 Speed limit value at continuous operation to torque control mode Cd 150 Target torque at continuous operation to torque control ...

Page 673: ...ile the BUSY signal is ON the BUSY signal does not turn OFF but stays ON at control mode switching 0 is automatically stored in Cd 138 Control mode switching request and Md 124 Control mode switching status after completion of switching When the speed control mode is switched to the continuous operation to torque control mode the command torque immediately after the switching is the torque set in ...

Page 674: ...eed at speed control mode Cd 138 Control mode switching request Cd 139 Control mode setting BUSY signal XC Axis operation status Md 26 Md 124 Control mode switching status Md 125 Md 108 Cd 147 Speed limit value at continuous operation to torque control mode Cd 150 Target torque at continuous operation to torque control mode Contact with target 6 to 11 ms 6 to 11 ms Continuous operation to torque c...

Page 675: ...tisfied after control mode switching request and 2 Waiting for the completion of control mode switching condition is set in Md 124 Control mode switching status When the set condition is satisfied 1 Position control mode continuous operation to torque control mode speed control mode continuous operation to torque control mode switching is set in Md 124 Control mode switching status 0 is stored in ...

Page 676: ...ing may be executed in other positioning operations Waiting for the completion of control mode switching condition can be cancelled by setting Other than 1 Not request in Cd 138 Control mode switching request or by turning the axis stop signal ON When an error occurs waiting for the completion of control mode switching condition is also cancelled In both cases 0 is stored in Cd 138 Control mode sw...

Page 677: ...N 0 1 0 adr 300 0 2 Current feed value passes the address adr set in auto shift parameter Cd 154 Control mode 0 0 Cd 138 Control mode switching request Cd 139 Control mode setting Cd 147 Speed limit value at continuous operation to torque control mode Cd 150 Target torque at continuous operation to torque control mode Axis operation status Md 26 Md 124 Control mode switching status Md 125 Contact ...

Page 678: ...arning Speed limit value over warning code 501 occurs and the operation is controlled with the speed limit value Confirm the command speed to servo amplifier with Md 122 Speed during command Cd 142 Deceleration time at speed control mode 0 t V 0 20000 30000 10000 20000 0 0 Pr 8 Speed limit value 30000 20000 10000 20000 Pr 8 Speed limit value Md 122 The command speed to servo amplifier is stored in...

Page 679: ...control mode becomes valid Cd 100 Servo OFF command turned ON The current value reached the software stroke limit An error error code 507 508 104 105 or 101 occurs The mode switches to the position control mode at the current position and the operation immediately stops Deceleration processing is not executed The position of the motor reached the hardware stroke limit PLC READY Y0 turned OFF The f...

Page 680: ... control mode Torque generation direction of servo motor 0 Forward rotation CCW with the increase of the positioning address Positive value Forward direction CCW direction CW direction CCW direction Negative value Reverse direction CW direction 1 Reverse rotation CW with the increase of the positioning address Positive value Forward direction CW direction Negative value Reverse direction CCW direc...

Page 681: ...rque limit setting value is set the warning Torque limit value over warning code 520 occurs and the operation is controlled with the torque limit setting value Confirm the command torque to servo amplifier with Md 123 Torque during command Cd 145 0 t 0 200 300 100 200 0 0 Pr 17 Torque limit setting value 20 0 30 0 10 0 20 0 Torque Pr 17 Torque limit setting value Cd 143 Command torque at torque co...

Page 682: ...lue If the speed exceeding the speed limit value is set the warning Speed limit value over warning code 501 occurs and the operation is controlled with the speed limit value The acceleration deceleration processing is invalid for Cd 146 Speed limit value at torque control mode POINT The actual motor speed may not reach the speed limit value depending on the machine load situation during the torque...

Page 683: ...not executed during the torque control mode The command status when the mode is switched to the position control mode becomes valid Cd 100 Servo OFF command turned ON The current value reached the software stroke limit An error error code 507 508 104 105 or 101 occurs The mode switches to the position control mode at the current position and the operation immediately stops Deceleration processing ...

Page 684: ...on selection C B POL reflection selection at torque control PC29 Rotation direction selection travel direction selection PA14 Cd 150 Target torque at continuous operation to torque control mode Torque generation direction of servo motor 0 Forward rotation CCW with the increase of the positioning address Positive value Forward direction CCW direction CW direction CCW direction Negative value Revers...

Page 685: ...request is valid for Cd 151 and Cd 152 The command torque during the continuous operation to torque control mode is limited with Pr 17 Torque limit setting value If torque exceeding the torque limit setting value is commanded the warning Torque limit value over warning code 520 occurs and the operation is controlled with the torque limit setting value Confirm the command torque to servo amplifier ...

Page 686: ...the speed limit value Confirm the command speed to servo amplifier with Md 122 Speed during command 0 t 1000 1000 0 V t Torque 30 0 Position control mode or Speed control mode 0 300 0 0 0 Continuous operation to torque control mode Position control mode or Speed control mode Pr 8 Speed limit value Pr 8 Speed limit value Cd 147 Speed limit value at continuous operation to torque control mode Cd 150...

Page 687: ...que control mode is limited with Pr 8 Speed limit value If the command speed exceeding the speed limit value is set a warning Speed limit value over warning code 501 occurs and the operation is controlled with the speed limit value POINT The actual motor speed may not reach the command speed depending on the machine load situation during the continuous operation to torque control mode Current feed...

Page 688: ...it An error error code 507 508 104 105 or 101 occurs The mode switches to the position control mode at the current position and the operation immediately stops Deceleration processing is not executed 1 When the operation immediately stops the motor may start hunting depending on the motor speed Therefore be sure not to reach the limit in high speed and not to turn OFF the PLC READY The position of...

Page 689: ...change gear or cam etc Synchronous control synchronizes movement with the input axis servo input axis or synchronous encoder axis by setting the parameters for synchronous control and starting synchronous control on each output axis Refer to MELSEC Q L QD77MS QD77GF LD77MS LD77MH Simple Motion Module User s Manual Synchronous Control for details of synchronous control ...

Page 690: ...12 34 Chapter 12 Expansion Control MEMO ...

Page 691: ... function 13 20 13 4 Functions to limit the control 13 22 13 4 1 Speed limit function 13 22 13 4 2 Torque limit function 13 24 13 4 3 Software stroke limit function 13 28 13 4 4 Hardware stroke limit function 13 34 13 4 5 Forced stop function 13 38 13 5 Functions to change the control details 13 41 13 5 1 Speed change function 13 41 13 5 2 Override function 13 48 13 5 3 Acceleration deceleration t...

Page 692: ... 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 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 ou...

Page 693: ...le Motion module to reach the positioning stop position and when the value is less than the set value sets the command in position flag When using another sub work before ending the control use this function as a trigger for the sub work Acceleration deceleration processing function This function adjusts the control acceleration deceleration Pre reading start function This function shortens the vi...

Page 694: ...ow explain about the OPR retry function 1 Control details 2 Precautions during control 3 Setting the OPR retry function 1 Control details The following drawing shows the operation of the OPR retry function 1 OPR retry point return retry operation when the workpiece is within the range between the upper and lower limits 1 The movement starts in the Pr 44 OPR direction by a machine OPR start 2 The o...

Page 695: ...PR direction Pr 44 OPR direction Near point dog Hardware upper limit switch Hardware lower limit switch Movement range Machine OPR start OP Zero signal In the above example 1 and 2 0 Positive direction is set in Pr 44 OPR direction REMARK When the 0 Positive direction is selected in Pr 44 OPR direction the upper limit switch is set to the limit switch in the OPR direction When the 1 Negative direc...

Page 696: ... retry 2 Precaution during control 1 The following table shows whether the OPR retry function may be executed by the Pr 43 OPR method Pr 43 OPR method Execution status of OPR retry function Near point dog method Execution possible Count method 1 Execution possible Count method 2 Execution possible Data set method Scale origin signal detection method Execution not possible Driver OPR method 2 Alway...

Page 697: ...added to the machine OPR control The set details are validated at the rising edge OFF ON of the PLC READY signal Y0 Set Pr 57 Dwell time during OPR retry according to the user s requirements Setting item Setting value Setting details Factory set initial value Pr 48 OPR retry 1 Set 1 Carry out OPR retry by limit switch 0 Pr 57 Dwell time during OPR retry Set the deceleration stop time during OPR re...

Page 698: ...can then be interpreted at that point The details shown below explain about the OP shift function 1 Control details 2 Setting range for the OP shift amount 3 Movement speed during OP shift 4 Precautions during control 5 Setting the OP shift function 1 Control details The following drawing shows the operation of the OP shift function Machine OPR start Pr 53 OP shift amount Speed selected by the Pr ...

Page 699: ... shift is set in Pr 56 Speed designation during OP shift The movement speed during the OP shift is selected from either the Pr 46 OPR speed or the Pr 47 Creep speed For the acceleration deceleration time the value specified in Pr 51 OPR acceleration time selection or Pr 52 OPR deceleration time selection is used The following drawings show the movement speed during the OP shift when a mechanical O...

Page 700: ...shift operation considering near point dog ON as 0 is stored 5 Setting the OP shift function To use the OP shift function set the required details in the parameters shown in the following table and write them to the Simple Motion module When the parameters are set the OP shift function will be added to the machine OPR control The set details are validated at the rising edge OFF ON of the PLC READY...

Page 701: ...tion compensates the backlash amount in the mechanical system The details shown below explain about the backlash compensation function 1 Control details 2 Precautions during control 3 Setting the backlash compensation function 1 Control details When the backlash compensation amount is set an extra amount of command equivalent to the set backlash amount is output every time the movement direction c...

Page 702: ...ed from Pr 44 OPR direction of the Simple Motion module When the positioning is executed in the same direction as Pr 44 OPR direction the backlash compensation is not executed However when the positioning is executed in the reverse direction against Pr 44 OPR direction the backlash compensation is executed 3 Setting the backlash compensation function To use the backlash compensation function set t...

Page 703: ...ted the function clears to 0 the cumulative values of less than one pulse which could not be output If the cumulative value is cleared an error will occur by a cleared amount in the feed machine value Control can be constantly carried out at the same machine movement amount even when the fixed feed control is continued C The function compensates the mechanical system error of the command movement ...

Page 704: ...t considered unit magnification S Electronic gear AP AP 1 S AL AM Set values for AP AL and AM so that this related equation is established However because values to be set for AP AL and AM have the settable range values calculated reduced from the above related equation must be contained in the setting range for AP AL and AM 1 For Ball screw Reduction gear When the ball screw pitch is 10mm the mot...

Page 705: ...hus AP AL and AM to be set are as follows AP 23068672 Pr 2 AP 23068672 Pr 2 AL 11250 0 Pr 3 or AL 1125 0 Pr 3 AM 1 Pr 4 AM 10 Pr 4 Note These two examples of settings are only examples There are settings other than these examples 2 When PLS pulse is set as the control unit When using PLS pulse as the control unit set the electronic gear as follows AP Number of pulses per rotation AL Movement amoun...

Page 706: ...nt amount per rotation 360 00000 degree Reduction ratio 360 00000 3 11 Substitute this for the above expression 1 At this time make calculation with the reduction ratio 3 11 remaining as a fraction AP 4194304 PLS S 360 00000 degree 3 11 4194304 PLS 11 360 00000 3 46137344 1080 00000 2883584 2883584 AP 67 50000 67 50000 AL 1 AM 2883584 AP 0 06750 AL 1000 AM Thus AP AL and AM to be set are as follow...

Page 707: ...motor turns one revolution AP AP Number of pulses per rotation 4194304 PLS S Movement amount per rotation 135000 0 m Reduction ratio 135000 0 m 7 53 1 3 Substitute this for the above expression 1 At this time make calculation with the reduction ratio 7 53 1 3 remaining as a fraction AP AP 4194304 PLS S AL AM 135000 0 m 7 53 1 3 4194304 53 3 135000 0 7 166723584 236250 Here make calculation on the ...

Page 708: ...linear encoder in the following conditions Linear encoder resolution Number of pulses AP Movement amount AL AM Linear encoder resolution 0 05 m per PLS 1 PLS 0 05 m Number of pulses AP PLS Movement amount AL m 20 1 0 Set the number of pulses in Pr 2 Number of pulses per rotation AP the movement amount in Pr 3 Movement amount per rotation AL and the unit magnification in Pr 4 Unit magnification AM ...

Page 709: ...tion module AP AL AM Control unit Command value PLS Servo amplifier 1 if there is no error in regular case Electronic gear taking an error into consideration Simple Motion module Calculation example Conditions Number of pulses per rotation AP 4194304 PLS Movement amount per rotation AL 5000 0 m Unit magnification AM 1 Positioning results Command movement amount L Actual movement amount L 100 mm 10...

Page 710: ...ot 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 function 1 Control details 2 Precautions during control...

Page 711: ...e 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 Positioning data No 1 Positioning data No 2 Partner axis Reference axis Positioning data No 1 Continuous path control Operation of reference axis t V Positionin...

Page 712: ...the speed limit function and various controls The following table shows the relation of the speed limit function and various controls 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 to 4 axes linear interpolation control 1 axis fixed feed control 2 to 4 axe...

Page 713: ...l 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 3 Setting the speed limit function To use the speed limit function set the speed limit value in the parameters shown in the following table and write them to the Simple Motion module The set details are validated at the next sta...

Page 714: ... setting value or Cd 101 Torque output setting value After the Pr 47 Creep speed is reached this value becomes the Pr 54 OPR torque limit value Fast OPR control Pr 17 Torque limit setting value or Cd 101 Torque output setting value Major positioning control Position control 1 axis linear control 2 to 4 axes linear interpolation control 1 axis fixed feed control 2 to 4 axes fixed feed control inter...

Page 715: ...lue Cd 22 Torque limit stored value forward torque limit stored value Md 35 1 1 2 2 2 3 3 Torque change function switching request Cd 112 3 Positioning start signal Y10 0 Forward reverse torque limit value same setting Note Refer to Section 3 3 for input output signal or Chapter 5 for buffer memory address of LD77MS16 Fig 13 11 Torque limit function operation 3 Precautions during control 1 When li...

Page 716: ...ue Even if a larger value has been mistakenly input for the torque change value it is restricted within the torque limit setting values to prevent an erroneous entry Even if a value larger than the torque limit setting value has been input to the torque change value the torque value is not changed Torque output setting value to be taken at the start of positioning and used as a torque limit value ...

Page 717: ...alue The reverse torque limit stored value is stored depending on the control status Pr 17 Pr 54 Cd 22 Cd 101 or Cd 113 891 100n 2491 100n n Axis No 1 Refer to Section 5 6 List of monitor data 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 sequence program uses many sequence p...

Page 718: ... of the moveable range of the workpiece are set in Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value The details shown below explain about the software stroke limit function 1 Differences in the moveable range when current feed value and machine feed value are selected 2 Software stroke limit check details 3 Relation between the software stroke limit funct...

Page 719: ... the machine feed value is set at the limit The machine feed value of 5000 current feed value 4000 becomes the upper stroke limit 4000 5000 5000 6000 Upper stroke limit 1000 2000 Moveable range Md 20 Current feed value Md 21 Machine feed value 2 When the current feed value is set at the limit The current feed value of 5000 machine feed value 6000 becomes the upper stroke limit 4000 5000 5000 6000 ...

Page 720: ... stroke limit range 2 to 4 axes axis linear interpolation control 1 axis fixed feed control 2 to 4 axes fixed feed control interpolation 2 axis circular interpolation control 1 to 4 axes speed control 1 2 Speed position switching control Position speed switching control 1 2 Other control Current value changing The current value will not be changed if the new current value is outside the software s...

Page 721: ...xceeded Arc address Da 7 End point address Da 6 Axis 1 Axis 1 stroke limit Deceleration stop not carried out Starting address Axis 2 Example The software stroke limit check is carried out for the following addresses during circular interpolation control Note that Da 7 Arc address is carried out only for circular interpolation control with sub point designation Current value end point address Da 6 ...

Page 722: ...re stroke limit is validated or invalidated during manual control JOG operation Inching operation manual pulse generator operation 0 valid Refer to Section 5 2 List of parameters for setting details 6 Invalidating the software stroke limit To invalidate the software stroke limit set the following parameters as shown and write them to the Simple Motion module Set the value within the setting range ...

Page 723: ...g when the software stroke limit is to be validated When the software stroke limit is to be validated set the upper limit value in a clockwise direction from the lower limit value Section A 315 Set in a clockwise direction Upper limit Lower limit 90 Section B a Set the movement range of section A as follows Software stroke limit lower limit value 315 00000 Software stroke limit upper limit value 9...

Page 724: ...deceleration stop by the input of a signal from the limit switch Damage to the machine can be prevented by stopping the control before the upper lower limit of the physical moveable range is reached The hardware stroke limit is able to use the following signals Refer to the Pr 80 External input signal selection External input signal of the servo amplifier External input signal via CPU buffer memor...

Page 725: ...lifier LD77MS control moveable range LD77MS Deceleration stop at upper limit switch detection Deceleration stop at lower limit switch detection Input module 2 External input signal via CPU buffer memory of LD77MS Mechanical stopper Mechanical stopper LD77MS control moveable range Lower limit Upper limit Movement direction Movement direction Start Start LD77MS Upper limit switch Lower limit switch ...

Page 726: ...hich Feed current value decreases as lower limit switch If inverting the install positions of upper lower limit switches hardware stroke limit function cannot be operated properly In addition the servomotor does not stop The increase decrease of Feed current value and the motor rotation direction movement direction can be changed by the parameters depending on the servo amplifier Refer to the serv...

Page 727: ...e hardware stroke limit function set the logic of FLS and RLS to the negative logic initial value with Pr 22 Input signal logic selection and input the signal which always turns ON Otherwise set the logic of FLS and RLS to the positive logic with Pr 22 Input signal logic selection and always turn OFF the input ...

Page 728: ...function 1 Control details 2 Wiring the forced stop 3 Setting the forced stop 4 How to check the forced stop 5 Precautions during control 1 Control details When Pr 82 Forced stop valid invalid selection is set to other than 1 Invalid the forced stop signal is sent to all axes after the forced stop input is turned on Refer to the servo amplifier instruction manual for the operation of the servo amp...

Page 729: ...rced stop valid Md 108 Servo status b1 Servo ON ON 0 1 OFF 1 ON ON OFF Forced stop causes occurrence Note Refer to Section 3 3 for input output signal and Chapter 5 for buffer memory address of LD77MS16 Fig 13 18 Operation for the forced stop function 2 Wiring the forced stop When using the forced stop function wire the terminals of the Simple Motion module forced stop input as shown in the follow...

Page 730: ...in the following table Monitor item Monitor value Storage details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Md 50 Forced stop input Stores the states ON OFF of forced stop input 0 Forced stop input ON Forced stop 1 Forced stop input OFF Forced stop release 1431 4231 Refer to Section 5 6 1 System monitor data for details on the storage details 5 Precautions during control 1 After the Forced st...

Page 731: ...e new speed is set as a percent of the command speed POINT Speed change function and Override function cannot be used in the manual pulse generator operation and speed torque control 13 5 1 Speed change function The speed control 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...

Page 732: ...e next positioning data The next positioning data is controlled at the Cd 14 New speed value b When a speed designation is provided in the next positioning data The next positioning data is controlled at its Da 8 Command speed Positioning control P1 Designated speed in P2 Cd 14 New speed value Next control P2 Speed change command Designated speed in P1 a When no speed designation current speed is ...

Page 733: ...uring 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 0 will turn OFF the speed change 0 flag M...

Page 734: ...axis 10 Speed change cannot be carried out during the machine OPR A request for speed change is ignored 11 When deceleration is started by the speed change function the deceleration start flag does not turn ON 12 The speed change function cannot be used during speed control mode torque control mode or continuous operation to torque control mode Refer to Section 12 1 Speed torque control for the sp...

Page 735: ...X8 Md 40 All axis servo ON Y1 Note Refer to Section 3 3 for input output signal of LD77MS16 Fig 13 24 Time chart for changing the speed from the PLC CPU 3 Add the following sequence program to the control program and write it to the PLC CPU 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 chang...

Page 736: ...al command valid 1 Set 1 Validate the external command 1505 100n 4305 100n Cd 14 New speed value 1000000 Set the new speed 1514 100n 1515 100n 4314 100n 4315 100n n Axis No 1 Set the external command signal D1 in Pr 95 External command signal selection at LD77MS16 use Refer to Section 5 2 List of parameters and Section 5 7 List of control data for details on the setting details 2 The following sho...

Page 737: ...al LD77MS starts speed change processing Speed change processing Write the new speed K1 D108 K1514 H0 DTOP K1 K1 K1505 H0 TOP Set the external command signal input to valid K1 K1 K62 H0 TOP Input the external command signal Set the external command function selection to external speed change request Write 1000000 to D108 and D109 LD77MS4 program example ...

Page 738: ...ss than minimum speed warning code 110 occurs and Md 22 Feedrate is set with 1 in any speed unit 4 If there is not enough remaining distance to change the speed due to the override function when the speed is changed during the position control of speed position switching control or position speed switching control the operation will be carried out at the speed that could be changed 5 If the speed ...

Page 739: ...y out commands correctly 5 When a machine OPR is performed the speed change by the override function cannot be carried out after a deceleration start to the creep speed following the detection of near point dog ON When the override is enabled during OPR and the speed is changed the override is disabled and the speed accelerates to the creep speed after the near point dog ON is detected 6 When dece...

Page 740: ...ioning complete signal READY signal Start complete signal Y10 Y1 X0 X10 XC X14 X8 PLC READY signal Y0 Note Refer to Section 3 3 for input output signal of LD77MS16 Fig 13 27 Time chart for changing the speed using the override function 3 Add the following sequence program to the control program and write it to the PLC CPU No 15 Override program Pulsate override command Set override value 200 Write...

Page 741: ... the positioning parameter data items Da 3 and Da 4 and control is carried out with that acceleration deceleration time However by setting the new acceleration deceleration time Cd 10 Cd 11 in the control data and issuing an acceleration deceleration time change enable command Cd 12 Acceleration deceleration time change value during speed change enable disable to change the speed when the accelera...

Page 742: ... shows the operation during an acceleration deceleration time change Cd 12 Acceleration deceleration time change value during speed change enable disable Cd 15 Speed change request t V Operation with the acceleration deceleration time set in Da 3 and Da 4 Disabled For an acceleration deceleration time change disable setting Cd 12 Acceleration deceleration time change value during speed change enab...

Page 743: ...d out with the previously 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 3 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 dece...

Page 744: ...time in the parameter 5 The acceleration deceleration change function cannot be used during speed control mode torque control mode or continuous operation to torque control mode Refer to Section 12 1 Speed torque control for the acceleration deceleration processing during speed control mode or continuous operation to torque control mode POINT If the speed is changed when an acceleration decelerati...

Page 745: ...ration time value Set the new deceleration time 1510 100n 1511 100n 4310 100n 4311 100n Cd 12 Acceleration deceleration time change value during speed change enable disable 1 Set 1 Acceleration deceleration time change enable 1512 100n 4312 100n n Axis No 1 Refer to Section 5 7 List of control data for details on the setting details No 16 Acceleration deceleration time change program Pulsate accel...

Page 746: ...ring CW regeneration at the CCW driving of the servo motor Reverse torque limit value The limit value to the generated torque during CCW regeneration at the CW driving of the servo motor Set previously same setting or individual setting of the forward reverse torque limit value in Cd 112 Torque change function switching request Set the new torque value forward new torque value or new reverse torqu...

Page 747: ...ng start signal Y10 Torque limit setting value Torque output setting value New torque value forward new torque value Torque limit stored value forward torque limit stored value Pr 17 Cd 101 Cd 22 Md 35 1 300 250 0 100 150 0 200 0 350 0 75 230 0 0 300 300 200 100 75 230 150 1 2 2 2 3 3 4 4 4 4 4 3 6 5 1 The torque limit setting value or torque output setting value becomes effective at the PLC READY...

Page 748: ... stored value Pr 17 Cd 101 Cd 22 Md 35 1 300 250 0 100 150 0 200 0 350 0 75 230 0 0 300 300 200 100 75 230 150 1 2 2 2 3 3 4 4 4 3 6 5 Torque change function switching request Cd 112 0 New reverse torque value Reverse torque limit stored value Cd 113 Md 120 0 120 0 320 0 200 80 0 0 300 300 120 100 200 80 150 3 3 4 4 4 3 6 5 1 0 Note Refer to Section 3 3 for input output signal and Chapter 5 for bu...

Page 749: ...wing table to the Simple Motion module using the sequence program The set details are validated when written to the Simple Motion module Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 112 Torque change function switching request 0 Forward reverse torque limit value same setting 1 Forward reverse torque limit value individual setting Sets same setting i...

Page 750: ...Details of control 2 Precaution during operation 3 Method of setting target position change function from PLC CPU 1 Details of control 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 Target position change request Positioning address Address after change...

Page 751: ... the current speed in the continuous positioning the next positioning operation is carried out at the new speed value When the speed is set with the next positioning data the speed becomes the current speed and the operation is carried out at the current speed 5 When a target position change request is given during automatic deceleration in position control positioning control to a new position is...

Page 752: ...000 Set the new address 1534 100n 1535 100n 4334 100n 4335 100n Cd 28 Target position change value New speed 1000000 Set the new speed 1536 100n 1537 100n 4336 100n 4337 100n Cd 29 Target position change request flag 1 Set 1 Requests a change in the target position 1538 100n 4338 100n n Axis No 1 Refer to Section 5 7 List of control data for details on the setting details 2 The following shows the...

Page 753: ...0 D25 Pulsate target position change command Hold target position change command Set target position change request Write target position change Turn OFF target position change command memory Set target position change value 300 0 m address 540 529 536 PLS M30 X0C DMOVP K3000 D23 SET M31 M31 X45 M30 D23 K5 K1534 TOP MOVP K1 D27 K0 U0 G1538 RST M31 H0 LD77MS4 program example ...

Page 754: ...ommand Servo parameter Monitor data Encoder Fig 13 33 Configuration of absolute position system 1 Setting for absolute positions For constructing an absolute position system use a servo amplifier and a servomotor which enable absolute position detection It is also necessary to install a battery for retaining the location of the OPR in the servo amplifier To use the absolute position system select ...

Page 755: ...ion JOG operation manual pulse generator operation is treated as the OP LD77MS4 operation example The stop position during OPR execution is stored as the OPR position 9001 OPR destination Cd 3 Positioning start No Positioning start Y10 to Y13 Movement range for the machine Moved to this position by manual operation Note Refer to Section 3 3 for input output signal of LD77MS16 Fig 13 34 Operation o...

Page 756: ...ntrol in the step start information The details shown below explain about the step function 1 Relation between the step function and various controls 2 Step mode 3 Step start information 4 Using the step operation 5 Control details 6 Precautions during control 7 Step function settings 1 Relation between the step function and various controls The following table shows the relation between the step ...

Page 757: ...on 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 step start information during step operation Stop status in the step operation Md 26 Axis operation status Cd 36 Step start information Step start results 1 step of positioning stopped normally Step standby 1 Continues step operation The next positioning d...

Page 758: ...eted NO NO YES YES YES NO Restart positioning All positioning is completed Continue the step operation Turn OFF the step valid flag End Write 1 carry out step operation in Cd 35 Step valid flag Set in Cd 34 Step mode Write 1 restart to Cd 6 Restart command and check whether the positioning data operates normally Write 1 step continue in Cd 36 Step start information and check whether the next posit...

Page 759: ...ection 3 3 for input output signal of LD77MS16 Fig 13 35 Operation during step execution by deceleration unit step 2 The following drawing shows a step operation during a data No unit step LD77MS4 operation example Cd 36 Step start information Cd 35 Step valid flag No 10 11 No 11 01 Operation pattern becomes one step of positioning data No unit regardless of continuous path control 11 00H 00H OFF ...

Page 760: ... step function write the data shown in the following table to the Simple Motion module using the sequence program Refer to section 4 Using the step operation for the timing of the settings The set details are validated when written to the Simple Motion module Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 34 Step mode Set 0 Stepping by deceleration uni...

Page 761: ...lowing table shows the relation between the skip function and various controls Control type Skip function Skip applicability OPR control Machine OPR control Skip operation not possible Fast OPR control Major positioning control Position control 1 axis linear control Skip operation possible 2 to 4 axes linear interpolation control 1 axis fixed feed control 2 to 4 axes fixed feed control interpolati...

Page 762: ...trol the positioning complete signals will not turn ON 3 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 4 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...

Page 763: ...MS4 LD77MS16 Cd 37 Skip command 1 Set 1 Skip request 1547 100n 4347 100n n Axis No 1 Refer to Section 5 7 List of control data for details on the setting details 2 Add the following sequence program to the control program and write it to the PLC CPU 1 When the skip command is input the value 1 skip request set in Cd 37 Skip command is written to the buffer memory of Simple Motion module LD77MS4 pr...

Page 764: ...ting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Pr 42 External command function selection 3 Set 3 Skip request 62 150n Pr 95 External command signal selection 1 Set 1 DI1 69 150n Cd 8 External command valid 1 Set 1 Validate external command 1505 100n 4305 100n n Axis No 1 Refer to Section 5 2 List of parameter or Section 5 7 List of control data for details on the setting...

Page 765: ...out the M code output function 1 M code ON signal output timing 2 M code ON signal OFF request 3 Precautions during control 4 Setting the M code output function 5 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...

Page 766: ...N signal set 1 turn OFF the M code signal in Cd 7 M code OFF request Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 7 M code OFF request 1 Set 1 Turn OFF the M code ON signal 1504 100n 4304 100n n Axis No 1 Refer to Section 5 7 List of control data for details on the setting details The next positioning data will be processed as follows if the M code O...

Page 767: ...o Number of LOOP to LEND repetitions The M code will not be output and the previously output value will be held in Md 25 Valid M code 3 If the M code ON signal is ON at the positioning start the error M code ON signal start error code 536 will occur and the positioning will not start 4 If the PLC READY signal Y0 is turned OFF the M code ON signal will turn OFF and 0 will be stored in Md 25 Valid M...

Page 768: ...TER mode 27 150n n Axis No 1 Refer to Section 5 2 List of parameters for setting details 5 Reading M codes M codes are stored in the following buffer memory when the M code ON signal turns ON Monitor item Monitor value Storage details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Md 25 Valid M code The M code No Da 10 M code Condition data No Number of LOOP to LEND repetitions set in the position...

Page 769: ...r warning has occurred Signal LD77MS2 LD77MS4 LD77MS16 BUSY signal XC to XF X10 to X1F 2 Addresses for which teaching is possible The addresses for which teaching is possible are current feed values Md 20 Current feed value having the OP as a reference The settings of the movement amount used in incremental system positioning cannot be used In the teaching function these current feed values are se...

Page 770: ...e assured value is up to 100 000 times If the error Flash ROM write number error error code 805 occurs when writing to the flash ROM has been completed check whether or not the program is created so as to write continuously to the flash ROM 3 Data used in teaching The following control data is used in teaching Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS1...

Page 771: ...t the positioning data No for which the teaching will be carried out Set the positioning data No in the buffer memory address 1549 Confirm that the buffer memory address 1549 has become 0 End Confirm the completion of the writing Turn OFF the PLC READY signal Y0 Carry out a writing request to the flash ROM End teaching NO YES Confirm that the buffer memory address 1900 has become 0 Set 1 in the bu...

Page 772: ...ng data No for which the teaching will be carried out Set the positioning data No in the buffer memory address 1549 Set 1 in the buffer memory address 1548 Set Writes the current feed value to Da 7 Arc address in teaching data selection Confirm completion of the teaching Move the workpiece to the circular interpolation end point position using a manual operation 2 Using a JOG operation inching ope...

Page 773: ...fer memory address 1648 and 1649 in the same fashion as for axis 1 Teaching arc end point address on axis 2 1 The sub point address is stored in the arc address 2 The end point address is stored in the positioning address 5 Teaching program example The following shows a sequence program example for setting writing the positioning data obtained with the teaching function to the Simple Motion module...

Page 774: ...t position with manual operation Pulsate teaching command Hold teaching command Set teaching data Set positioning data No Execute teaching Turn OFF teaching command memory M19 PLS ZP TEACH1 U0 D33 M34 477 488 492 M20 H0 MOVP D35 M20 SET K3 MOVP D36 M20 RST M19 X39 X0C M34 M35 LD77MS4 program example POINT 1 Confirm the teaching function and teaching procedure before setting the positioning data 2 ...

Page 775: ...g the command in position function 4 Confirming the command in position flag 1 Control details The following shows control details of the command in position function 1 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 in position flag Md...

Page 776: ...alue Execution of the command in position width check Fig 13 42 Command in position width check 2 The command in position flag will be turned OFF in the following cases 0 will be stored in Md 31 Status b2 At the positioning control start At the speed control start At the speed position switching control position speed switching control start At the OPR control start At the JOG operation start At t...

Page 777: ...ition control 100 Refer to Section 5 2 List of parameters for setting details 4 Confirming the command in position flag The command in position flag is stored in the following buffer memory Monitor item Monitor value Storage details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Md 31 Status The command in position flag is stored in the b2 position 817 100n 2417 100n n Axis No 1 Refer to Section 5...

Page 778: ...eleration time 0 to 3 control details and setting In the Simple Motion module four types each of acceleration time and deceleration time can be set By using separate acceleration deceleration times control can be carried out with different acceleration deceleration times for positioning control JOG operation OPR etc Set the required values for the acceleration deceleration time in the parameters s...

Page 779: ...low 1 Trapezoidal acceleration deceleration processing method This is a method in which linear acceleration deceleration is carried out based on the acceleration time deceleration time and speed limit value set by the user t V Fig 13 43 Trapezoidal acceleration deceleration processing method 2 S curve acceleration deceleration processing method In this method the motor burden is reduced during sta...

Page 780: ...em to the Simple Motion module The set details are validated when written to the Simple Motion module Setting item Setting value Setting details Factory set initial value Pr 34 Acceleration deceleration process selection Set the acceleration deceleration method 0 Trapezoidal acceleration deceleration processing 1 S curve acceleration deceleration processing 0 Pr 35 S curve ratio Set the accelerati...

Page 781: ...f positioning is started with the execution prohibition flag ON the positioning data is analyzed but servo start is not provided While the execution prohibition flag is ON Md 26 Axis operation status remains unchanged from 5 Analyzing The servo starts within operation cycle after the execution prohibition flag has turned OFF and Md 26 Axis operation status changes to the status e g position contro...

Page 782: ...nd when positioning data analysis is completed Ta start time Ta Refer to Fig 13 46 4 The data No which can be executed positioning start using Cd 3 Positioning start No with the pre reading start function are No 1 to 600 only Performing the pre reading start function at the setting of No 7000 to 7004 or 9001 to 9004 will result in the error Outside start No range error code 543 5 Always turn ON th...

Page 783: ... 31 Y10 X4C M100 Y10 X10 X10 DX0C X8 Y14 SET Y10 SET Y14 RST Y10 RST END H0 TOP K1500 K1 K1 Use the direct access input as BUSY signal to use this program example Pre reading start program when dedicated instruction ZP 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 S...

Page 784: ...ed in the position control whose operation pattern is Positioning complete 1 is stored into Md 48 Deceleration start flag When the next operation start is made or the manual pulse generator operation enable status is gained 0 is stored Refer to Fig 13 47 1 Start made with positioning data No specified Time Operation pattern Positioning complete 00 V Md 48 Deceleration start flag 0 1 0 Fig 13 47 Op...

Page 785: ...axis linear interpolation control 4 axis linear interpolation control speed position switching control or position speed switching control In the case of linear interpolation control the function is valid for only the reference axis Refer to Section 3 2 5 Combination of LD77MS main functions and sub functions 2 The deceleration start flag does not turn ON when the operation pattern is continuous p...

Page 786: ...eing executed 3 Deceleration start flag function setting method To use the deceleration start flag function set 1 to the following control data using a sequence program The set data is made valid on the rising edge OFF to ON of the PLC READY signal Y0 Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 41 Deceleration start flag valid Set whether the decele...

Page 787: ...occurred This section explains the stop command processing for deceleration stop function as follows 1 Control 2 Precautions for control 3 Setting method 1 Control The operation of stop command processing for deceleration stop function is explained below 1 Deceleration curve re processing A deceleration curve is re processed starting from the speed at stop cause occurrence until at a stop accordin...

Page 788: ...nce 3 The stop command processing for deceleration stop function is invalid when 1 Sudden stop is 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 starting from the speed at stop cause occurrence until at a stop according to the Pr 36 Sudden stop deceleration time In the position control including position control of s...

Page 789: ...n to the buffer memory The PLC READY signal Y0 is irrelevant Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 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 5907 For details of the setting details refer to S...

Page 790: ...d to the command speed monitor data speed limit value is shown below 1 Command speed a Parameters Pr 7 Bias speed at start Pr 46 OPR speed Pr 47 Creep speed Cd 14 New speed value Cd 17 JOG speed Cd 25 Position speed switching control speed change register Cd 28 Target position change value New speed Cd 140 Command speed at speed control mode Da 8 Command speed b Major positioning control 1 For 2 t...

Page 791: ...10m 0 Invalid m Unit Pr 83 setting value degree min 1 Valid 3 2 Monitor value Actual value Feedrate Md 22 Current speed Axis feedrate Target speed Speed during command Md 27 Md 28 Md 33 Md 122 Unit conversion table Md 22 Md 27 Md 28 Md 33 Md 122 3 Speed limit value Pr 8 Speed limit value Pr 31 JOG speed limit value Cd 146 Speed limit value at torque control mode Cd 147 Speed limit value at continu...

Page 792: ...ee min by setting Pr 83 Speed control 10 x multiplier setting for degree axis to valid To use the Speed control 10 x multiplier setting for degree axis function set the parameters shown in the following table Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Pr 83 Speed control 10 x multiplier setting for degree axis Set the speed control 10 x multiplier set...

Page 793: ...ait start repeated start multiple axes simultaneous start and pre reading start 1 axis linear control 2 3 4 axis linear interpolation control 1 2 3 4 axis fixed feed control 2 axis circular interpolation control with sub point designation center point designation 1 2 3 4 axis speed control Speed position switching control INC mode ABS mode Position speed switching control Current value changing us...

Page 794: ... setting for incompletion of OPR To use the Operation setting for incompletion of OPR set the following parameters using a sequence program Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Pr 55 Operation setting for incompletion of OPR Set the operation setting for incompletion of OPR 0 Positioning control is not executed 1 Positioning control is executed ...

Page 795: ...y ON command OFF ON Servo ON command ON Ready ON command ON Servo ON command OFF Ready ON command ON Servo ON Servo operation enabled Servo OFF Servo operation disabled POINT When the delay time of Electromagnetic brake sequence output PC02 is used execute the servo ON to OFF by Cd 100 Servo OFF command When all axis servo ON Y1 is turned ON to OFF set 1 in Cd 100 Servo OFF command and execute the...

Page 796: ...vomotor is rotated by external force during the servo OFF status follow up processing is performed Change between servo ON or OFF status while operation is stopped position control mode The servo OFF command of during positioning in position control mode manual pulse control OPR speed control mode torque control mode and continuous operation to torque control mode will be ignored When the servo OF...

Page 797: ...ng the servo ON next time so that the positioning can be performed from the stop position 2 Execution of follow up Follow up function is executed continually during the servo OFF status All axis servo ON Y1 Each axis servo OFF command Servo ON or OFF status OFF 0 0 1 OFF ON ON Servo alarm detected Follow up function executed Fig 13 52 Operation timings of follow up function POINT The follow up fun...

Page 798: ...13 108 Chapter 13 Control Sub Functions MEMO ...

Page 799: ...quired 14 1 Outline of common functions 14 2 14 2 Parameter initialization function 14 4 14 3 Execution data backup function 14 6 14 4 External signal selection function 14 9 14 5 External I O signal logic switching function 14 15 14 6 History monitor function 14 17 14 7 Amplifier less operation function 14 21 14 8 Virtual servo amplifier function 14 28 14 9 Driver communication function 14 32 14 ...

Page 800: ...e Motion module For the system in which 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 History monitor function This function monitors the start history error history warning history and current value history of all axes Amplifier less operation function This function executes t...

Page 801: ...of SSCNET communication Temporarily connect disconnect of SSCNET communication is executed during system s power supply ON This function is used to exchange the servo amplifiers or SSCNET cables LD77MH initial value setting function This function is used to set the factory set initial value of LD77MH in the setting data set in the LD77MS buffer memory internal memory and flash ROM internal memory ...

Page 802: ...hod by GX Works2 2 Control details The following table shows the setting data initialized by the parameter initialization function The data initialized are buffer memory internal memory and flash ROM internal memory nonvolatile setting data Target area Parameters Basic parameters Detailed parameters Home position return basic parameters Home position return detailed parameters Extended parameters ...

Page 803: ... or reset the PLC CPU during parameter initialization If the power is turned OFF or the PLC CPU module is reset to forcibly end the process the data backed up in the flash ROM internal memory nonvolatile will be lost 4 Parameter initialization method 1 Parameter initialization is carried out using the dedicated instruction ZP PINIT Refer to Chapter 15 Dedicated Instructions for details 2 Parameter...

Page 804: ...hen the power is turned ON next time POINT When the Simple Motion module is replaced all the data in the Simple Motion module including absolute position data can be backed up read to in the personal computer and restored to written to the Simple Motion module again by using the backup restore function of GX Works2 Refer to the Simple Motion Module Setting Tool Help for details The details shown b...

Page 805: ... PA PB PC PD PE PS PF Po PL Mark detection Mark detection setting parameters Synchronous control parameters Servo input axis parameters Synchronous encoder axis parameters Synchronous parameters Positioning data Positioning data No 1 to 100 Positioning data No 101 to 600 Block start data Block start data block No 7000 to 7001 Condition data block No 7000 to 7001 Block start data block No 7002 to 7...

Page 806: ... turned OFF or the PLC CPU module is reset to forcibly end the process the data backed up in the flash ROM internal memory nonvolatile will be lost 4 Execution data backup method 1 Execution data backup writing to the flash ROM internal memory nonvolatile is carried out using the dedicated instruction ZP PFWRT Refer to Chapter 15 Dedicated Instructions for details 2 Refer to Section 7 2 Data trans...

Page 807: ...operating the buffer memory of sequence program When the external input signal via CPU the buffer memory of LD77MS is used operation is affected by the PLC scan time The details shown below explain about the External signal selection function 1 Parameter setting details 2 Precautions during parameter setting 3 Control details 4 Program example 1 Parameter setting details The setting details of the...

Page 808: ... the external input signal of servo amplifier To input the stop signal set Cd 44 External input signal operation device For setting details refer to Section 5 7 1 System control data 2 When 2 Buffer memory of LD77MS is set use the following control data to operate the external input signal upper lower limit signal near point dog signal and stop signal Setting item Setting value Setting details Buf...

Page 809: ...rvo amplifier DOG Stop signal Buffer memory of LD77MS STOP External command switching signal External input signal of LD77MS DI Buffer memory of LD77MS Setting value 2 Upper lower stroke limit signal Buffer memory of LD77MS FLS RLS Near point dog signal Buffer memory of LD77MS DOG Stop signal Buffer memory of LD77MS STOP External command switching signal External input signal of LD77MS DI 4 Progra...

Page 810: ...n Pr 22 Input signal logic selection is positive logic OFF X21 RLS 1 Axis1 RLS ON command X22 DOG 1 Axis1 DOG ON command X23 STOP 1 Axis1 STOP ON command X24 FLS 2 Axis4 FLS ON command X25 RLS 2 Axis4 RLS ON command X26 DOG 2 Axis4 DOG ON command X27 STOP 2 Axis4 STOP ON command X28 FLS 3 Axis8 FLS ON command X29 RLS 3 Axis8 RLS ON command X2A DOG 3 Axis8 DOG ON command X2B STOP 3 Axis8 STOP ON co...

Page 811: ... input s ignal op eration device axis 4 R LS X20 Axis 1 F LS ON co mmand 0 Axis 1 FLS operation Axis 1 RLS operation Axis 1 DOG operation Axis 1 STOP operation Axis 4 FLS operation Axis 4 RLS operation Axis 4 DOG operation Axis 4 STOP operation U0 G5928 E External input s ignal op eration device axis 4 D OG U0 G5928 F External input s ignal op eration device axis 4 S TOP X21 X22 X24 X23 X25 X26 X2...

Page 812: ... op eration device axis 16 RLS X28 Axis 8 F LS ON co mmand 103 Axis 8 FLS operation Axis 8 RLS operation Axis 8 DOG operation Axis 8 STOP operation Axis 16 FLS operation Axis 16 RLS operation Axis 16 DOG operation Axis 16 STOP operation U0 G5931 E External input s ignal op eration device axis 16 DOG U0 G5931 F External input s ignal op eration device axis 16 STOP X29 X2A X2C X2B X2D X2E X2F Axis 8...

Page 813: ...eter setting details To use the External I O signal logic switching function set the parameters shown in the following table Setting item Setting details Factory set initial value Buffer memory address LD77MS2 LD77MS4 LD77MS16 Pr 22 Input signal logic selection Selection of logic of signals input from external device to Simple Motion module 0 31 150n b0 Lower limit 0 Negative logic 1 Positive logi...

Page 814: ...be carried out correctly Before setting check the specifications of the equipment to be used 3 When the same external input signal is set to use to the multiple axes in Pr 80 External input signal selection or Pr 95 External command signal selection in the LD77MS16 Input signal logic selection of those axes should be the same Otherwise the error Input signal logic selection setting error error cod...

Page 815: ... are stored 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 For the start history check method refer to the Simple Motion Module Setting Tool Help of GX Works2 2 Error history warning history The error and warning history logs can be monitored The latest history 16 logs are stored all th...

Page 816: ...t value Servo command value Encoder position within one revolution Encoder multiple revolution counter Time 1 Year month 1 Time 2 Day hour 1 Time 3 Minute second 1 Backup data pointer Backup data at the power on The number of backup 4 times Feed current value Servo command value Encoder position within one revolution Encoder multiple revolution counter Time 1 Year month 1 Time 2 Day hour 1 Time 3 ...

Page 817: ...2144 pulses rev Backup data at the power disconnection The detail of the latest backup data right before the power disconnection is output to the buffer memory The backup data at the power disconnection starts being output after the power on The detail of the latest backup data right before the power disconnection used in the absolute system setting is output regardless of the setting of the absol...

Page 818: ...on return completion Encoder position within one revolution of absolute position reference point data Encoder multiple revolution counter of absolute position reference point data Time 1 Year month data Time 2 Day hour data Time 3 Minute second data The data becomes valid only when the absolute system is set If the data has never been used in the absolute system in the incremental system setting 0...

Page 819: ... value at the switching the normal operation mode and amplifier less operation mode is shown below Absolute position detection system PA03 Current value management at the operation mode switching Normal operation mode Amplifier less operation mode Amplifier less operation mode Normal operation mode 0 Disabled The current feed value and machine feed value are 0 The current feed value and machine fe...

Page 820: ... written to flash ROM is executed Turn the power supply ON or PLC CPU reset after written to flash ROM Pr 100 Servo series is set and then the PLC READY signal is turned ON Servo amplifier connection is unnecessary 3 Suppose the following servo amplifier and servo motor are connected during amplifier less operation mode When 1 SSCNET H is set in Pr 97 SSCNET setting Servo amplifier type MR J4 10B ...

Page 821: ...ys OFF PID control b8 Always OFF 876 100n 2476 100n READY ON b0 Servo ON b1 Changed depending on the all axis servo ON signal Y1 and Cd 100 Servo OFF command Control mode b2 b3 Indicates control mode Gain switching b4 Always OFF Fully closed loop control b5 Always OFF Servo alarm b7 Always OFF In position b12 Always ON Torque limit b13 Changed depending on Md 104 Motor current value Refer to Restr...

Page 822: ... mode Storage item Storage details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Md 30 External input signal When 1 External input signal of servo amplifier is set in Pr 80 External input signal selection the external input signal status can be operated by turning ON OFF the b0 Lower limit signal b1 Upper limit signal or b6 Near point dog signal during amplifier less operation mode 816 100n 2416 ...

Page 823: ... amplifier less operation mode 3 Buffer memory list The buffer memory used in the amplifier less operation function is shown below 1 System control data Setting item Setting value Setting details Buffer memory address LD77MS2 LD77MS4 LD77MS16 Cd 137 Amplifier less operation mode switching request Switch operation mode ABCDh Switch from the normal operation mode to the amplifier less operation mode...

Page 824: ...r less operation mode switching request 5 Confirm that 1 Amplifier less operation mode was set in Md 51 Amplifier less operation mode status 2 Switch from the amplifier less operation mode to the normal operation mode 1 Stop all operating axes and then confirm that the BUSY signal for all axes turned OFF 2 Turn OFF the PLC READY signal Y0 3 Confirm that the READY signal X0 turned OFF 4 Set 0000h i...

Page 825: ...on mode to normal operation mode error code 809 will occur and the switching of operation mode will not execute 2 When the operation mode is switched with the servo amplifiers connected the communication to the servo amplifiers is shown below At switching from normal operation mode to amplifier less operation mode The communication for all axes during connection is disconnected The servo amplifier...

Page 826: ...r 100 Servo series set in the flash ROM it operates as virtual servo amplifier by setting 4097 4128 in Pr 100 Servo series of buffer memory and by turning the PLC READY signal Y0 OFF to ON after power supply ON 3 Do not connect the actual servo amplifier to axis set as virtual servo amplifier If the servo amplifier is connected the LED display status remains Ab and the servo amplifier is not recog...

Page 827: ... When a value except 0 is set in Pr 100 Servo series set in the flash ROM the servo series is not changed even if the Pr 100 Servo series of buffer memory is changed after power supply ON and then the PLC READY signal Y0 is turned OFF to ON To change the servo series write to the flash ROM and turn the power ON again or reset the PLC CPU ...

Page 828: ...ys OFF PID control b8 Always OFF 876 100n 2476 100n READY ON b0 Servo ON b1 Changed depending on the all axis servo ON signal Y1 and Cd 100 Servo OFF command Control mode b2 b3 Indicates control mode Gain switching b4 Always OFF Fully closed loop control b5 Always OFF Servo alarm b7 Always OFF In position b12 Always ON Torque limit b13 Changed depending on Md 104 Motor current value Refer to Restr...

Page 829: ...even in the virtual servo amplifier Torque limit function Turns ON OFF torque limit Md 108 Servo status high order buffer memory address b13 depending on Md 104 Motor current value Refer to Restrictions 3 for details 3 The following monitor data of virtual servo amplifier differ from the actual servo amplifiers The writing operation is possible in the virtual servo amplifier Storage item Storage d...

Page 830: ... MR J3 _BS_ MR J3 _B_ RJ006 Note 1 LD77MS2 1 axis 1 axis or more 1 master axis The axes other than the master axis and slave axis can be used as normal axis LD77MS4 1 axis to 2 axes LD77MS16 1 axis to 4 axes SSCNET H MR J4 _B_ Note 2 MR J4 _B_ RJ LD77MS2 1 axis 1 axis or more 1 master axis LD77MS4 1 axis to 2 axes LD77MS16 1 axis to 8 axes Note 1 The fully closed loop control servo amplifier can b...

Page 831: ...n module d2 d1 Axis 1 ABS INC Axis 2 INC d3 d4 Axis 3 INC Axis 4 INC Positioning command speed command torque command Driver communication Control data 1 Control data 2 Control data 3 Driver communication Control data 2 Control data 3 Driver communication Control data 3 Master axis Slave axis 1 Slave axis 2 Slave axis 3 Master axis Position command speed command or torque command is received from ...

Page 832: ...ctly to the Simple Motion module The servo amplifier other than the head axis can be disconnected however it cannot be connected again e Differences between SSCNET connection and SSCNET H connection in driver communication function are shown below SSCNET SSCNET H Communication with the servo amplifiers after controller s power supply ON The servo amplifiers cannot be operated until the connection ...

Page 833: ...he OPR request flag Md 31 Status b3 of slave axis is always ON There is no influence for control of slave axis c There are some restrictions for data used as the positioning control of slave axis The external input signals such as FLS or RLS and the parameters such as software stroke limit are invalid Refer to this section 4 or 5 for details d For setting the slave axis as a servo input axis set 2...

Page 834: ...if the error other than servo alarm has been occurred LD77MS4 Only the error detection signal X8 to XB is valid And only the servo alarm detection is valid The control of slave axis is not influenced even if the error other than servo alarm has been occurred LD77MS16 All signals cannot be used The error detection signal turns ON Error detection Md 31 Status b13 b Output signal All output signals o...

Page 835: ...Servo alarm Note The slave axis is always controlled in torque control mode control mode high order buffer memory address b2 b3 is set to torque control mode 0 1 Md 109 Regenerative load ratio Optional data monitor output 1 Md 110 Effective load torque Optional data monitor output 2 Md 111 Peak torque ratio Optional data monitor output 3 Md 112 Optional data monitor output 4 Md 114 Servo alarm Md ...

Page 836: ...26 200n PD32 Master slave operation Speed limit adjusted value on slave 30227 200n n Axis No 1 Note 1 When the slave axis is not allocated for the master axis the operation is normal operation only of master axis Note 2 For LD77MS16 the above servo parameters are not allocated to the buffer memory Write them to Simple Motion module with GX Works2 Note 3 At MR J3 _B_ MR J3 _B_ RJ006 use it is not n...

Page 837: ...lue on slave 30227 200n n Axis No 1 Note 1 When the slave axis is not allocated for the master axis the operation is normal operation only of master axis Note 2 For LD77MS16 the above servo parameters of PD_ are not allocated to the buffer memory Write them to Simple Motion module with GX Works2 Note 3 At slave setting set only Driver communication setting Master axis No selection 1 for slave PD20...

Page 838: ... from a specified number of detections is stored The detected position for a specified number of detections can be collected when the mark detection signal is continuously input at high speed Example Number of detections 3 The 3rd detection Mark detection data storage area Mark detection signal The 4th detection and later are ignored Storage area 1 Storage area 2 Storage area 3 Storage area 4 3 Ri...

Page 839: ... 11 types Optional buffer memory data 2 word Current feed value Machine feed value Real current value Servo input axis current value Synchronous encoder axis current value Synchronous encoder axis current value per cycle Current value after composite main shaft gear Current value per cycle after main shaft gear Current value per cycle after auxiliary shaft gear Cam axis current value per cycle Cam...

Page 840: ... current value Real current value Continuous update Data outside range are not latched Confirmation of mark detection data range Upper lower limit value setting Valid Number of mark detection Md 800 External command function selection Pr 42 External command valid Cd 8 Set 1 before mark detection start 0 clear by setting 1 in Cd 800 Number of mark detection clear request 2 Specified number of detec...

Page 841: ...n signal compensation time 0 Set 0 No compensation to the compensation time such as delay of sensor 54001 20k Pr 802 Mark detection data type 2 Set 2 Real current value to the target data for mark detection 54002 20k Pr 803 Mark detection data axis No 1 Set 1 Axis 1 to the axis No of target data for mark detection 54003 20k Pr 805 Latch data range upper limit value 0 Set 0 to the valid upper limit...

Page 842: ...ion setting 16 54960 to 55039 80 Mark detection monitor data Md 800 Md 801 Mark detection setting 1 55040 to 55119 80 Mark detection setting 2 55120 to 55199 80 Mark detection setting 3 to to to 56160 to 56239 80 Mark detection setting 16 Note Refer to the table of Performance specifications in this section for the range of mark detection setting No that can be used for each module Guide to buffer...

Page 843: ... 2 Axis 1 to axis 2 LD77MS2 1 to 4 Axis 1 to axis 4 LD77MS4 1 to 16 Axis 1 to axis 16 LD77MS16 801 to 804 Synchronous encoder axis 1 to axis 4 Fetch cycle Power supply ON 0 54003 20k Pr 804 Mark detection data buffer memory No Set the optional buffer memory No Set this parameter as an even number 0 to 65534 Optional buffer memory Fetch cycle Power supply ON 0 54004 20k 54005 20k Pr 805 Latch data ...

Page 844: ... Pr 801 Mark detection signal compensation time Compensate the input timing of the mark detection signal Set this parameter to compensate such as delay of sensor input Set a positive value to compensate for a delay Pr 802 Mark detection data type Set the data that latched at mark detection The target data is latched by setting 0 to 12 Set the axis No in Pr 803 Mark detection data axis No Optional ...

Page 845: ...ncoder axis position unit 801 to 804 7 Synchronous encoder axis current value per cycle 8 Current value after composite main shaft gear Main input axis position unit 1 to 2 1 to 4 1 to 16 9 Current value per cycle after main shaft gear Cam axis cycle unit 10 Current value per cycle after auxiliary shaft gear 11 Cam axis current value per cycle 12 Cam axis current value per cycle Real position Note...

Page 846: ...detection is within the range they are stored in Md 801 Mark detection data storage area 1 to 32 and the Md 800 Number of mark detection is incremented by 1 The mark detection processing is not executed Upper limit value Lower limit value The mark detection is executed when the mark detection data is greater or equal to the lower limit value and less than the upper limit value t Upper limit value ...

Page 847: ...umber of mark detections 0 is automatically set after completion by 0 clear of number of mark detections 1 0 clear of number of mark detections Fetch cycle Operation cycle 0 54640 10k Cd 801 Mark detection invalid flag Set this flag to invalidate mark detection temporarily 1 Mark detection Invalid Others Mark detection Valid Fetch cycle Operation cycle 0 54641 10k Cd 802 Mark detection invalid fla...

Page 848: ...a Storage item Storage details storage value Buffer memory address LD77MS2 LD77MS4 LD77MS16 Md 800 Number of mark detection The number of mark detections is stored 0 clear is executed at power supply ON Continuous detection mode 0 to 65535 Ring counter Specified number of detection mode 0 to 32 Ring buffer mode 0 to number of buffers 1 Refresh cycle At mark detection 54960 80k Md 801 Mark detectio...

Page 849: ...he data of Pr 802 Mark detection data type or Pr 803 Mark detection data axis No is selected incorrectly the incorrect latch data is stored For the data of Pr 802 Mark detection data type set the item No instead of specifying the buffer memory No directly ...

Page 850: ...red monitor is refreshed every operation cycle This function is used to store the data refer to following table up to four points per axis to the buffer memory and monitor them The details shown below explain about the Optional data monitor function 1 Data that can be set 2 List of buffer memory ...

Page 851: ...de encoder information 1 PLS Note 4 Note 4 Note 5 25 Load side encoder information 2 Note 4 Note 4 Note 5 26 Z phase counter PLS Note 3 27 Servo motor side load side position deviation PLS Note 4 28 Servo motor side load side speed deviation 0 01r min Note 4 30 Module power consumption 2 words W Possible Not possible 0 is stored Note 1 The motor speed that took the average every 227 ms Use the ser...

Page 852: ...type setting 1 or Pr 93 Optional data monitor Data type setting 3 If it is set in Pr 92 Optional data monitor Data type setting 2 or Pr 94 Optional data monitor Data type setting 4 the warning Optional data monitor data type setting error warning code 116 will occur with initialized communication to servo amplifier and 0 is set in Md 109 to Md 112 3 Set 0 in Pr 92 Optional data monitor Data type s...

Page 853: ... data type setting The effective load ratio is stored when nothing is set 879 100n 2479 100n Md 111 Peak torque ratio Optional data monitor output 3 The content set in Pr 93 Optional data monitor Data type setting 3 is stored at optional data monitor data type setting The peak torque ratio is stored when nothing is set 880 100n 2480 100n Md 112 Optional data monitor output 4 The content set in Pr ...

Page 854: ... history of PLC CPU including built in I O function 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 1 CPU Module error log 19 33 Error C1 Error history CPU module 2 Operation 1 The error occurs in the PLC CPU or Intelligent function module 2 The PLC CPU collects and stores the error...

Page 855: ...ier connected directly to the Simple Motion module turns OFF ON this function is not necessary 2 Precautions during control 1 Confirm the LED display of the servo amplifier for AA after completion of SSCNET communication disconnect processing And then turn OFF the servo amplifier s power supply 2 The Md 53 SSCNET control status only changes into the 1 Execute waiting even if the Axis No Disconnect...

Page 856: ...s automatically connected when switching to the normal operation mode again If being switched to the amplifier less operation mode when Md 53 SSCNET control status is 1 Execute waiting the connect disconnect command becomes invalid 3 Buffer memory list The buffer memory for the connect disconnect function of SSCNET communication is shown below 1 System control data Setting item Setting value Setti...

Page 857: ...ck that 1 Execute waiting is stored in Md 53 SSCNET control status Disconnect execute waiting 3 Set 2 Execute command in Cd 102 SSCNET control command 4 Check that 1 Disconnected axis existing is stored in Md 53 SSCNET control status Completion of disconnection 20 Servo amplifier has not been connected is stored in Md 26 Axis operation status 5 Turn OFF the servo amplifier s power supply after che...

Page 858: ...ion Command accept waiting Disconnected axis existing SSCNET control command Cd 102 SSCNET control status Md 53 POINT When 1 Execute waiting is set in Md 53 SSCNET control status the command of execute waiting can be canceled if 0 No command is set in Cd 102 SSCNET control command 5 Program The sequence program example to connect disconnect the servo amplifiers after Axis 5 connected to the LD77MS...

Page 859: ... U0 G4233 SSCNET c ontrol s tatus K0 RST M100 SET Disconne ct execu tion req uest M101 U0 G4233 SSCNET c ontrol s tatus K1 M101 Disconne ct execu tion req uest 30 Set the execute command MOV K 2 SSCNET c ontrol c ommand U0 G5932 RST Disconne ct execu tion req uest M101 SET Disconne ct compl etion ch eck M102 U0 G4233 SSCNET c ontrol s tatus K 1 Check the disconnect completion RST Disconne ct compl...

Page 860: ...ommand 47 MOV K 10 Set the connect command D250 SET Connect request M110 M110 Connect request M112 Connect completi on check M111 Connect executio n reques t M110 Connect request 62 Set the connect command MOV D250 SSCNET c ontrol c ommand U0 G5932 RST Connect request M110 SET Connect executio n reques t M111 U0 G4233 SSCNET c ontrol s tatus K1 Check the connect completion RST Connect completi on ...

Page 861: ...77MH without using Simple Motion Module Setting Tool of GX Works2 set the parameter value to factory set initial value of LD77MH by this function before using This function does not need to be executed in case the parameter setting of LD77MH is executed using the Simple Motion Module Setting Tool of GX Works2 The details shown below explain about the LD77MH initial value setting function 1 LD77MH ...

Page 862: ... PD PE PS PF Po PL Positioning data No 1 to 600 Block start data No 7000 to 7004 Servo input axis parameters Pr 300 to Pr 304 Synchronous encoder axis parameters Pr 320 to Pr 329 Main shaft parameters Pr 400 to Pr 404 Main shaft clutch parameters Pr 405 to Pr 414 Auxiliary shaft parameters Pr 418 to Pr 421 Auxiliary shaft clutch parameters Pr 422 to Pr 431 Speed change gear parameters Pr 434 to Pr...

Page 863: ... OFF or reset the PLC CPU during parameter initialization If the power is turned OFF or the PLC CPU module is reset to forcibly end the process the data backed up in the flash ROM internal memory nonvolatile will be lost 4 LD77MH initial value setting method 1 LD77MH initial value setting is carried out by the writing of the data shown in the table below to the buffer memory using the TO command i...

Page 864: ... parameter of MR J4 B Hot line forced stop function Deceleration to stop selection PA27 0 Disabled is set at factory set The following shows the setting value of the servo parameter PA27 and the operation of servo amplifier MR JE B Setting value of Hot line forced stop function Hot line forced stop function selection PA27 Output hot line Deceleration stop when receiving the hot line signal 0 Enabl...

Page 865: ...rning No E7 is not cleared 3 Operation chart The following shows the timing at the servo alarm occurrence Axis in which the servo alarm occurred axis 2 Positioning control Positioning control Md 108 Servo status Md 108 Servo status Cd 5 Axis error reset Axis in which the servo alarm does not occur axis 1 b15 Servo warning b7 Servo alarm 2 4 3 1 1 The servo alarm occurs in axis 2 and the servomotor...

Page 866: ...14 68 Chapter 14 Common Functions MEMO ...

Page 867: ...ons of the intelligent function module Using the dedicated instructions the programming can be carried out without being aware of the buffer memory address of Simple Motion module and interlock signal 15 1 List of dedicated instructions 15 2 15 2 Interlock during dedicated instruction is executed 15 2 15 3 ZP PSTRT1 ZP PSTRT2 ZP PSTRT3 ZP PSTRT4 15 3 15 4 ZP TEACH1 ZP TEACH2 ZP TEACH3 ZP TEACH4 15...

Page 868: ...factory set data initial values of the Simple Motion module Section 15 6 POINT The dedicated instructions of LD77MS16 can be used for only axis 1 to 4 They cannot be used for axis 5 to 16 If the ZP PSTRT5 to ZP PSTRT16 or ZP TEACH5 to ZP TEACH16 is executed the error Program code error error code 4002 for PLC CPU and the error PLC CPU error error code 803 for LD77MS16 will occur and positioning ca...

Page 869: ... ZP PSTRT_ Setting data Setting data Setting details Setting side Note 1 Data type Un Head I O number of Simple Motion module 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 Device name D Head number of a bit device which turns ON the operation by one scan at the time of completion of the instruction ...

Page 870: ... abnormal completion Functions 1 The positioning start of the axes to be processed See below is carried out ZP PSTRT1 Axis 1 ZP PSTRT2 Axis 2 ZP PSTRT3 Axis 3 ZP PSTRT4 Axis 4 2 The block start OPR start current value changing and multiple axes simultaneous start can be carried out by the setting of start number 7000 to 7004 9001 to 9004 in S 2 3 The ZP PSTRT_ instruction completion can be confirm...

Page 871: ...us may not to be detected in the program Confirm the operation during the positioning control using the ZP PSTRT_ start instruction and BUSY signals 2 If the stop instruction is input before completion of the positioning which has been started by the ZP PSTRT_ instruction the completion device D turns the 1 scan ON to complete execution of the ZP PSTRT_ instruction 3 The following dedicated instru...

Page 872: ...ng using ZP PSTRT_ instruction do not change Cd 3 Positioning start No until the start complete signal is turned ON Program examples The following program executes the positioning start of positioning data No 1 when X100 turns ON in LD77MS4 Use D30 to D32 as the control data devices of positioning data No 1 and M32 and M33 as the completion devices 1 Positioning start program X100 0 Positioning st...

Page 873: ..._ Setting data Setting data Setting details Setting side Note 1 Data type Un Head I O number of Simple Motion module 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 Device name D Head number of a bit device which turns ON the operation by one scan at the time of completion of the instruction If the in...

Page 874: ...itioning address or arc address The positioning data other than the positioning addresses and arc addresses are set by GX Works2 or using a sequence program ZP TEACH1 Axis 1 ZP TEACH2 Axis 2 ZP TEACH3 Axis 3 ZP TEACH4 Axis 4 2 Teaching can be carried out for the positioning data No 1 to 600 3 The movement of the machine to the address position set in the positioning address arc address of the posi...

Page 875: ...eously for the same axis The instructions can be executed simultaneously for different axes Positioning start instructions ZP PSTRT1 to ZP PSTRT4 Teaching instructions ZP TEACH1 to ZP TEACH4 2 The ZP TEACH_ instruction can only be executed when the BUSY signal is turned OFF When the BUSY signal is turned ON the ZP TEACH_ instruction will not be executed Not processed Before executing the ZP TEACH_...

Page 876: ...oning data No setting 633 PLS M19 X0C M34 M35 RST M20 U0 D33 M34 ZP TEACH1 MOVP K3 D36 MOVP H0 D35 SET M20 M20 X39 M19 Teaching execution Teaching command storage OFF 2 Teaching program when dedicated instruction is not used Positioned manually to target position K0 U0 G1549 15 M20 X39 0 Teaching command pulse Teaching command hold Teaching positioning address Sets teaching positioning data No to ...

Page 877: ...ration by one scan at the time of completion of the instruction If the instruction is completed abnormally D 1 will also be turned ON System Bit Note The file register of each of the local device and the program cannot be used as a device for setting data Note 1 The data on the setting side is as follows User Data before the execution of dedicated instructions is stored by user System Data after t...

Page 878: ...abnormally This device is turned ON by the END processing of the scan for which ZP PFWRT instruction is completed and turned OFF by the next END processing Same ON OFF operation as the complete device END processing END processing END processing END processing OFF OFF OFF ON ON ON When completed abnormally When completed normally 1 scan ZP PFWRT instruction execution completion Sequence program ZP...

Page 879: ...ence program is limited to up to 25 times Not limited to up to 25 times when writing to the flash ROM is carried out by GX Works2 If the 26th or more writing is requested after the power ON PLC CPU 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 ...

Page 880: ...hold PLC READY output to LD77 standby Flash ROM write execution 836 PLS M26 X0C RST M27 SET M27 M26 Flash ROM write command storage OFF Y0 U0 D39 M38 ZP PFWRT M38 M39 847 T1 T1 K2 2 Flash ROM write program when dedicated instruction is not used K0 U0 G1900 11 M27 X3D 0 Flash ROM write command pulse Flash ROM write command hold PLC READY output to LD77 standby Flash ROM write execution 7 PLS X0C RS...

Page 881: ...e time of completion of the instruction If the instruction is completed abnormally D 1 will also be turned ON System Bit Note The file register of each of the local device and the program cannot be used as a device for setting data Note 1 The data on the setting side is as follows User Data before the execution of dedicated instructions is stored by user System Data after the execution of dedicate...

Page 882: ... and turned OFF by the next END processing Same ON OFF operation as the complete device END processing END processing END processing END processing OFF OFF OFF ON ON ON When completed abnormally When completed normally 1 scan ZP PINIT instruction execution completion Sequence program ZP PINIT instruction Complete device Complete state display device Errors 1 When a dedicated instruction is complet...

Page 883: ...C CPU again Program example The following program initializes the parameters in buffer memory and flash ROM when X3C turns ON in LD77MS4 1 Parameter initialization program 807 M25 X3C 796 Parameter initialization command pulse Parameter initialization command hold PLC READY output to LD77 standby Parameter initialization execution 803 PLS M24 X0C RST M25 SET M25 M24 Parameter initialization comman...

Page 884: ...15 18 Chapter 15 Dedicated Instructions MEMO ...

Page 885: ...arning is detected confirm the detection details and carry out the required measures 16 1 Checking errors using GX Works2 16 2 16 2 Checking errors using a display unit 16 4 16 3 Troubleshooting 16 5 16 4 Error and warning details 16 9 16 5 List of errors 16 16 16 5 1 LD77MS detection error 16 16 16 5 2 Servo amplifier detection error 16 50 16 6 List of warnings 16 52 16 6 1 LD77MS detection warni...

Page 886: ...ails and corrective actions can be checked 2 Checking errors on the Error History screen POINT The PLC CPU and GX Works2 that support the module error collection function are required to confirm errors on the Error History screen Refer to each PLC CPU manual for the version of the PLC CPU or GX Works2 that supports the module error collection function On the Error History screen the error logs of ...

Page 887: ... input signal X10 to X1F The status of input signals X10 to X1F at error occurrence is stored in binary State of the output signal Y0 to YF The status of output signals Y0 to YF at error occurrence is stored in binary State of the output signal Y10 to Y1F The status of output signals Y10 to Y1F at error occurrence is stored in binary Axis in which the error occurred Upper limit signal Axis in whic...

Page 888: ...ialog box For the setting refer to the User s Manual Function Explanation Program Fundamentals of the CPU module in use 2 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 16 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...

Page 889: ...r may have occurred Reset the PLC CPU and check that the RUN LED turns on If not the possible cause is a hardware failure Please consult your local Mitsubishi representative explaining a detailed description of the problem b When the ERR LED turns on Check item Action Is there a system error An error may have occurred in the PLC CPU Check the error code and take a corrective action c When the ERR ...

Page 890: ...e action Is the wiring between the Simple Motion module and servo amplifier correct Check the wiring between the Simple Motion module and servo amplifier and correct it Is the wiring between the servo amplifier and motor correct Check the wiring between the servo amplifier and motor and correct it Is the wiring of the limit signal correct Check the wiring and logic setting of the limit signal and ...

Page 891: ... Axis feedrate Note indicate the set speed When Md 28 Axis feedrate Note indicates the set speed Check that the values in Pr 2 Number of pulses per rotation AP Pr 3 Movement amount per rotation AL and Pr 4 Unit magnification AM meet the system When the servo amplifier has the electronic gear function check that the settings meet the system When Md 28 Axis feedrate Note does not indicate the set sp...

Page 892: ...ses per rotation AP Pr 3 Movement amount per rotation AL and Pr 4 Unit magnification AM meet the system When the servo amplifier has the electronic gear function check that the settings meet the system When the position set in Md 20 Current feed value is not reached Check that the motor is not stopped by Axis stop signals If a motor is stopped by them the value 1 stopped is stored in Md 26 Axis op...

Page 893: ...he reference axis and the interpolation axis Note that in the following cases a and b the axis error No will be stored only in the reference axis during analysis of the positioning data set in each point of the positioning start data table a When the interpolation axis is BUSY b When the error occurs in positioning data or parameters unrelated to interpolation control If the error occurs at the si...

Page 894: ...9 Parameter setting range errors 1201 to 1209 Encoder errors 2000 to 2999 Servo amplifier errors 61440 to 61695 Errors for servo driver VCII series 61696 to 61951 Errors for inverter 61952 to 62207 Errors for stepping driver AlphaStep 5 phase 62208 to 62463 Errors for IAI electric actuator controller 62464 to 62719 Errors for servo driver VPH series Error storage When an error occurs the error det...

Page 895: ...se errors are stored in the axis error No of axis 1 for the system which does not use the axis 1 Error code 001 002 107 190 800 802 805 999 When an alarm occurs on servo amplifier the alarm No displayed in LED of servo amplifier is stored in the following buffer memory address Md 114 Servo alarm Check the error details and remedies by this servo alarm details Axis No Buffer memory address LD77MS2 ...

Page 896: ...ware error of the servo amplifier or servo motor occurs or the servo parameter is inapplicable The servo may not be turned off depending on the warning However an error occurs or the operation cannot be executed normally if the warning is remained When the warning cause is removed warning is automatically released in the servo amplifier However the state that the warning occurs is continued in the...

Page 897: ...e a warning occurs 2 When an axis warning occurs in a positioning operation etc axis warning detection Md 31 Status b9 of the following buffer memory for axis status storage turns ON Buffer memory address Axis No LD77MS2 LD77MS4 LD77MS16 1 817 817 2417 2 917 917 2517 3 1017 2617 4 1117 2717 5 2817 to to 16 3917 When a warning occurs on servo amplifier the warning No displayed in LED of servo ampli...

Page 898: ...ing detection Md 31 Status b9 is turned OFF POINT When servo alarms cannot be reset even if error reset is requested 0 is not stored in Cd 5 Axis error reset by Simple Motion module It remains 1 Set 0 in Cd 5 Axis error reset and then set 1 to execute the error reset again by user side 4 Confirming the error and warning definitions The error and warning definitions can be confirmed with the error ...

Page 899: ...16 15 Chapter 16 Troubleshooting MEMO ...

Page 900: ...tting deceleration stop sudden stop of the detailed parameter 2 Sudden stop selection stop group 2 Note that the deceleration stop only occurs during the manual pulse generator operation 104 Hardware stroke limit The hardware stroke limit upper limit signal FLS is turned OFF during operation The system stops with the setting deceleration stop sudden stop of the detailed parameter 2 Sudden stop sel...

Page 901: ...FLS Check if the specification of the limit switch and the setting of the Pr 22 Input signal logic selection match If hardware stroke limit limit switch is unnecessary system for installation wire to always turn ON the upper limit signal FLS input of the Simple Motion module After making an axis error reset refer to 3 in Section 16 4 perform manual control operation refer to Chapter 11 to move the...

Page 902: ... ON and the near point dog signal turned ON The machine OPR does not start 203 Dog detection timing fault The near point dog signal is turned OFF during the deceleration from an OPR speed to a creep speed by the near point dog method machine OPR 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 ...

Page 903: ... input time Refer to Section 8 2 3 80 150n 81 150n Movement amount setting after near point dog ON 0 to 2147483647 Calculate the movement distance using a speed limit OPR speed and deceleration time and set the movement amount after near point dog ON so that the distance becomes a deceleration distance or longer Lower the OPR speed Adjust the near point dog position so that the movement amount aft...

Page 904: ...he data is not loaded from the stepping motor driver properly upon the OPR 235 OPR operation timeout error 236 OPR finish timeout error JOG operation or inching operation errors 300 Outside JOG speed range At the time of JOG starting the JOG speed comes out of a specified range The JOG operation is not carried out when the JOG speed is outside the setting range at the time of JOG start 301 Inching...

Page 905: ... available OPR method Check the contents of driver alarm and then execute OPR again Execute OPR again If the same error is displayed again the hardware of the Simple Motion module or the stepping motor driver is faulty Please consult your sales representative 1518 100n 1519 100n 4318 100n 4319 100n JOG speed 1 to 1000000000 PLS s 1 to 2000000000 10 2 mm min or others Bring the JOG speed into the s...

Page 906: ...are started and controlled simultaneously The same axis number is set to multiple simultaneous start axes The own axis number is set to a simultaneous start axis The number of simultaneous start axes is outside the setting range of 2 to 4 The partner axis for simultaneous start is BUSY The Simultaneous starting axis start data No of the start axis and the partner axis for simultaneous start is 0 o...

Page 907: ...us start axis 4339 100n Simultaneous starting axis b12 to b15 2 to 4 b8 to b11 0h to Fh b4 to b7 0h to Fh b0 to b3 0h to Fh Normalize the simultaneous starting own axis start data No and the simultaneous starting axis start data No 1 to 3 Refer to Section 10 5 4340 100n Simultaneous starting own axis start data No 1 to 600 4341 100n Simultaneous starting axis start data No 1 Simultaneous starting ...

Page 908: ...control mode the torque control mode the continuous operation to torque control mode the current feed value exceeded the upper limit of the software stroke limit At operation start The system does not operate In the analysis of new current value Current value is not changed During operation The system stops immediately when the positioning address during position control including position control...

Page 909: ...mit 0 to 1000000 Correct the circular interpolation error allowable limit value New current value New current value Software stroke upper and lower limits mm inch PLS 2147483648 to 2147483647 degree 0 to 35999999 At operation start Set the current feed value within the software stroke limit by the manual control operation Refer to Chapter 11 Correct the positioning address At circular interpolatio...

Page 910: ...nt value changing shows a continuous path control The continuous positioning control is designated for speed control or position speed switching control The system does not operate at start 518 Outside operation pattern range The operation pattern set value is 2 At start The system does not operate During operation The system stops with the setting deceleration stop sudden stop of the detailed par...

Page 911: ... speed position switching control position speed switching control and current value changing using the positioning data following the continuous path control data Do not carry out the fixed feed speed control speed position switching control position speed switching control and current value changing using the continuous path control operation pattern Do not carry out the speed control and positi...

Page 912: ...to be interpolated differs from the previous data when continuous positioning control or continuous path control is to be exercised for continuously The NOP instruction was set to the control method of positioning data No 600 525 Sub point setting error Either of the following applies in the circular interpolation with sub points designated Start point sub point End point sub point Start point end...

Page 913: ...o 516 Correct the control method axis to be interpolated or parameter Refer to Section 9 1 6 9 2 20 Refer to Section 5 3 List of positioning data Positioning address movement amount Unit mm PLS inch 2147483648 to 2147483647 Unit degree cannot be set Arc address 2147483648 to 2147483647 Correct the sub address arc address Refer to Section 9 2 10 Correct the end address positioning address Refer to ...

Page 914: ... unusable condition operator is set for the set condition The conditional operator has been parameter 1 is greater than to parameter 2 with 05H P1 P2 The setting value of address is outside the setting range when the condition target is set to Buffer memory 1 word 2 word 1 word 0 to 32767 2 word 0 to 32766 The setting value of simultaneous starting axis is outside the setting range when the condit...

Page 915: ... Normalize the block start data Special start instruction 00H to 06H Correct the instruction code of the special start Refer to Section 5 4 Da 13 Refer to Section 5 3 List of positioning data Correct the control method Refer to Section 5 3 Da 2 1504 100n 4304 100n M code OFF request 1 M code ON signal is turned OFF After turning OFF the M code ON signal start the system Refer to Section 13 7 3 Che...

Page 916: ...cuted at OPR request ON At start The system does not operate At control mode switching The mode does not change 550 Continuous operation to torque control not supported Switching to the continuous operation to torque control mode is requested to a servo amplifier which does not support the continuous operation to torque control During positioning control The system stops with the setting of the de...

Page 917: ...mit 20 150n 21 150n Operation setting for incompletion of OPR Operation setting for incompletion of OPR 0 1 Start after the OPR is executed Switch the control mode after the OPR is executed For systems which can operate the positioning control and speed torque control though the OPR request is ON set 1 to the setting value of the operation setting at OPR incomplete 87 150n Use a servo amplifier wh...

Page 918: ...Data is written to the flash ROM continuously 25 times or more from the program At start The system does not operate 806 Dedicated instruction I F error Mismatching occurs between the CPU module and the Simple Motion module 808 Error when switching from normal operation mode to amplifier less operation mode Input signals other than synchronization flag X1 are ON when switching from the normal oper...

Page 919: ...t the teaching data selection and positioning data No within the setting range Refer to Section 15 4 Do not specify the instruction of a non existent axis by the ZP PSTRT_ and ZP TEACH_ instructions Refer to Section 15 3 to Section 15 4 Review the program so that data is not written continuously to the flash ROM Using Md 19 in Section 5 6 1 the number of flash ROM write times can be monitored If t...

Page 920: ...t turned ON At start The system does not operate 911 Outside acceleration time 0 range The set value of the basic parameter 2 Acceleration time 0 is outside the setting range 912 Outside deceleration time 0 range The set value of the basic parameter 2 Deceleration time 0 is outside the setting range 920 Backlash compensation amount error The calculation result of the following equation is smaller ...

Page 921: ...5 2 1 1 150n Number of pulses per rotation 2 150n 3 150n Movement amount per rotation 4 150n 5 150n 10 150n 11 150n Speed limit value 1 to 1000000000 PLS s 1 to 2000000000 10 2 mm min or others Set a value which is not less than the OPR speed With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 12 150n 13 150n 1 to 8388608 With the setting brought into the se...

Page 922: ...ng mode is outside the setting range 929 Interpolation speed designation method error The set value of the detailed parameter 1 Interpolation speed designation method is outside the setting range 930 Current value update request error The set value of the detailed parameter 1 Current feed value during speed control is outside the setting range 932 Manual pulse generator input mode error The set va...

Page 923: ... setting range turn the PLC READY signal Y0 from OFF to ON 26 150n 1 to 1000 27 150n 0 1 28 150n 0 1 29 150n 0 1 30 150n 0 1 2 33 0 1 2 3 34 150n 0 2 Speed position switching control ABS mode should satisfy the conditions 1 to 3 given on the left When speed position switching control ABS mode is not to be exercised set 0 to speed position function selection and turn the PLC READY signal Y0 from OF...

Page 924: ...top group 3 Note that the deceleration stop only occurs during the manual pulse generator operation 951 Acceleration time 2 setting error The set value of the detailed parameter 2 Acceleration time 2 is outside the setting range 952 Acceleration time 3 setting error The set value of the detailed parameter 2 Acceleration time 3 is outside the setting range 953 Deceleration time 1 setting error The ...

Page 925: ...medy LD77MS2 LD77MS4 LD77MS16 36 150n 37 150n 1 to 8388608 With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 38 150n 39 150n 1 to 8388608 40 150n 41 150n 1 to 8388608 42 150n 43 150n 1 to 8388608 44 150n 45 150n 1 to 8388608 46 150n 47 150n 1 to 8388608 n Axis No 1 ...

Page 926: ...tion time is outside the setting range 962 Stop group 1 sudden stop selection error The set value of the detailed parameter 2 Stop group 1 sudden stop selection is outside the setting range 963 Stop group 2 sudden stop selection error The set value of the detailed parameter 2 Stop group 2 sudden stop selection is outside the setting range 964 Stop group 3 sudden stop selection error The set value ...

Page 927: ...ue or below 50 150n 0 1 2 3 With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 51 150n 0 1 2 3 52 150n 0 1 53 150n 1 to 100 54 150n 55 150n 1 to 8388608 56 150n 0 1 57 150n 0 1 58 150n 0 1 60 150n 61 150n 0 to 100000 62 150n 0 1 2 3 4 64 150n 65 150n 0 to 327680 63 150n 0 1 30210 200n Set with GX Works2 Set the number of master axis not more than the number...

Page 928: ...l selection error The set value of the detailed parameter 2 External command signal selection is outside the setting range 979 Synchronous encoder via servo amplifier invalid error The servo amplifier axis set as synchronous encoder via servo amplifier is not supported with scale measurement mode In system construction the unset up servo amplifier axis is set as the synchronous encoder via servo a...

Page 929: ... from OFF to ON 68 150n Torque initial value selection b4 to b7 0 1 Speed initial value selection b8 to b11 0 1 2 Condition selection at mode switching b12 to b15 0 1 69 150n 0 1 2 3 4 30100 200n 28400 100n 32 With the setting brought into the setting range switch the power on again or reset the PLC 70 150n 0 4 5 6 7 8 With the setting brought into the setting range turn the PLC READY signal Y0 fr...

Page 930: ... parameter OPR acceleration time selection is outside the setting range 993 OPR deceleration time selection error The set value of the OPR detailed parameter OPR deceleration time selection is outside the setting range 995 OPR torque limit value error 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 ha...

Page 931: ...ought into the setting range turn the PLC READY signal Y0 from OFF to ON 80 150n 81 150n 0 to 2147483647 With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 82 150n 0 1 2 3 83 150n 0 1 2 3 86 150n 1 to 1000 88 150n 0 1 87 150n 0 1 147 105 0 1 With the setting brought into the setting range write to the flash ROM and switch the power on again or reset the PLC...

Page 932: ...not completed correctly The servo alarm Absolute position erased alarm No 25 or the servo warning Absolute position counter warning warning No E3 occurred The servo parameter Rotation direction selection travel direction selection PA14 is changed The operation continues Absolute position 1205 SSCNET communication error Data received from servo amplifier is in error The operation continues Servo am...

Page 933: ...r cable Take measures against noise Check whether the rotation direction selection travel direction selection PA14 is set 0 1 or 1 0 in the user program or the GX Works2 Refer to Section 15 5 Check whether Absolute position detection system PA03 has been changed from invalid to valid after SSCNET communication establishment Cycle the power Contact your nearest Oriental Motor sales office n Axis No...

Page 934: ...fication of errors Error code Servo amplifier LED display Servo amplifier errors 2010 10_ 2011 11_ Note 1 2012 12_ 2013 13_ 2014 14_ 2015 15_ 2016 16_ 2017 17_ 2019 19_ 2020 20_ 2021 21_ 2024 24_ 2025 25_ 2027 27_ 2028 28_ 2030 30_ 2031 31_ 2032 32_ 2033 33_ 2034 34_ 2035 35_ 2036 36_ 2037 37_ 2042 42_ 2045 45_ 2046 46_ 2047 47_ 2050 50_ 2051 51_ 2052 52_ 2054 54_ 2056 56_ 2060 1A_ 2061 2A_ 2063 6...

Page 935: ...LED display Servo amplifier errors 2070 70_ 2071 71_ 2072 72_ Note 1 2079 79_ Note 2 2082 82_ 2088 88_ 2907 1B_ 2913 2B_ 2918 3A_ Note 1 2921 3D_ 2922 3E_ Note 1 2942 7A_ Note 2 2944 7C_ Note 2 2945 7D_ Note 2 2948 8A_ 2952 8E_ Note 1 For MR J4W_ _B or MR J3W _B Note 2 For MR J4 _B_ RJ ...

Page 936: ...time of the teaching request 110 Less than minimum speed The overridden speed becomes 0 The system is controlled with the currently executing unit of 1 111 In PLC READY The request for writing to the flash ROM is issued when the PLC READY is turned ON The warning for axis 1 is issued 112 Illegal override value A value other than 1 to 300 is set for the override value When a setting value is 0 Cont...

Page 937: ... 13 5 2 Same as warning code 109 Request to write when the PLC READY signal Y0 is OFF 1513 100n 4313 100n Positioning operation speed override 1 to 300 Set a value within the setting range 1525 100n 4325 100n New torque value forward new torque value 0 to Torque limit setting value Set a new torque value or a forward new torque value less than the limit value 26 150n Torque limit setting value 1 t...

Page 938: ...ge for Cd 139 Control mode setting 123 Control mode switching Control mode switching request was performed during the control mode switching Control mode switching request is not accepted 124 Illegal control mode switching Switching to the speed torque control mode is requested to the axis which does not support the control mode switching Switching to the continuous operation to torque control mod...

Page 939: ...er turning BUSY OFF Switch the control mode after turning Zero speed Md 108 Servo status ON 1575 100n 4375 100n Control mode setting 0 10 20 30 Switch the control mode after setting a value within the range for Cd 139 Control mode setting Carry out the control mode switching request after completing the control mode switching Do not use the speed torque control to the axis which does not support t...

Page 940: ...he mark detection data buffer memory No is outside the range or odd number JOG operation warnings 300 Speed change during deceleration The speed change request is issued during deceleration stop with JOG start signal OFF The speed change is not carried out 301 JOG speed limit value The JOG speed Note 1 is exceeded the speed limit value at start The new speed value Note 1 exceeds the JOG speed limi...

Page 941: ... with an even number within the setting range JOG speed JOG speed 1 to 1000000000 PLS s 1 to 2000000000 10 2 mm min or another Do not carry out the JOG speed change during deceleration with the JOG start signal OFF 1518 100n 1519 100n 4318 100n 4319 100n New speed value New speed value 0 to 1000000000 PLS s 0 to 2000000000 10 2 mm min or another Set a value within the setting range 1514 100n 1515 ...

Page 942: ...ntrol mode Note 1 The speed change by position speed switching control target position change function or override function is contained Note 2 This speed is a value in which override value is considered when override function is used Cd 13 Positioning operation speed override is set other than 100 Position control mode The speed is controlled with the speed limit value The Md 39 In speed limit fl...

Page 943: ... Speed limit value JOG speed limit value 1 to 1000000000 PLS s 1 to 2000000000 10 2 mm min or another 10 150n 11 150n Positioning operation speed override Positioning operation speed override 1 to 300 1513 100n 4313 100n Command speed at speed control mode Command speed at speed control mode 1000000000 to 1000000000 PLS s 2000000000 to 2000000000 10 2 mm min or another 1576 100n 1577 100n 4376 100...

Page 944: ...mand signal is turned ON the system will not perform anything 513 Insufficient movement amount The movement amount is not large enough for automatic deceleration The system stops immediately after it reaches the positioning address 514 Outside command speed range The speed change value is outside the setting range when changing the speed during operation Note 1 Cd 140 Command speed at speed contro...

Page 945: ... limit value at torque control mode to within the setting range during the torque control mode 1514 100n 1515 100n 4314 100n 4315 100n Position speed switching control speed change register Position speed switching control speed change register 0 to 1000000000 PLS s 0 to 2000000000 10 2 mm min or another 1530 100n 1531 100n 4330 100n 4331 100n Target position change value New speed Target position...

Page 946: ...request was given during speed control mode torque control mode or continuous operation to torque control mode The target position change is not carried out 520 Torque limit value over A value exceeding Pr 17 Torque limit setting value is set to Cd 143 Command torque at torque control mode at torque control mode A value exceeding Pr 17 Torque limit setting value is set to Cd 150 Target torque at c...

Page 947: ...nge address Refer to Section 13 5 5 Command torque at torque control mode Command torque at torque control mode 10000 to 10000 10 1 Review the setting value so that the setting torque is not exceeded the torque limit setting value 1580 100n 4380 100n Target torque at continuous operation to torque control Target torque at continuous operation to torque control 10000 to 10000 10 1 1590 100n 4390 10...

Page 948: ...R J4 W B MR J3 W B MR J3 _BS_ MR JE B Classification of warnings Warning code Servo amplifier LED display Servo amplifier warnings 2095 95_ 2101 91_ 2102 92_ 2106 96_ 2116 9F_ 2140 E0_ 2141 E1_ 2142 E2_ 2143 E3_ 2144 E4_ 2146 E6_ 2147 E7_ 2148 E8_ 2149 E9_ 2151 EB_ Note 1 2152 EC_ 2153 ED_ 2160 F0_ 2162 F2_ 2163 F3_ 2955 9B_ 2956 9C_ Note 2 Note 1 For MR J4W_ _B or MR J3W _B Note 2 For MR J4 _B_ R...

Page 949: ... signal cable Appendix 40 Appendix 3 3 Manual pulse generator MR HDP01 Appendix 45 Appendix 4 Comparisons with LD77MH models Appendix 46 Appendix 5 When using GX Works2 Appendix 51 Appendix 6 Compatible devices with SSCNET H Appendix 52 Appendix 6 1 Servo driver VCII series VPH series manufactured by Nikki Denso Co Ltd Appendix 52 Appendix 6 2 Inverter FR A700 series Appendix 59 Appendix 6 3 Alpha...

Page 950: ... the buffer memory address corresponding to each axis Example For axis No 16 1 150n Pr 4 Unit magnification AM 1 150 15 2251 In the buffer memory address p in 4012 5p etc indicates a pointer No Calculate as follows for the buffer memory address corresponding to each pointer No Example For pointer No 15 4012 5p Md 3 Start information 4012 5 15 4087 Buffer memory address Compatibility of setting val...

Page 951: ...e stroke limit valid invalid setting 24 150n 25 150n Pr 16 Command in position width 26 150n Pr 17 Torque limit setting value 27 150n Pr 18 M code ON signal output timing 28 150n Pr 19 Speed switching mode 29 150n Pr 20 Interpolation speed designation method 30 150n Pr 21 Current feed value during speed control 31 150n Pr 22 Input signal logic selection 32 150n Pr 80 External input signal selectio...

Page 952: ...eration time 56 150n Pr 37 Stop group 1 sudden stop selection 57 150n Pr 38 Stop group 2 sudden stop selection 58 150n Pr 39 Stop group 3 sudden stop selection 59 150n Pr 40 Positioning complete signal output time 60 150n 61 150n Pr 41 Allowable circular interpolation error width 62 150n Pr 42 External command function selection 63 150n Pr 83 Speed control 10 x multiplier setting for degree axis 6...

Page 953: ...54 OPR torque limit value 87 150n Pr 55 Operation setting for incompletion of OPR 88 150n Pr 56 Speed designation during OP shift 89 150n Pr 57 Dwell time during OPR retry 100 150n Pr 91 Optional data monitor Data type setting 1 Expansion parameter 101 150n Pr 92 Optional data monitor Data type setting 2 102 150n Pr 93 Optional data monitor Data type setting 3 103 150n Pr 94 Optional data monitor ...

Page 954: ...ion alarm number 1456 p 4256 p Md 55 Axis error occurrence Year month 129 5 4p 4095 4p Md 11 Axis error occurrence Day hour 1296 4p 4096 4p Md 12 Axis error occurrence Minute second 1357 4157 Md 13 Error history pointer 1358 4p 4158 4p Md 14 Axis in which the warning occurred Warning history 1359 4p 4159 4p Md 15 Axis warning No 31316 p Md 58 Servo warning 1472 p 4272 p Md 56 Axis warning occurren...

Page 955: ... 31 Status 818 100n 819 100n 2418 100n 2419 100n Md 32 Target value 820 100n 821 100n 2420 100n 2421 100n Md 33 Target speed 824 100n 825 100n 2424 100n 2425 100n Md 34 Movement amount after near point dog ON 826 100n 2426 100n Md 35 Torque limit stored value forward torque limit stored value 827 100n 2427 100n Md 36 Special start data instruction code setting value 828 100n 2428 100n Md 37 Specia...

Page 956: ...100n 867 100n 868 100n 869 100n 2464 100n 2465 100n 2466 100n 2467 100n 2468 100n 2469 100n Md 106 Servo amplifier software No 870 100n 2470 100n Md 107 Parameter error No 876 100n 2476 100n Md 108 Servo status 877 100n 2477 100n 878 100n 2478 100n Md 109 Regenerative load ratio Optional data monitor output 1 879 100n 2479 100n Md 110 Effective load torque Optional data monitor output 2 880 100n 2...

Page 957: ...request 1517 100n 4317 100n Cd 16 Inching movement amount 1518 100n 1519 100n 4318 100n 4319 100n Cd 17 JOG speed 1520 100n 4320 100n Cd 18 Interrupt request during continuous operation 1521 100n 4321 100n Cd 19 OPR request flag OFF request 1522 100n 1523 100n 4322 100n 4323 100n Cd 20 Manual pulse generator 1 pulse input magnification 1524 100n 4324 100n Cd 21 Manual pulse generator enable flag 1...

Page 958: ...348 100n Cd 38 Teaching data selection 1549 100n 4349 100n Cd 39 Teaching positioning data No 1550 100n 4350 100n Cd 40 ABS direction in degrees 1551 100n 4351 100n Cd 100 Servo OFF command 1552 100n 4352 100n Cd 101 Torque output setting value 1554 100n 4354 100n Cd 130 Servo parameter write request 1555 100n 4355 100n Cd 131 Parameter No Setting for servo parameters to be changed 1556 100n 1557 ...

Page 959: ...orque control mode 1590 100n 4390 100n Cd 150 Target torque at continuous operation to torque control mode 1591 100n 4391 100n Cd 151 Torque time constant at continuous operation to torque control mode Forward direction 1592 100n 4392 100n Cd 152 Torque time constant at continuous operation to torque control mode Negative direction 1593 100n 4393 100n Cd 153 Control mode auto shift selection 1594 ...

Page 960: ...ion positioning data No 6003 1000n Da 20 Axis to be interpolated No 1 Axis to be interpolated Da 21 Axis to be interpolated No 2 Da 22 Axis to be interpolated No 3 2004 6000n 2005 6000n 6004 1000n 6005 1000n Da 8 Command speed 2006 6000n 2007 6000n 6006 1000n 6007 1000n Da 6 Positioning address movement amount 2008 6000n 2009 6000n 6008 1000n 6009 1000n Da 7 Arc address 2010 6000n to 2019 6000n 60...

Page 961: ... Condition data Da 16 Condition operator 22101 400n Da 23 Number of simultaneous starting axes Da 24 Simultaneous starting axis No 1 Da 25 Simultaneous starting axis No 2 Da 26 Simultaneous starting axis No 3 26102 1000n 26103 1000n 22102 400n 22103 400n Da 17 Address 26104 1000n 26105 1000n 22104 400n 22105 400n Da 18 Parameter 1 26106 1000n 26107 1000n 22106 400n 22107 400n Da 19 Parameter 2 261...

Page 962: ...h GX Works2 Block start data Starting block 2 Positioning data Starting block data 26500 1000n to 26599 1000n Condition data 26600 1000n to 26699 1000n Block start data Starting block 3 26700 1000n to 26799 1000n Condition data 26800 1000n to 26899 1000n Block start data Starting block 4 26900 1000n to 26999 1000n Condition data n Axis No 1 Compatible Partly compatible Not compatible ...

Page 963: ...200n 28405 100n PA05 30106 200n 28406 100n PA06 30107 200n 28407 100n PA07 30108 200n 28408 100n PA08 30109 200n 28409 100n PA09 30110 200n 28410 100n PA10 30111 200n 28411 100n PA11 30112 200n 28412 100n PA12 30113 200n 28413 100n PA13 30114 200n 28414 100n PA14 30115 200n 28415 100n PA15 30116 200n 28416 100n PA16 30117 200n 28417 100n PA17 30118 200n 28418 100n PA18 30932 50n Set with GX Works2...

Page 964: ...00n PB14 30133 200n 28433 100n PB15 30134 200n 28434 100n PB16 30135 200n 28435 100n PB17 30136 200n 28436 100n PB18 30137 200n 28437 100n PB19 30138 200n 28438 100n PB20 30139 200n 28439 100n PB21 30140 200n 28440 100n PB22 30141 200n 28441 100n PB23 30142 200n 28442 100n PB24 30143 200n 28443 100n PB25 30144 200n 28444 100n PB26 30145 200n 28445 100n PB27 30146 200n 28446 100n PB28 30147 200n 28...

Page 965: ...21 250n 64421 70n PB54 64422 250n 64422 70n PB55 64423 250n 64423 70n PB56 64424 250n 64424 70n PB57 64425 250n 64425 70n PB58 64426 250n 64426 70n PB59 64427 250n 64427 70n PB60 64428 250n 64428 70n PB61 64429 250n 64429 70n PB62 64430 250n 64430 70n PB63 64431 250n 64431 70n PB64 30164 200n 28464 100n PC01 30165 200n 28465 100n PC02 30166 200n 28466 100n PC03 30167 200n 28467 100n PC04 30168 200...

Page 966: ...0n PC28 30192 200n 28492 100n PC29 30193 200n 28493 100n PC30 30194 200n 28494 100n PC31 30195 200n 28495 100n PC32 64432 250n 64432 70n PC33 64433 250n 64433 70n PC34 64434 250n 64434 70n PC35 64435 250n 64435 70n PC36 64436 250n 64436 70n PC37 64437 250n 64437 70n PC38 64438 250n 64438 70n PC39 64439 250n 64439 70n PC40 64440 250n 64440 70n PC41 64441 250n 64441 70n PC42 64442 250n 64442 70n PC4...

Page 967: ...64462 250n 64462 70n PC63 64463 250n 64463 70n PC64 30196 200n Set with GX Works2 PD01 30197 200n PD02 30198 200n PD03 30199 200n PD04 30200 200n PD05 30201 200n PD06 30202 200n PD07 30203 200n PD08 30204 200n PD09 30205 200n PD10 30206 200n PD11 30207 200n PD12 30208 200n PD13 30209 200n PD14 30210 200n PD15 30211 200n PD16 30212 200n PD17 30213 200n PD18 30214 200n PD19 30215 200n PD20 30216 200...

Page 968: ...PD39 64471 250n PD40 64472 250n PD41 64473 250n PD42 64474 250n PD43 64475 250n PD44 64476 250n PD45 64477 250n PD46 64478 250n PD47 64479 250n PD48 30228 200n PE01 30229 200n PE02 30230 200n PE03 30231 200n PE04 30232 200n PE05 30233 200n PE06 30234 200n PE07 30235 200n PE08 30236 200n PE09 30237 200n PE10 30238 200n PE11 30239 200n PE12 30240 200n PE13 30241 200n PE14 30242 200n PE15 30243 200n ...

Page 969: ...PE32 30260 200n PE33 30261 200n PE34 30262 200n PE35 30263 200n PE36 30264 200n PE37 30265 200n PE38 30266 200n PE39 30267 200n PE40 64480 250n PE41 64481 250n PE42 64482 250n PE43 64483 250n PE44 64484 250n PE45 64485 250n PE46 64486 250n PE47 64487 250n PE48 64488 250n PE49 64489 250n PE50 64490 250n PE51 64491 250n PE52 64492 250n PE53 64493 250n PE54 64494 250n PE55 64495 250n PE56 64496 250n ...

Page 970: ...PS05 30273 200n PS06 30274 200n PS07 30275 200n PS08 30276 200n PS09 30277 200n PS10 30278 200n PS11 30279 200n PS12 30280 200n PS13 30281 200n PS14 30282 200n PS15 30283 200n PS16 30284 200n PS17 30285 200n PS18 30286 200n PS19 30287 200n PS20 30288 200n PS21 30289 200n PS22 30290 200n PS23 30291 200n PS24 30292 200n PS25 30293 200n PS26 30294 200n PS27 30295 200n PS28 30296 200n PS29 30297 200n ...

Page 971: ...F09 30909 50n PF10 30910 50n PF11 30911 50n PF12 30912 50n PF13 30913 50n PF14 30914 50n PF15 30915 50n PF16 64504 250n PF17 64505 250n PF18 64506 250n PF19 64507 250n PF20 64508 250n PF21 64509 250n PF22 64510 250n PF23 64511 250n PF24 64512 250n PF25 64513 250n PF26 64514 250n PF27 64515 250n PF28 64516 250n PF29 64517 250n PF30 64518 250n PF31 64519 250n PF32 64520 250n PF33 64521 250n PF34 645...

Page 972: ...16 50n Po01 30917 50n Po02 30918 50n Po03 30919 50n Po04 30920 50n Po05 30921 50n Po06 30922 50n Po07 30923 50n Po08 30924 50n Po09 30925 50n Po10 30926 50n Po11 30927 50n Po12 30928 50n Po13 30929 50n Po14 30930 50n Po15 30931 50n Po16 64536 250n Po17 64537 250n Po18 64538 250n Po19 64539 250n Po20 64540 250n Po21 64541 250n Po22 64542 250n Po23 64543 250n Po24 64544 250n Po25 64545 250n Po26 645...

Page 973: ...PL09 64561 250n PL10 64562 250n PL11 64563 250n PL12 64564 250n PL13 64565 250n PL14 64566 250n PL15 64567 250n PL16 64568 250n PL17 64569 250n PL18 64570 250n PL19 64571 250n PL20 64572 250n PL21 64573 250n PL22 64574 250n PL23 64575 250n PL24 64576 250n PL25 64577 250n PL26 64578 250n PL27 64579 250n PL28 64580 250n PL29 64581 250n PL30 64582 250n PL31 64583 250n PL32 64584 250n PL33 64585 250n ...

Page 974: ... LD77MS16 Item Servo amplifier parameter No Memory area LD77MS2 LD77MS4 LD77MS16 64592 250n Set with GX Works2 PL41 Servo parameters 64593 250n PL42 64594 250n PL43 64595 250n PL44 64596 250n PL45 64597 250n PL46 64598 250n PL47 64599 250n PL48 n Axis No 1 Compatible Partly compatible Not compatible ...

Page 975: ...54003 20k Pr 803 Mark detection data axis No 54004 20k 54005 20k Pr 804 Mark detection data buffer memory No 54006 20k 54007 20k Pr 805 Latch data range upper limit value 54008 20k 54009 20k Pr 806 Latch data range lower limit value 54010 20k Pr 807 Mark detection mode setting 54640 10k Cd 800 Number of mark detection clear request Mark detection control data 54641 10k Cd 801 Mark detection invali...

Page 976: ...nector from dust For this reason do not remove a cap until just before connecting SSCNET cable Then when removing SSCNET cable make sure to put a cap Keep the cap and the tube for protecting light cord end of SSCNET cable in a plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty Do not remove the SSCNET cable while turning on the power supply of Simple Motion module and se...

Page 977: ...rest Mitsubishi sales representative 2 Specification Table 2 2 SSCNET cable list Description SSCNET cable model MR J3BUS_M MR J3BUS_M A MR J3BUS_M B SSCNET cable length m ft 0 15 0 49 0 3 to 3 0 98 to 9 84 5 to 20 16 40 to 65 62 30 to 50 98 43 to 164 04 Optical cable Cord Minimum bend radius mm inch 25 0 98 Enforced covering cord 50 1 97 Cord 25 0 98 Enforced covering cord 50 1 97 Cord 30 1 18 Ten...

Page 978: ...le of the SSCNET cable If the end face of cord tip for the SSCNET cable is dirty optical transmission is interrupted and it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol Do not add impossible power to the connector of the SSCNET cable When incinerating the SSCNET cable optical fiber hydrogen fluoride gas or hydrogen chloride gas which ...

Page 979: ... 16 40 10 32 81 20 20 65 62 30 40 30 98 43 40 131 23 50 50 164 04 Type MR J3BUS _ M Symbol 2 Exterior dimensions MR J3BUS015M Unit mm inch 2 3 0 09 1 7 0 07 37 65 1 48 150 50 0 5 91 8 0 0 31 20 9 0 82 13 4 0 53 6 7 0 26 15 0 59 Protective tube MR J3BUS03M to MR J3BUS3M Refer to the table of this section 1 for cable length L Unit mm inch L Note 100 3 94 100 3 94 Protective tube Note Dimension of co...

Page 980: ...BUS50M B 150 5 91 50 1 97 Unit mm inch A A L B B Note Protective tube Note Dimension of connector part is the same as that of MR J3BUS015M POINT Keep the cap and the tube for protecting light cord end of SSCNET cable in a plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty b SSCNET cable connector Unit mm inch 20 9 0 2 0 82 0 01 17 6 0 2 0 69 0 01 8 0 31 2 3 0 09 1 7 0 07...

Page 981: ...2 30 98 43 50 164 04 J14B103715 00 12 pairs BLACK Use the following or equivalent twisted pair cables as the serial absolute synchronous encoder cables Table 2 4 Connector sets Connector sets type Description MR J3CN2 Servo amplifier connector Table 2 5 Wire specifications Wire model Core size mm 2 Number of cores Characteristics of one core Finished OD mm Note 2 Structure Number of wires mm Condu...

Page 982: ...D P R LG S P5 T Pin Signal Encoder connector Pin arrangement MR J4 B RJ Q171ENC W8 CN2L connector Pin arrangement Synchronous encoder cable Encoder connector 50m 164 04ft or less Synchro nous encoder Pin Servo amplifier side 36210 0100PL plug 36310 3200 008 shell LG 2 BAT 9 MR2 3 MRR2 4 MD2 7 MDR2 8 P5 1 SD plate R LG E BAT K MR L MRR H MD J MDR S P5 N SHD Encoder side MS3106B22 14S plug MS3057 12...

Page 983: ...ute synchronous encoder Q171ENC W8 Unit mm inch 7 0 28 4 5 5 0 22 42 1 65 85 3 35 37 5 1 48 58 5 2 30 30 1 18 45 123 25 4 85 58 5 2 30 40 1 57 22 25 0 88 29 1 14 2 0 08 8 72 0 34 Cross section diagram AA 0 34 8 72 75 2 95 0 0 020 9 52 0 0 008 0 37 14 0 55 A A 100 3 94 ...

Page 984: ...y at the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNET cable The light can be a discomfort when it enters the eye The cable is available per 1 m up to 100 m The number of the length 1 to 100 will be in the _ part in the cable model Cable model Cable length m ft Bending life Application remark SC J3BUS_M C 1 to 100 3 28 to 328 08 Ultra long bending life Long dista...

Page 985: ...metal latch type 10126 6000EL 10326 3210 000 Note These connectors are not options Please purchase them by customer 2 Specifications of the connector Part name Specification Applicable connector Soldering type Quick release metal latch type Threaded type Pressure displacement type Quick release metal latch type Applicable wire size AWG30 to AWG24 0 05 to 0 2mm 2 AWG28 Stranded 0 08mm 2 Note The ex...

Page 986: ... Quick release metal latch type LD77MHIOCON Unit mm inch 10 0 23 8 0 94 37 2 1 46 39 0 1 54 25 8 1 02 14 0 12 7 12 0 0 55 0 50 0 47 0 39 b Soldering type Threaded type Unit mm inch 12 7 37 2 1 46 23 8 0 94 39 0 1 54 25 8 1 02 10 0 12 0 0 47 0 39 14 0 0 55 0 50 5 2 0 20 ...

Page 987: ...Appendix 39 Appendices c Pressure displacement type Quick release metal latch type Unit mm inch 33 5 1 32 33 0 1 30 42 0 1 65 11 5 24 8 0 98 0 45 7 1 0 28 ...

Page 988: ...5 10126 3000PE Connector 10326 52F0 008 Connector case Twisted pair cable Differential output type Manual pulse generator incremental synchronous encoder side External command switching Forced stop input HBL HAL HAH HBH 0V EMI EMI COM DI1 DI3 DI2 DI4 DICOM HBL HAL HAH HBH SG 5V EMI DI1 DI3 DI2 DI4 DICOM HB HA SG 5V EMI COM COM COM FG Shell Note 1 Note 1 Ground FG terminal on the used equipment sid...

Page 989: ...hronous encoder side External command switching Forced stop input HBL HAL HAH HBH 0V 5V EMI EMI COM DI1 DI3 DI2 DI4 DICOM HBL HAL HAH HBH SG 5V EMI DI1 DI3 DI2 DI4 DICOM HB HA SG 5V EMI COM COM COM FG Shell Note 1 Note 1 Ground FG terminal on the used equipment side Also connect it to the shell of connector side Solderless terminal Simple Motion module side FG Note 1 Note 1 When using the internal...

Page 990: ...ent side Also connect it to the shell of connector side Simple Motion module side Solderless terminal Voltage output open collector type Manual pulse generator incremental synchronous encoder side External command switching Forced stop input 18 17 5 4 16 3 10 23 15 14 2 1 11 13 12 24 26 25 HBL HAL HAH HBH SG 5V EMI DI1 DI3 DI2 DI4 DICOM HB HA SG 5V EMI COM COM COM FG Shell Note 1 FG Note 1 EMI EMI...

Page 991: ...the shell of connector side Simple Motion module side Solderless terminal Voltage output open collector type Manual pulse generator incremental synchronous encoder side External command switching Forced stop input 18 17 5 4 16 3 10 23 15 14 2 1 11 13 12 24 26 25 HBL HAL HAH HBH SG 5V EMI DI1 DI3 DI2 DI4 DICOM HB HA SG 5V EMI COM COM COM FG Shell Note 1 FG Note 1 EMI EMI COM When using the internal...

Page 992: ...acteristics of one core Finish OD mm Note 2 Structure Number of wires mm Conductor resistance km Insulating sheath OD d mm Note 1 20276FACBL 7 0 18mm 4P AWG25 0 16mm 2 8 4 pairs 7 0 18TA 115 1 0 6 8 20276FACBL 7 0 18mm 5P AWG25 0 16mm 2 10 5 pairs 7 0 18TA 115 1 0 7 3 Note 1 d is as shown below Insulation sheath Conductor d Note 2 Standard OD Max OD is about 10 larger CAUTION When fabricating the ...

Page 993: ...drawing 72 2 83 0 2 2 0 6 2 10 6 0 2 0 7 0 3 0 8 0 90 12V 0V A B 5to 0 50 4 0 Space The figure of processing a disc equi spaced 3 4 8 0 19 2 4 4 Packing t 2 0 16 20 0 63 0 79 3 6 0 14 0 5 27 0 1 06 1 80 3 15 0 5 60 2 36 8 89 7 6 50 1 97 70 2 76 0 35 0 30 M3 6 PCD72 equi spaced 3 Studs M4 10 ...

Page 994: ..._B_ MR J4W_ _B MR J4 _B_ RJ MR J3 _B_ MR J3W _B MR J3 _B_ RJ006 MR J3 _BS_ MR J3 _B_ RJ004 MR J3 _B RJ080W MR JE _B MR J3 _B_ MR J3W _B MR J3 _B_ RJ006 MR J3 _BS_ MR J3 _B_ RJ004 MR J3 _B RJ080W Note 1 Controlled servo parameter group SSCNET H PA PB PC PD PE PS PF Po PL SSCNET PA PB PC PD PE PS PF Po PA PB PC PD PE PS PF Note 1 Po Note 1 Machine OPR function OPR method 6 types Near point dog metho...

Page 995: ... Compatible with servo driver VCII series VPH series manufactured by Nikki Denso Co Ltd Refer to Appendix 6 1 Compatible with inverter FR A700 series Refer to Appendix 6 2 AlphaStep 5 phase stepping motor driver manufactured by ORIENTAL MOTOR Co Ltd Refer to Appendix 6 3 IAI electric actuator controller manufactured by IAI Corporation Refer to Appendix 6 4 Synchronous encoder via servo amplifier R...

Page 996: ...n method Pr 46 OPR speed Range of setting value Control unit is PLS 1 to 1000000000 PLS s Control unit is PLS 1 to 50000000 PLS s Pr 47 Creep speed Range of setting value Control unit is PLS 1 to 1000000000 PLS s Control unit is PLS 1 to 50000000 PLS s Pr 91 Optional data monitor Data type setting 1 Range of setting value 0 No setting 1 Effective load ratio 2 Regenerative load ratio 3 Peak load ra...

Page 997: ...A64 65 to 128 PB01 to PB64 129 to 192 PC01 to PC64 193 to 256 PD01 to PD64 257 to 320 PE01 to PE64 321 to 384 PF01 to PF64 385 to 448 Po01 to Po64 449 to 512 PS01 to PS64 513 to 576 PL01 to PL64 SSCNET 1 to 18 PA01 to PA18 19 to 63 PB01 to PB45 64 to 95 PC01 to PC32 96 to 127 PD01 to PD32 128 to 167 PE01 to PE40 168 to 183 PF01 to PF16 184 to 199 Po01 to Po16 200 to 231 PS01 to PS32 232 PA19 SSCNE...

Page 998: ... Cd 131 Parameter No Range of setting value MR J4 W B MR JE B 0 PA group 1 PB group 2 PC group 3 PD group 4 PE group 5 PF group 9 Po group A PS group B PL group VCII series VPH series 0 Group 0 1 Group 1 2 Group 2 3 Group 3 4 Group 4 5 Group 5 6 Group 6 7 Group 7 8 Group 8 9 Group 9 MR J3 W B 0 PA group 1 PB group 2 PC group 3 PD group 4 PE group 5 PF group 9 Po group A PS group Cd 140 Command spe...

Page 999: ...le Setting Tool Start Simple Motion Module Setting Tool with GX Works2 Configure parameters and positioning data with GX Works2 Parameter setting Configure each setting with GX Works2 YES NO Programming and debugging Create and debug a sequence program Starting operation Writing data to flash ROM Write data to the flash ROM END Refer to Chapter 6 Creating programs for parameters and data Create pr...

Page 1000: ...ffice for details of VCII series VPH series The details shown below explain about the Connection with VCII series VPH series 1 Connecting method 2 Comparisons of specifications with MR J4 W B MR J3 W B 3 Precautions during control 4 VCII series VPH series detection error warning 1 Connecting method 1 System configuration The system configuration using VCII series VPH series is shown below SSCNET H...

Page 1001: ...arisons of specifications with MR J4 W B MR J3 W B Item VCII series VPH series Note 1 MR J4 W B MR J3 W B Pr 100 Servo series 96 VCII series manufactured by Nikki Denso Co Ltd 99 VPH series manufactured by Nikki Denso Co Ltd 32 MR J4 _B_ RJ MR J4W_ _B 2 3 axis type 1 MR J3 _B_ MR J3W _B 2 axis type 3 MR J3 _B_ RJ006 For fully closed loop control MR J3 _BS_ For safety servo 4 MR J3 _B_ RJ004 For li...

Page 1002: ...2 26 Z phase counter 27 Servo motor side load side position deviation 28 Servo motor side load side speed deviation 30 Module power consumption 2 words The following items can be monitored 1 Effective load ratio 2 Regenerative load ratio 3 Peak load ratio 4 Load inertia moment ratio 5 Model loop gain 6 Main circuit bus voltage 7 Servo motor speed 8 Encoder multiple revolution counter 12 Servo moto...

Page 1003: ...H data editing software Test mode is available MR Configurator2 is available Note 1 Confirm the specifications of VCII series VPH series for details Note 2 Match the absolute position detection system setting in each setting of VCII series and Simple Motion module Note 3 The direct drive DISC series manufactured by Nikki Denso Co Ltd can restore the absolute position in the range from 2147483648 t...

Page 1004: ...nce position signal When Zero return operation allowed is set in the parameter of VPH series Marker transit selection it is possible to carry out the OPR without passing the Motor Z phase after power is supplied When Zero return operation allowed after the marker is passed is set the error OPR zero point not passed error code 210 occurs because the OPR is executed without passing the motor Z phase...

Page 1005: ... changing the servo parameter cannot be confirmed using VCII VPH data editing software Also when the power of VCII series VPH series is turned OFF the parameter changed by the servo parameter change request becomes invalid and the value written by VCII VPH data editing software becomes valid 6 Optional data monitor The following table shows data types that can be set Data type Unit Effective load ...

Page 1006: ...114 Servo alarm and Md 57 Servo alarm in error history The alarm detail number is not stored However 0 is always stored in Md 107 Parameter error No Confirm the specifications of VCII series VPH series for details 2 Warning When a warning occurs on VCII series VPH series the warning code 61440 to 61695 is stored in Md 24 Axis warning No The servo warning No of VCII series VPH series is stored in M...

Page 1007: ...figuration The system configuration using FR A700 series is shown below Set 0 SSCNET in Pr 97 SSCNET setting to use FR A700 series SSCNET Simple Motion module LD77MS2 Up to 2 axes LD77MS4 Up to 4 axes LD77MS16 Up to 16 axes SSCNET cable MR J3BUS_M A B Servo amplifier MR J3 W B Inverter FR A700 series 2 Parameter setting To connect FR A700 series execute flash ROM writing after setting the followin...

Page 1008: ...ue Setting value Details Pr 75 Reset selection disconnected PU detection PU stop selection 14 0 Reset input is always enabled If the PU is disconnected operation will be continued PU stop is disabled at SSCNET connection 1 A reset can be input only when the protective function is activated If the PU is disconnected operation will be continued PU stop is disabled at SSCNET connection 2 Reset input ...

Page 1009: ...use Effective load ratio Motor load factor Load inertia moment ratio Load inertia ratio Model loop gain Position loop gain Main circuit bus voltage Converter output voltage Encoder multiple revolution counter Encoder multiple revolution counter Position feedback Position feedback Encoder position within one revolution Encoder position within one revolution POINT When FR A700 series is used each da...

Page 1010: ...179 STR terminal function selection 61 61 Use with the default value Pr 185 JOG terminal function selection 5 76 Set 76 Near point dog Pr 449 SSCNET input filter setting 4 0 None 1 0 88ms 2 1 77ms 3 2 66ms 4 3 55ms Set the input filter setting value at reading an external signal Set the servo parameter of Simple Motion module Input filter setting PD11 to be the same value as the parameter of the i...

Page 1011: ...ntrol mode Continuous operation to torque control mode Gain switching command Valid Valid PI PID switching command Valid Valid Control loop semi fully switching command Invalid Valid when using servo amplifier for fully closed loop control MR J3 _B_ RJ006 Servo parameter write read Not possible Possible Amplifier less operation function Possible Note 2 Possible Operates artificially as the followi...

Page 1012: ...ation to torque control mode the error Continuous operation to torque control not supported error code 550 occurs and the operation stops 1 Feedback torque cannot be set in Torque initial value selection b4 to b7 of Pr 90 Operation setting for speed torque control mode If it is set the warning Torque initial value selection invalid warning code 521 occurs and the command value immediately after sw...

Page 1013: ...114H 14H E OV2 Regenerative overvoltage trip during constant speed 61717 F115H 15H E OV3 Regenerative overvoltage trip during deceleration or stop 61718 F116H 16H E THM Motor overload trip electronic thermal relay function 61719 F117H 17H E THT Inverter overload trip electronic thermal relay function 61720 F118H 18H E IPF Instantaneous power failure 61721 F119H 19H E UVT Undervoltage 61728 F120H 2...

Page 1014: ...PTC PTC thermistor operation 61769 F149H 49H E PE2 Parameter storage device fault 61776 F150H 50H E CDO Output current detection value exceeded 61777 F151H 51H E IOH Inrush current limit circuit fault 61778 F152H 52H E SER Communication fault inverter 61779 F153H 53H E AIE Analog input fault 61781 F155H 55H E USB USB communication fault 61782 F156H 56H E 1 Option fault 61783 F157H 57H E 2 61784 F1...

Page 1015: ... code Warning No of FR A700 series FR A700 series LED display Name Remarks Inverter FR A700 series 61924 F1E4H E4H Parameter write error 61926 F1E6H E6H Output stop 61927 F1E7H E7H Emergency stop 61936 F1F0H F0H OL Stall prevention overcurrent 61937 F1F1H F1H oL Stall prevention overvoltage 61938 F1F2H F2H PS PU stop 61939 F1F3H F3H RB Regenerative brake pre alarm 61940 F1F4H F4H TH Electronic the...

Page 1016: ...ns with MR J4 W B 3 Precautions during control 4 AlphaStep 5 phase detection error warning 1 Connecting method 1 System configuration The system configuration using AlphaStep 5 phase is shown below Simple Motion module LD77MS2 Up to 2 axes LD77MS4 Up to 4 axes LD77MS16 Up to 16 axes SSCNET cable MR J3BUS_M A B Servo amplifier AlphaStep 5 Phase SSCNET H MR J4 W B 2 Parameter setting To connect Alph...

Page 1017: ...d to be set in the system setting regardless of the number of stepping motors For example when a 2 axis unit is used and only 1 motor is connected the settings for two axes are required in the system setting Parameters set in AlphaStep 5 phase are not controlled by the Simple Motion module ...

Page 1018: ...power consumption 10 Instantaneous torque 12 Servo motor thermistor temperature 13 Disturbance torque 14 Overload alarm margin 15 Error excessive alarm margin 16 Settling time 17 Overshoot amount 18 Internal temperature of encoder 20 Position feedback 21 Encoder position within one revolution 22 Selected droop pulse 23 Module integral power consumption 24 Load side encoder information 1 25 Load si...

Page 1019: ... b5 Fully closed loop control b7 Servo alarm b12 In position b13 Torque limit b14 Absolute position lost b15 Servo warning Low order buffer memory b0 Zero point pass b3 Zero speed b4 Speed limit b8 PID control Md 500 Servo status7 b9 Driver operation alarm Programming tool Test mode is available MR Configurator2 is not available Use AlphaStep 5 phase data editing software Test mode is available MR...

Page 1020: ... manual and match the settings For parameters that can be set by the Simple Motion module refer to Section 5 1 3 Setting items for OPR parameters This method is not available except for the stepping driver If the method is executed the error OPR method invalid error code 232 occurs c Backlash compensation after the driver OPR method When Pr 11 Backlash compensation amount is set in the Simple Moti...

Page 1021: ...nal force when servo OFF occurs it is not possible to detect the position and position information is not updated Do not rotate the motor during servo OFF If the motors are rotated a position displacement occurs For 5 phase open loop control system OPR request flag Md 31 Status b3 turns ON in a servo OFF state After turning servo ON perform an OPR again For 5 phase open loop control system when an...

Page 1022: ...be executed The servo parameter of AlphaStep 5 phase is controlled in a unit of 2 words However 1 1 word write request and 2 2 words write request can be set in Cd 130 Servo parameter write request Refer to the AlphaStep 5 phase manual for the specification method of parameters to change When the power of AlphaStep 5 phase is turned OFF the parameter changed by the servo parameter change request b...

Page 1023: ...s b3 and Speed limit Md 108 Servo status low order buffer memory address b4 are always OFF d Md 113 Semi Fully closed loop status is always 0 e Md 107 Parameter error No is always 0 f In position Md 108 Servo status high order buffer memory address b12 is OFF during the axis operation It is turned ON when the axis operation is completed 11 Amplifier less operation The amplifier less operation cann...

Page 1024: ...il number is not stored However 0 is always stored in Md 107 Parameter error No When the driver OPR method is selected and an OPR error is detected the error Driver OPR error error code 233 is stored in Md 23 Axis error No Also Driver operation alarm Md 500 Servo status7 b9 is turned ON and the operation alarm generated on AlphaStep 5 phase is stored in Md 502 Driver operation alarm number and Md ...

Page 1025: ...t the Connection with IAI electric actuator controller 1 Connecting method 2 Comparisons of specifications with MR J4 W B 3 Precautions during control 4 IAI electric actuator controller detection error warning 1 Connecting method 1 System configuration The system configuration using IAI electric actuator controller is shown below SSCNET H MR J3BUS_M A B LD77MS2 Up to 2 axes LD77MS4 Up to 4 axes Se...

Page 1026: ...etting item Setting value Default value Buffer memory address LD77MS2 LD77MS4 LD77MS16 Pr 100 Servo series 98 IAI Controller for Electric Actuator manufactured by IAI Corporation 0 30100 200n 28400 100n n Axis No 1 POINT Parameters set in IAI electric actuator controller are not controlled by the Simple Motion module ...

Page 1027: ...on 10 Instantaneous torque 12 Servo motor thermistor temperature 13 Disturbance torque 14 Overload alarm margin 15 Error excessive alarm margin 16 Settling time 17 Overshoot amount 18 Internal temperature of encoder 20 Position feedback 21 Encoder position within one revolution 22 Selected droop pulse 23 Module integral power consumption 24 Load side encoder information 1 25 Load side encoder info...

Page 1028: ...ervo alarm warning Md 108 Servo status High order buffer memory address b0 READY ON b1 Servo ON b7 Servo alarm b12 In position b13 Torque limit High order buffer memory address b0 READY ON b1 Servo ON b2 b3 Control mode b4 Gain switching b5 Fully closed loop control b7 Servo alarm b12 In position b13 Torque limit b14 Absolute position lost b15 Servo warning Low order buffer memory address b0 Zero ...

Page 1029: ...or controller Set the setting values of OPR in the parameters of the IAI electric actuator controller The operation of OPR and b0 Lower limit b1 Upper limit and b6 Near point dog signal of Pr 22 Input signal logic selection depend on the specification of the IAI electric actuator controller so that refer to the IAI electric actuator controller manual and match the settings For parameters that can ...

Page 1030: ...e Md 21 Machine feed value Driver OPR method 3 Servo OFF The system is closed loop configuration If the motor is moved by an external force the position information is updated 4 Control mode Position control mode position control and speed control including position loop can be used Speed control mode and torque control mode of expansion control speed control not including position loop torque con...

Page 1031: ...nored Set the torque limit value with the parameter on the IAI electric actuator controller side 10 Axis monitor data a Md 104 Motor current value is always 0 When the optional data monitor is not used Md 109 Regenerative load ratio Optional data monitor output 1 Md 110 Effective load torque Optional data monitor output 2 and Md 111 Peak torque ratio Optional data monitor output 3 are 0 b Zero poi...

Page 1032: ...servo alarms 0x00 to 0xFF of IAI electric actuator controller are stored in Md 114 Servo alarm and Md 57 Servo alarm in error history The alarm detail number is not stored However 0 is always stored in Md 107 Parameter error No When the driver OPR method is selected and an OPR error is detected the error Driver OPR error error code 233 is stored in Md 23 Axis error No Also Driver operation alarm M...

Page 1033: ...2 Possible Driver communication Not possible Possible Virtual servo amplifier function Not possible Possible Note 1 When the software version of the servo amplifier is C4 or before When 1 External input signal of servo amplifier is set in Pr 80 External input signal selection at MR JE B use the axis error or warning does not occur and the external signal upper lower limit switch near point dog can...

Page 1034: ... L S E R CN1 LD77MS2 RUN ERR AX 1 2 95 3 74 45 1 77 90 3 54 4 0 16 4 0 16 8 0 31 45 1 77 45 1 77 98 5 3 88 4 0 16 DIN rail center 2 LD77MS4 Unit mm inch P U L S E R CN1 LD77MS4 RUN ERR AX 1 2 3 4 95 3 74 45 1 77 90 3 54 4 0 16 4 0 16 8 0 31 45 1 77 45 1 77 98 5 3 88 4 0 16 DIN rail center ...

Page 1035: ...ndix 87 Appendices 3 LD77MS16 Unit mm inch LD77MS16 RUN ERR AX 1 9 10111213141516 2 3 4 5 6 7 8 P U L S E R CN1 95 3 74 45 1 77 90 3 54 4 0 16 4 0 16 8 0 31 45 1 77 45 1 77 98 5 3 88 4 0 16 DIN rail center ...

Page 1036: ...Appendix 88 Appendices MEMO ...

Page 1037: ...en 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 fires...

Page 1038: ... trademarks or trademarks of Microsoft Corporation in the United States and or other countries The company names system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies In some cases trademark symbols such as or are not specified in this manual ...

Page 1039: ......

Page 1040: ...ithout notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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