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Mitsubishi Electric MELSEC Q Series, User Manual

The Mitsubishi Electric MELSEC Q Series is a cutting-edge automation product that revolutionizes industrial control systems. For an all-in-one resource, download the comprehensive user manual and handbook for free from our website. Unlock the full potential of this exceptional product with detailed instructions and troubleshooting tips.

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6 - 7 

Chapter 6    Sequence Program Used for Positioning Control 

 

Device name 

Device 

Application 

Details when ON 

Axis 1 

Axis 2 to Axis 16 

External input 

(command) 

X20 

— 

HPR request OFF command 

Commanding HPR request OFF 

X21 

External command valid command 

Commanding external command valid 
setting 

X22 

External command invalid command 

Commanding external command 
invalid 

X23 

Machine HPR command 

Commanding machine HPR 

X24 

Fast HPR command 

Commanding fast HPR 

X25 

Positioning start command 

Commanding positioning start 

X26 

Speed-position switching operation 
command 

Commanding speed-position switching 
operation 

X27 

Speed-position switching enable 
command 

Commanding speed-position switching 
enable 

X28 

Speed-position switching prohibit 
command 

Commanding speed-position switching 
prohibit 

X29 

Movement amount change 
command 

Commanding movement amount 
change 

X2A 

High-level positioning control start 
command 

Commanding high-level positioning 
control start 

X2C 

M code OFF command 

Commanding M code OFF 

X2D 

JOG operation speed setting 
command 

Commanding JOG operation speed 
setting 

X2E 

Forward run JOG/inching command 

Commanding forward run JOG/inching 
operation 

X2F 

Reverse run JOG/inching command 

Commanding reverse run JOG/inching 
operation 

X30 

Manual pulse generator operation 
enable command 

Commanding manual pulse generator 
operation enable 

X31 

Manual pulse generator operation 
disable command 

Commanding manual pulse generator 
operation disable 

X32 

Speed change command 

Commanding speed change 

X33 

Override command 

Commanding override 

X34 

Acceleration/deceleration time 
change command 

Commanding acceleration/deceleration 
time change 

X35 

Acceleration/deceleration time 
change disable command 

Commanding acceleration/deceleration 
time change disable 

X36 

Torque change command 

Commanding torque change 

X37 

Step operation command 

Commanding step operation 

X38 

Skip command 

Commanding skip   

X39 

Teaching command 

Commanding teaching 

X3A 

Continuous operation interrupt 
command 

Commanding continuous operation 
interrupt  

X3B 

Restart command 

Commanding restart 

Summary of Contents for MELSEC Q Series

Page 1: ...MELSEC Q QD77GF Simple Motion Module User s Manual Positioning Control QD77GF4 QD77GF8 QD77GF16 ...

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: ... 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 base unit and Simple Motion module with the correct combinations listed in the instruction manual Other combinat...

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: ...the external device and CPU module in case of a communication failure For the operating status of each station after a communication failure refer to the MELSEC Q QD77GF Simple Motion Module User s Manual Network Incorrect output or malfunction due to a communication failure may result in an accident Do not write any data to the system area of the buffer memory in the intelligent function module A...

Page 8: ...an Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the module servo amplifier or servomotor The module servo amplifier and servomotor are precision machines so do not drop or apply strong impacts on them Securely fix the module servo amplifier and servomotor to the machine according to the instruction manual If the fixing is insufficient these ...

Page 9: ...s into place Incorrect mounting may cause malfunction failure or drop of the module When using the programmable controller in an environment of frequent vibrations fix the module with a screw Tighten the screws within the specified torque range Undertightening can cause drop of the screw short circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit ...

Page 10: ...ng DICOM RA Control output signal DOCOM Servo amplifier 24VDC Control output signal DICOM DOCOM Servo amplifier RA 24VDC For the sink 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...

Page 11: ...te position system function on starting up and when the module or absolute position motor has been replaced always perform a home position return Before starting test operation set the parameter speed limit value to the slowest value and make sure that operation can be stopped immediately by the forced stop etc if a hazardous state occurs Before starting the operation confirm the brake function 6 ...

Page 12: ...nstruction manual and restore the operation If a dangerous state is predicted in case of a power failure or product failure use a servomotor with an electromagnetic brake or install a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally 24VDC B RA1 EMG Servo motor Electromagnetic br...

Page 13: ...unction Tighten the screw within the specified torque range Undertightening can cause drop of the screw short circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backing up the program and parameters for the modu...

Page 14: ... the module and base 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 CAU...

Page 15: ...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 16: ... the program examples 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 a Q series Simple Motion module I O number assignment is ...

Page 17: ...ORGANIZATION TERMS General image of system Restrictions by the SERIAL No and version Performance specifications Parameters Monitor data Control data HPR method Control Sub Functions Virtual servo amplifier function List of errors List of buffer memory addresses Connection with servo amplifiers WARRANTY Sep 2017 IB NA 0300202 D Additional correction partial correction SAFETY PRECAUTIONS Restriction...

Page 18: ...n QD77GF and each module 1 19 1 2 Flow of system operation 1 22 1 2 1 Flow of all processes 1 22 1 2 2 Outline of starting 1 24 1 2 3 Outline of stopping 1 26 1 2 4 Outline for restarting 1 28 2 System Configuration 2 1 to 2 8 2 1 General image of system 2 2 2 2 Component list 2 3 2 3 Applicable system 2 5 2 4 How to check the function version and SERIAL No 2 7 2 5 Restrictions by the SERIAL No an...

Page 19: ...d wiring are completed 4 17 4 5 Maintenance 4 18 4 5 1 Precautions for maintenance 4 18 4 5 2 Disposal instructions 4 18 5 Data Used for Positioning Control 5 1 to 5 162 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 5 5 1 3 Setting items for HPR parameters 5 7 5 1 4 Setting items for expansion parameters 5 8 5 1 5 Setting ...

Page 20: ...6 16 6 3 2 Positioning control operation program 6 17 6 4 Positioning program examples RJ010 mode 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 16 7 1 Configuration a...

Page 21: ...ntrols 9 5 9 1 3 Designating the positioning address 9 15 9 1 4 Confirming 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 37 9 ...

Page 22: ...r high level positioning control 10 22 10 6 1 Starting high level positioning control 10 22 10 6 2 Example of a start program for high level positioning control 10 23 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 th...

Page 23: ... 13 4 3 Software stroke limit function 13 30 13 4 4 Hardware stroke limit function 13 37 13 4 5 Forced stop function 13 41 13 5 Functions to change the control details 13 44 13 5 1 Speed change function 13 44 13 5 2 Override function 13 51 13 5 3 Acceleration deceleration time change function 13 54 13 5 4 Torque change function 13 59 13 5 5 Target position change function 13 63 13 6 Absolute posit...

Page 24: ...List of dedicated instructions 15 2 16 Troubleshooting 16 1 to 16 54 16 1 Checking errors using GX Works2 16 2 16 2 Troubleshooting 16 5 16 3 Error and warning details 16 6 16 4 List of errors 16 12 16 5 List of warnings 16 44 Appendices Appendix 1 to Appendix 30 Appendix 1 List of buffer memory addresses Appendix 2 Appendix 2 Connection with servo amplifiers Appendix 14 Appendix 3 Connection with...

Page 25: ...ing RELEVANT MANUALS 1 Simple Motion module Manual Name Manual number model code Description MELSEC Q QD77GF Simple Motion Module User s Manual Positioning Control IB 0300202 1XB956 Specifications of the QD77GF and information on how to establish a system maintenance and inspection and troubleshooting Functions programming and buffer memory for the positioning control of the QD77GF MELSEC Q L QD77...

Page 26: ... of the predefined protocol support function of intelligent function modules using GX Works2 4 Servo amplifier Manual Name Manual number model code Description CC Link IE Field Network Interface with Motion MR J4 _B RJ010 MR J4 _B4 RJ010 MR J3 T10 Servo Amplifier Instruction Manual SH 030117 1CW810 I O signals parts names parameters start up procedure and others for CC Link IE Field Network interf...

Page 27: ...plifier When using the virtual servo amplifier function it operates in MR J4 B RJ010 communication mode regardless of the communication mode setting CiA402 mode Symbol that indicates specifications during the communication mode compatible with CiA402 This mode corresponds to the MR J4 _GF_ RJ servo amplifier and others Representation of numerical values used in this manual Buffer memory addresses ...

Page 28: ...e servo amplifier Version 1 19V 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 drive unit A generic term for a drive unit Unless specified in particular indicates the motor driver unit of the sequential command method which is controlled by the Simple Motion module b...

Page 29: ...g items are included in the package of this product Before use check that all the items are included 1 QD77GF4 QD77GF4 Before Using the Product 2 QD77GF8 QD77GF8 Before Using the Product 3 QD77GF16 QD77GF16 Before Using the Product ...

Page 30: ...A 28 MEMO ...

Page 31: ...uration 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 28 Chapter 2 System Configuration 2 1 to 2 8 Chapter 3 Specifications and Functions 3 1 to 3 34 Chapter 4 Inst...

Page 32: ...MEMO ...

Page 33: ...edure to use beforehand the positioning system can be structured smoothly 1 1 Positioning control 1 2 1 1 1 Features of QD77GF 1 2 1 1 2 Purpose and applications of positioning control 1 5 1 1 3 Mechanism of positioning control 1 7 1 1 4 Overview of positioning control functions 1 8 1 1 5 Outline design of positioning system 1 18 1 1 6 Communicating signals between QD77GF and each module 1 19 1 2 ...

Page 34: ...ols such as position control speed control speed position switching control position speed switching control and other controls are provided 1 Independent control of each axis Controls such as position control and speed control can be performed independently for each axis at any given timing 2 Interpolation control Interpolation controls using multiple axes can be performed 2 to 4 axis linear inte...

Page 35: ...The QD77GF notifies error details to the PLC CPU when an error occurs Storing the error information in the PLC CPU allows the user to check the error from the programming tool even after the module is powered off or reset 5 Setting monitoring and testing through GX Works2 Parameters and positioning data for the QD77GF can be set using GX Works2 Simple Motion Module Setting Moreover using the test ...

Page 36: ...e 1 It is available in MR J4 B RJ010 communication mode 8 Easy application to the absolute position system a The servo amplifier MR J4 _B_ RJ010 and MR J4 GF corresponding to the CC Link IE Field Network and servo motors correspond to the absolute position system It can be realized only at connecting the battery for absolute position system to the servo amplifier b Once the HP have been establishe...

Page 37: ...pattern is changed Palletizer Servomotor with a brake Conveyor control Conveyor Servo amplifier QD77GF Ball screw Reduction gear G Palletizer Position detector Unloader control 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 1 7 4 10 11 12 2...

Page 38: ...ital switch Worm gears Detector Servomotor Index table The index table is positioned at a high accuracy using the 1 axis servo Inner surface grinder Servo amplifier Inverter Inverter Servomotor Motor IM G Workpiece Grinding stone Motor IM G G QD77GF AC220V 60Hz Operation panel a b c d e Fix the grinding stone feed the workpiece and grind a Total feed amount m b Finishing feed amount m c Compensati...

Page 39: ...tart signal external command signal and switching signal to the QD77GF QD77GF 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 amplifier S...

Page 40: ... 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 41: ...ction 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 42: ...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 43: ...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 44: ...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 45: ...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 46: ...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 47: ...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 48: ...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 49: ... 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 ca...

Page 50: ...odule OS Monitor data Interface Positioning command Control command External input signal Refer to Section 3 4 2 Manual pulse generator Incremental synchronous encoder A phase B phase EMI Forced stop input signal DI External command signal Switching signal Note The external input signal of servo amplifier or external input signal via CPU buffer memory of QD77GF can be used in the parameter setting...

Page 51: ...orks2 Peripheral device interface X10 to X1F Synchronization flag X1 Module READY XF Interface with PLC CPU External interface PLC READY signal Data write read Positioning data write read Block start data write read Operating information of the servo amplifier Positioning command Control command Servo parameter External input signal of the servo amplifier Manual pulse generator Incremental synchro...

Page 52: ...imple Motion module GX Works2 GX Works2 Simple Motion module Data read write Parameter Positioning data Parameter Positioning data Test operation HPR control start command Positioning control start command JOG Inching operation start command Teaching start command Manual pulse generator operation enable disable command Operation monitor Monitor data Simple Motion module Servo amplifier The Simple ...

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: ...ning 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: ...R control Fast HPR control JOG operation Inching operation Manual pulse generator operation Turn the All axis servo ON signal ON Y1 ON Turn the PLC READY signal ON Y0 ON Set the servo parameters Set the expansion parameters Pr 113 Pr 132 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 generat...

Page 57: ...ue control Set the acceleration deceleration time at speed control mode Cd 141 Cd 142 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 Cd 140 Set the command speed at speed control mode Torque control Set the torque time constant forward direction reverse direction and speed li...

Page 58: ...ontrol Major positioning control High level positioning control Manual control Machine HPR control Note 3 Fast HPR control JOG Inching operation Manual pulse generator operation Forced stop Forced stop input to Simple Motion module 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 ...

Page 59: ...en the setting value is rapid 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 Software stroke limit Error code 507 Softw...

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 5 2 4 How to check the function version and SERIAL No 2 7 2 5 Restrictions by the SERIAL No and version 2 8 ...

Page 62: ...rvo motor Servo motor Servo motor Main base unit Expansion cable Expansion system QD77GF CPU module Power supply module CC Link IE Field Network cable USB cable Ethernet cable RS 232 cable Personal computer External input signal cable Manual pulse generator Incremental synchronous encoder 1 Forced stop input 24VDC External command signal Switching signal 4 points REMARK Note 1 Refer to Section 2 3...

Page 63: ...e GX Works2 Version1 Operating Manual Common for details 6 Servo amplifier Prepared by user 7 I O device Prepared by user 8 Manual pulse generator Prepared by user Recommended MR HDP01 Manufactured by Mitsubishi Electric Corporation 9 CC Link IE Field Network cable Note 1 Prepared by user An Ethernet cable is needed for connecting the Simple Motion module with a servo amplifier and an I O device 1...

Page 64: ...t 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 min normal 200r min Pulse signal status 2 signals A phase B phase 90 phase difference Start fric...

Page 65: ...3UDCPU Up to 8 modules Q04UDHCPU Q06UDHCPU Q10UDHCPU Q13UDHCPU Q20UDHCPU Q26UDHCPU Q03UDECPU Q04UDEHCPU Q06UDEHCPU Q10UDEHCPU Q13UDEHCPU Q20UDEHCPU Q26UDEHCPU Q50UDEHCPU Q100UDEHCPU Universal model QnUDV High speed type CPU Q03UDVCPU Q04UDVCPU Q06UDVCPU Q13UDVCPU Q26UDVCPU Note 1 The total mounted number of the QD77GF and the QJ71GF11 T2 set by GX Works2 To mount the QJ71GF11 T2 more than the maxi...

Page 66: ...le Motion module in another CPU other than the control CPU it cannot diagnose from another station using GX Works2 e g PC diagnostics system monitor To diagnose the CPU connect GX Works2 to the control CPU when diagnosing cannot be executed from another station 3 Programming tool The applicable programming tool s versions of the Simple Motion module are shown below For the applicable programming t...

Page 67: ...be checked in the following 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 131210000000000 B SERIAL No QD77GF16 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 68: ...GF Note 2 17102 or later 1 540N or later Section 5 2 7 Linear servo motor control mode Direct drive motor control mode Fully closed loop control mode Connected to MR J4 GF 18022 or later Scheduled to be 1 545T or late 18022 or later Scheduled to be 1 545T or late Appendix 2 Synchronous encoder via servo amplifier Note 3 Improvement of cyclic data integrity assurance function 19072 or later 19072 o...

Page 69: ... 3 2 1 QD77GF control functions 3 4 3 2 2 QD77GF main functions 3 7 3 2 3 QD77GF sub functions 3 9 3 2 4 QD77GF common functions 3 11 3 2 5 Combination of QD77GF main functions and sub functions 3 12 3 3 Specifications of input output signals with PLC CPU 3 14 3 3 1 List of input output signals with PLC CPU 3 14 3 3 2 Details of input signals Simple Motion module PLC CPU 3 15 3 3 3 Details of outp...

Page 70: ...al 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 214748...

Page 71: ...t Max 100000 times Number of occupied I O points points 32 I O assignment Intelligent function module 32 points External dimensions mm inch 98 0 3 86 H 27 4 1 08 W 115 4 53 D Mass kg 0 26 Note 1 The speed position switching control ABS mode can be used only when the control unit is degree For details refer to Section 9 2 17 Note 2 When Speed control 10 x multiplier setting for degree axis function...

Page 72: ...3 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 ope...

Page 73: ...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 74: ...ns External signal selection function Execution data backup function History monitor function External I O signal logic switching function Parameter initialization function Functions characteristic to machine HPR HPR retry function HP shift function Functions that compensate control Backlash compensation function Electronic gear function Near pass function Functions that limit control Speed limit ...

Page 75: ... 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 76: ...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 77: ...If the command speed exceeds Pr 8 Speed limit value during control this function limits the commanded speed to within the Pr 8 Speed limit value setting range 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 Soft...

Page 78: ...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 79: ...mity dog signal External input signal of servo amplifier External input signal via CPU buffer memory of QD77GF 14 4 External I O signal logic switching function This function switches I O signal logic according to externally connected devices This function enables the use of the system that does not use b N C contact signals such as Upper lower limit signal by setting parameters to positive logic ...

Page 80: ...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 Synchronous control Output axis 1 The operation pattern is one of the positioning data setting items 2 The near pass ...

Page 81: ...utput 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 incompletion of HPR function 3 3 3 4 6 6 7 8 10 5 5 5 5 9 12 14 14 Always combine Combinatio...

Page 82: ...LC CPU Signal direction PLC CPU Simple Motion module Device No Signal name Device No Signal name X0 READY Y0 PLC READY X1 Synchronization flag Y1 All axis servo ON X2 Use prohibited Y2 Use prohibited X3 Y3 X4 Y4 X5 Y5 X6 Y6 X7 Y7 X8 Y8 X9 Y9 XA YA XB YB XC YC XD YD XE YE XF Module READY YF X10 Axis 1 BUSY Y10 Axis 1 Positioning start X11 Axis 2 Y11 Axis 2 X12 Axis 3 Y12 Axis 3 X13 Axis 4 Y13 Axis ...

Page 83: ...ess disabled ON Module access enabled After the PLC 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 XF Module READY OFF Mod...

Page 84: ... Da 9 Dwell time JUMP destination positioning data No has passed after positioning stops This signal remains ON during positioning This signal turns OFF when the positioning is stopped with step operation During manual pulse generator operation this signal turns ON while the Cd 21 Manual pulse generator enable flag is ON This signal turns OFF at error completion or positioning stop Important Note ...

Page 85: ...g processes are carried out when this signal turns from 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...

Page 86: ...r 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 2mm2 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 Common cont...

Page 87: ...e output type Open collector type 5VDC 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 5VDC or less High voltage 3 0 to 5 25VDC 2mA or less Low voltage 0 to 1 0VDC 5mA or more Cable length Up to 10m 32 81ft Example of waveform Phase A Phase ...

Page 88: ...nctions 3 4 2 Signal layout for external input connection connector The specifications of the connector section which is the input output interface for the Simple Motion module and external device are shown below QD77GF16 QD77GF8 QD77GF4 ...

Page 89: ...hed in Pr 89 Manual pulse generator Incremental synchronous encoder input type selection Only the value specified against the axis 1 is valid 0 Differential output type 1 Voltage output open collector type Default value 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 s...

Page 90: ...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 91: ...hronous encoder A phase PLS HA A 3 Manual 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...

Page 92: ...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 signal Input or output Signal name Pin No Wiring example Internal circuit Description Output Forced stop input EMI 10 Forced...

Page 93: ...ply 5VDC External power supply 5VDC Wiring example Internal circuit 4 5 17 18 1 14 2 15 Note 1 Set 0 Differential output type in Manual pulse generator Incremental synchronous encoder input type selection if the manual pulse generator Incremental synchronous encoder of differential output type is used The default value is 1 Voltage output open collector type Note 2 Set the signal input form in Man...

Page 94: ...pplied to the manual pulse generator Incremental synchronous encoder If a separate power supply is used use a stabilized power supply of voltage 5VDC Anything else may cause a failure Note 4 Be sure to connect the 0 V of the manual pulse generator incremental synchronous encoder and the SG of the Simple Motion module Pr 24 Pr 89 A Manual pulse generator Incremental synchronous encoder 5V SG B Powe...

Page 95: ...pulse generator incremental synchronous encoder In either case connect the 0V of the manual pulse generator incremental synchronous encoder and the SG of the Simple Motion module Do not use the 5V 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 96: ...A A HB B 5 V SG HA A HB B 5 V 0 V Simple Motion module 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 ...

Page 97: ...3 29 Chapter 3 Specifications and Functions MEMO ...

Page 98: ...the external device connection interface using the servo amplifier MR J4 GF are shown below 1 Example when using the forced stop of the QD77GF CP3 24V 24G 24VDC Power supply Ready ON Operation OFF Emergency Stop EMG Alarm RA1 1 FG LG Power Supply Q61P QnUCPU PLC CPU QD77GF EMI EMI COM Forced stop Output module QY41P Yn COM 12 24VDC Simple Motion module 5 INPUT 100 240VAC 7 Surge suppressor 7 7 SK ...

Page 99: ...nual for selection of the surge suppressor for wiring 8 8 Wire the electromagnetic brake power supply and the control power supply using a separate power supply Note 1 Be sure to shut off the both of main circuit power supply L1 L2 L3 and control power supply L11 L21 after disconnection of CC Link IE Field Network communication at the time of exchange of servo amplifier At this time it is not poss...

Page 100: ...Q61P QnUCPU PLC CPU QD77GF EMI EMI COM Forced stop Output module QY41P Yn COM 12 24VDC Simple Motion module 5 CC Link IE Field Network 3 phase 200 to 230VAC MCCB1 CP1 RA1 CP3 24V 24G 24VDC Power supply Ready ON Operation OFF Emergency Stop EMG Alarm RA1 1 6 Surge suppressor 6 6 SK SK SK EMG MC1 to 3 MC3 MC2 MC1 CP2 24V 24G 24VDC Power supply 7 7 RA2 ...

Page 101: ...Wire the electromagnetic brake power supply and the control power supply using a separate power supply Note 1 Be sure to shut off the both of main circuit power supply L1 L2 L3 and control power supply L11 L21 after disconnection of CC Link IE Field Network communication at the time of exchange of servo amplifier At this time it is not possible to communicate between the servo amplifier and Simple...

Page 102: ...3 34 Chapter 3 Specifications and Functions MEMO ...

Page 103: ...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 6 4 2 Installation 4 8 4 2 1 Precautions for installation 4 8 4 3 Wiring 4 9 4 3 1 Precautions for wiring 4 9 4 4 Confi...

Page 104: ...heck wiring with GX Works2 Start Module mounting Mount the QD77GF to the base unit Wiring Connect external devices to the QD77GF 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 Maintenance End Refer to Section 4 3 Wiring Refer to Secti...

Page 105: ...er to this section 1 2 LED CC Link IE Field connector section Refer to this section 2 3 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 4 CC Link IE Field Network cable connector Connector to connect the servo amplifier 5 Serial number...

Page 106: ...K RD L ERR Data link in operation cyclic transmission in progress ERR LED is flashing AX LED is flashing RUN SD ERR AX D LINK RD L ERR Axis error D LINK LED is flashing RUN SD ERR AX D LINK RD L ERR Data link in operation cyclic transmission stopped ERR LED is ON RUN SD ERR AX D LINK RD L ERR System error CPU stop error error in all stations station number duplication invalid network parameter D L...

Page 107: ...Link IE Field Network connector section L ER LINK LED Display Description L ER LED is ON L ER LINK Receive data error L ER LED is OFF L ER LINK Receive data operates normally LINK LED is ON L ER LINK Linkup in progress LINK LED is OFF L ER LINK Linkdown in progress ON OFF ...

Page 108: ... 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 109: ...wist 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 range Where the ambient humidity exceeds the 5 to 95 RH range Where temperature rapid changes and dew conden...

Page 110: ...ontroller in an environment that meets the general specifications in the manual Safety Guidelines the manual supplied with the main base unit Using the programmable controller in an environment outside the range could result in electric shock fire operation failure and damage to or deterioration of the product Do not directly touch the module s conductive parts and electronic components Doing so m...

Page 111: ...o a CC Link IE Field Network cable connector Otherwise failure may be caused 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 damage to the module or cable The external input output signal cable and the communication cable should not be routed near or bun...

Page 112: ...uld cause mis operation of the unit 3 If a duct is being used separate the cables to connect the Simple Motion module from the power line duct or use metal piping Ground the pipes securely after metal piping 4 Use the twisted pair shielded cable wire size 0 3 mm2 or more The shielded must be grounded on the Simple Motion module side 5 Use separate shielded cables of the forced stop input signal EM...

Page 113: ...OCON The shield must be grounded in the cable connector shell For manual pulse generator incremental synchronous encoder input signal For forced stop input signal External command signal Switching signal Shielded cable 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 a...

Page 114: ...4 12 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 115: ...nch QD77GF 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 7 mm 0 28 inch outside diameter together for grounding Refer to the AD75CK type Cable Clamping Instruction Manual IB 68682 CAUTION Do not ground the ca...

Page 116: ...ion module until it clicks Pay attention to the connector s direction 3 Power on the Simple Motion module and the connected device 4 Check whether the LINK LED of the port connected with CC Link IE Field Network cable is on The time between the power on and the LINK LED turning on may vary The LINK LED usually turns on in a few seconds Note however that the time may be extended further if the link...

Page 117: ...oken cable latch Do not use CC Link IE Field Network cables with broken latches Doing so may cause the cable to unplug or malfunction c Connecting and disconnecting the CC Link IE Field Network cable Hold the connector part when connecting and disconnecting the CC Link IE Field Network cable Pulling a cable connected to the module may damage the module or cable or result in malfunction due to poor...

Page 118: ...panel 6 CC Link IE Field Network cable is fixed with bundle material etc to grand side such as a wall of the control panel Do not wire the cable in the air Q62P PO W ER INPUT 100 240VAC 50 60Hz 105VA OUTPUT 5VDC3A 24VDC0 6A N L INPUT 100 240VAC FG LG L ERR 24VDC 0 5A 24G 24V 5 2 NF Power supply PLC CPU CC Link IE Field Network cable 1 Refer to this chapter or EMC and Low Voltage Directives of QCPU...

Page 119: ...Simple 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 Simp...

Page 120: ...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...

Page 121: ... for positioning parameters 5 5 5 1 3 Setting items for HPR parameters 5 7 5 1 4 Setting items for expansion parameters 5 8 5 1 5 Setting items for servo parameters 5 8 5 1 6 Setting items for positioning data 5 9 5 1 7 Setting items for block start data 5 10 5 1 8 Setting items for condition data 5 11 5 1 9 Types and roles of monitor data 5 12 5 1 10 Types and roles of control data 5 16 5 2 List ...

Page 122: ...machine and applicable motor when the system is started up HPR parameters Expansion parameters Set according to the system configuration 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 Block start data Set the condition data for high level positioning control Cond...

Page 123: ...n the PLC READY signal Y0 is ON the values or contents of the following can be changed basic parameters 2 detailed parameters 2 positioning data and block start data The expansion parameter and 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 MR J4 B use The...

Page 124: ...ontrol data Output signals Axis stop signal JOG start signal and execution prohibition flag from PLC CPU to Simple Motion module Expansion axis 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 synchronous control Synchronous control data Sets the data for mark detection Mark detection control data Co...

Page 125: ...er of pulses 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 va...

Page 126: ...7 Stop group 1 rapid stop selection Pr 38 Stop group 2 rapid stop selection Pr 39 Stop group 3 rapid 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 ...

Page 127: ...n time selection Pr 52 HPR deceleration time selection Pr 53 HP shift amount RJ010 mode S S S S Pr 54 HPR torque limit value RJ010 mode Pr 55 Operation setting for incompletion of HPR Pr 56 Speed designation during HP shift RJ010 mode S S S S Pr 57 Dwell time during HPR retry RJ010 mode R R R Always set Set as required Setting not required If the value is the default value or within the setting ra...

Page 128: ...rs are set for each axis Refer to Section 2 for details on the each control and refer to Section 5 2 List of parameters for details on each setting item Expansion parameter Related sub function Pr 96 Operation cycle setting Pr 113 Servo parameter transmission RJ010 mode Pr 132 Communication mode setting 5 1 5 Setting items for servo parameters The servo parameters are used to control the servo mot...

Page 129: ...ous 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 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 positio...

Page 130: ... absolute ABS system and incremental INC system Checking the positioning data Da 1 to Da 10 Da 20 to Da 22 are checked at the following timings Startup of a positioning operation 5 1 7 Setting items for block start data The block start data must be set when carrying out high level positioning control The setting items for the block start data are shown below Up to 50 points of block start data can...

Page 131: ...g control High level 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 Da 24 Simultaneous starting axis No 1 Da 25 Simu...

Page 132: ...e positioning system is operating The following data are available for monitoring System monitoring Monitoring of the specification and operation history of Simple Motion module system monitor data Md 1 to Md 19 Md 50 Md 54 to Md 59 Md 130 to Md 135 Axis operation monitoring Monitoring of the current position and speed and other data related to the movements of axes axis monitor data Md 20 to Md 4...

Page 133: ... the warning occurred Md 14 Axis in which the warning occurred Axis warning No Md 15 Axis warning No Servo warning Md 58 Servo warning Axis warning occurrence Year month Md 56 Axis warning occurrence Year month Day hour Md 16 Axis warning occurrence Day hour Minute second Md 17 Axis warning occurrence Minute second Pointer No next to the pointer No where the latest history is stored Md 18 Warning ...

Page 134: ... speed control mode in the speed torque control Md 122 Speed during command Monitoring the status of servo amplifier Monitor details Corresponding item Monitor the real current value feed current value deviation counter Md 101 Real current value Monitor the droop pulse Md 102 Deviation counter value Monitor the motor speed of servo motor Md 103 Motor rotation speed Monitor the current value of ser...

Page 135: ... Md 120 Reverse torque limit stored value Monitor the command torque at torque control mode in the speed torque control Md 123 Torque during command 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 special start data when using special start Md 37 Special start data instr...

Page 136: ...setting setting data of Simple Motion module system control data Cd 1 Cd 2 Controlling the operation Setting operation parameters changing speed during operation interrupting or restarting operation etc system control data Cd 41 Cd 42 Cd 44 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 133 Cd 136 Cd 138 to Cd 146 Cd 180 to Cd 183 1 Controlling the system d...

Page 137: ...43 Simultaneous starting axis Set start data No of own axis at multiple axes simultaneous starting Cd 30 Simultaneous starting own axis start data No Set start data No 1 for axes that start up simultaneously Cd 31 Simultaneous starting axis start data No 1 Set start data No 2 for axes that start up simultaneously Cd 32 Simultaneous starting axis start data No 2 Set start data No 3 for axes that st...

Page 138: ...vement amount change register Validate switching signal set in Cd 45 Speed position switching device selection Cd 26 Position speed switching enable flag Change speed for speed control during position speed switching control Cd 25 Position speed switching control speed change register Set up a flag when target position is changed during positioning Cd 29 Target position change request flag Set new...

Page 139: ...e PI PID switching to servo amplifier Cd 136 PI PID switching request Speed torque control Switch the control mode Cd 138 Control mode switching request Set the control mode to switch Cd 139 Control mode setting Set the command speed during speed control mode Cd 140 Command speed at speed control mode Set the acceleration time during speed control mode Cd 141 Acceleration time at speed control mod...

Page 140: ...r 4 Unit magnification AM 1 150 15 2251 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 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 Unit PLS 1 to 200000000 1 to 200000000 20000 2 150n 3 150n Pr 3 Movement amount per...

Page 141: ...ers and data will not be changed automatically After changing the unit check if the parameter and data values are within the allowable range Set degree to exercise speed position switching control ABS mode Pr 2 to Pr 4 Electronic gear Movement amount per pulse Mechanical system value used when the Simple Motion module performs positioning control The settings are made using Pr 2 to Pr 4 The electr...

Page 142: ...agnification AM 2 The result of below calculation round up after decimal point is a minimum pulse when the feed current value is updated at follow up processing The movement amount for droop pulse is reflected as the feed current value when the droop pulse becomes more than above calculated value in pulse unit of motor end Pr 2 Number of pulses per rotation AP Pr 3 Movement amount per rotation AL ...

Page 143: ...e 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 Movement amount per rotation AL PB 1 n Movement amount per rotation AL Unit magnification AM Note The unit magnification AM is a value of 1 10 100 or 1000 If the PB 1 n value exceeds 200000...

Page 144: ...ultiplier 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 2degree 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 Ac...

Page 145: ... 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 HPR speed Pr 47 Creep speed Pr 7 Bias speed at start e If following data...

Page 146: ...r 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 value at JOG o...

Page 147: ...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 1000 1 to 1000 ...

Page 148: ...ignal b5 Not used b6 Proximity 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 QD77GF 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 multiplied by 2 1 2 A phase B p...

Page 149: ...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 150: ... 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 HP Machine movement range Emergency stop limit switch Emergency stop limit switch 1 Generally the HP is set at the lower limit or upper limit o...

Page 151: ... ON 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 the command in position width the command in position flag turns ON 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 Value set with sequence progra...

Page 152: ... is turned ON when a positioning operation completes m1 m2 01 continuous 00 end Positioning complete signal BUSY signal X10 to X1F Positioning M code OFF request Cd 7 Operation pattern Da 1 Valid M code Md 25 1 1 M code ON signal Status b12 Md 31 Status b15 Md 31 1 m1 and m2 indicate set M codes Note If AFTER mode is used with speed control an M code will not be output and the M code ON signal wil...

Page 153: ...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 by...

Page 154: ...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 proximity 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 The current is flowed through the input signal contact a FLS RLS L...

Page 155: ... 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 phas...

Page 156: ...e run Forward run A phase A B phase B Positioning address 2 PLS SIGN Pr 22 Input signal logic selection Positive logic Negative logic Forward run and reverse run are controlled with the ON OFF of the direction sign SIGN The motor will forward run when the direction sign is HIGH The motor will reverse run when the direction sign is LOW Forward run and reverse run are controlled with the ON OFF of t...

Page 157: ... is turned on The error Servo READY signal OFF during operation error code 102 does not occur if the forced input signal is turned on during operation 0 Valid External input signal Forced stop External input signal is used 1 Invalid Forced stop is not used Note1 If the setting is other than 0 and 1 the error Forced stop valid invalid setting error error code 937 occurs Note2 The Md 50 Forced stop ...

Page 158: ...tion 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 deceleration proc...

Page 159: ...ifferential output type 0 1 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 selection 0 Command speed 1 Feedback speed b12 to b15 Condition ...

Page 160: ...JOG speed limit value setting range is 0 001 to 2000000 000 degree min but it will be decupled and become 0 01 to 20000000 00 degree min by setting Pr 83 Speed control 10 x multiplier setting for degree axis to valid 2 The JOG speed limit value setting range is 1 to 2000000000 10 3degree min but it will be decupled and become 1 to 2000000000 10 2degree min by setting Pr 83 Speed control 10 x multi...

Page 161: ...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 162: ...speed Da 8 Pr 36 Rapid 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 rapid stop selection to Pr 39 Stop group 3 rapid stop selection Set the method to stop when the stop causes in the following sto...

Page 163: ...e had terminated the command output For the interpolation control the positioning completed signal of interpolation axis is output only during the time set to the reference axis M QD77GF Y10 to Y1F PLC CPU Positioning start signal Positioning complete signal Positioning Positioning complete signal after dwell time has passed Output time Positioning start signal Start complete signal BUSY signal Po...

Page 164: ...reference 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 addres...

Page 165: ...ternal 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 166: ...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 167: ...stem 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 restart at switching se...

Page 168: ...ulse generator incremental synchronous encoder Only the value specified against the axis 1 is valid 0 Differential output type 1 Voltage output open collector type Note The Manual pulse generator Incremental synchronous encoder input type selection is included in detailed parameters 2 but it will be valid at the rising edge OFF to ON of the PLC READY signal Y0 Refer to Section 3 4 Specifications o...

Page 169: ...ontrol switching RJ0101 mode Set 1 Zero speed ON condition invalid for switching control mode to Condition selection at mode switching b12 to b15 CiA402 mode Set 1 According to the servo amplifier specification to Condition selection at mode switching b12 to b15 When using MR J4 GF set 1 Disabled in ZSP disabled selection at control switching of the servo parameter Function selection C E PC76 Pr 9...

Page 170: ...ting at the proximity dog ON stop at the zero signal and complete the machine HPR 4 Count method 1 RJ010 mode After decelerating at the proximity dog ON move the designated distance and complete the machine HPR with the zero signal 5 Count method 2 RJ010 mode After decelerating at the proximity dog ON move the designated distance and complete the machine HPR 6 Data set method RJ010 mode The positi...

Page 171: ...0 Setting for the movement amount after proximity dog ON has passed the Simple Motion module stops with the first zero signal and the machine HPR is completed Note After the home position return HPR has been started the zero point of the encoder must be passed 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 ...

Page 172: ...ted 5 After deceleration stop it moves in direction of HPR at the speed set in Pr 47 Creep speed and stops at the detected nearest zero signal to complete the machine HPR 5 OFF ON 2 1 4 3 V Proximity dog Zero signal Pr 47 Creep speed Pr 46 HPR speed Pr 44 HPR direction Set the direction to start movement when starting machine HPR 0 Positive direction address increment direction Moves in the direct...

Page 173: ...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 HPR will not be executed RJ010 mode The HPR 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 to 20000000 00 mm min 1 to 20000...

Page 174: ...unit 0 mm 0 01 to 20000000 00 mm min 1 to 2000000000 10 2mm min 1 inch 0 001 to 2000000 000 inch min 1 to 2000000000 10 3inch min 2 degree 0 001 to 2000000 000 degree min 1 1 to 2000000000 10 3degree min 2 3 PLS 1 to 1000000000 PLS s 1 to 1000000000 PLS s 1 The creep speed setting range is 0 001 to 2000000 000 degree min but it will be decupled and become 0 01 to 20000000 00 degree min by setting ...

Page 175: ...ion the axis will decelerate to a stop 4 and then will carry out machine HPR again 5 6 ON Start position Proximity dog signal Limit signal OFF state Zero signal 5 4 6 1 2 3 Operation for HPR retry function 1 Movement in the HPR direction starts with the machine HPR start 2 The axis decelerates when the limit signal OFF is detected 3 After stopping at detection the limit signal OFF the axis moves a...

Page 176: ...eceleration 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 HP shift amount RJ010 mode The setting value range differs depending on the Pr 1 Unit setting 0 84 150n 85 150n Pr 54 HPR torque limit value RJ010 mode 1 to 1000 1 to 1000 300 86 150n Pr 55 Operation setting for incompletion of HPR 0 Pos...

Page 177: ...eration time to 300 ms the minimum value of Pr 50 Setting for the movement amount after proximity dog ON is calculated as follows Deceleration distance 1 2 Vz 1000 t 0 01 Vz Movement amount for 10ms at HPR 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 proximity dog ON should be equal to or larger than 175 Pr 50 Pr 1 s...

Page 178: ... compensate the HP stopped at with machine HPR If there is a physical limit to the HP due to the relation of the proximity dog installation position use this function to compensate the HP to an optimum position HPR direction When HP shift amount is positive Shift point Shift point When HP shift amount is negative Start point Proximity dog signal Zero signal Pr 53 Pr 53 Pr 44 Pr 1 setting value Val...

Page 179: ...o start restart or not when selecting 0 Positioning control is not executed a Start possible Machine HPR JOG operation inching operation manual pulse generator operation and current value changing using current value changing start No 9003 b Start restart impossible control The positioning control is impossible to start restart in the following cases 1 axis linear control 2 3 4 axis linear interpo...

Page 180: ...46 HPR speed or Pr 47 Creep speed 0 Designate Pr 46 HPR speed as the setting value 1 Designate Pr 47 Creep speed as the setting value Pr 57 Dwell time during HPR retry RJ010 mode When HPR 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 P...

Page 181: ... Note 1 Only the value specified against the axis 1 is valid Pr 96 Operation cycle setting Set the operation cycle Only the value specified against the axis 1 is valid RJ010 mode 0 0 88ms 1 1 77ms 2 3 55ms CiA402 mode 1000h 1 00ms 1001h 2 00ms 1002h 4 00ms POINT 1 In this parameter the value set in flash ROM of the Simple Motion module is valid at power supply ON or PLC CPU reset Fetch by PLC READ...

Page 182: ...A system which is not required to change the servo parameter such as when starting up the device Turn OFF ON the power of servo amplifier frequently POINT In this parameter the value set in flash ROM of Simple Motion module is valid at power supply ON or PLC CPU reset Fetch by PLC READY signal OFF to ON is not executed Execute flash ROM writing to change after setting a value to buffer memory Pr 1...

Page 183: ...is executed to the station set in the network parameter of GX Works2 the error Virtual servo amplifier setting error error code 1004 will occur when the PLC READY signal Y0 is turned ON and the READY signal X0 will not be turned ON 2 Servo parameters When MR J4 B is used the servo parameter can be saved in the Simple Motion module and it is possible to transmit the servo parameter to the servo amp...

Page 184: ...Up to 100 positioning data items can be set stored for each axis in the buffer memory address shown on the left No 101 to No 600 are not allocated to buffer memory Set with GX Works2 Data is controlled as positioning data No 1 to 600 for each axis One positioning data item is configured of the items shown in the bold box Configuration of axis to be interpolated No Buffer memory b15 b4 b0 b12 b8 Ax...

Page 185: ...ddress In the buffer memory address n in 6001 1000n 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 6001 1000n Da 10 M code Condition data No Number...

Page 186: ...08h 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...

Page 187: ... according to the Da 2 Control method 0 6002 1000n JUMP destination positioning data No Da 10 M code Condition data No Number of LOOP to LEND repetitions M code 0 6001 1000n Condition data No Number of LOOP to LEND repetitions Axis to be interpolated Da 20 Axis to be interpolated No 1 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...

Page 188: ...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 189: ...e ABS system current value changing The setting value positioning address for the ABS system and current value changing is set with an absolute address address from HP 1000 3000 1000 Stop position positioning start address Movement amount 2000 Movement amount 2000 2 Incremental INC system fixed feed 1 fixed feed 2 fixed feed 3 fixed feed 4 The setting value movement amount for the INC system is se...

Page 190: ...e Set the absolute address which will be the target value after speed control is switched to position control The unit is degree only Speed Position control Movement amount setting INC mode Time Speed position switching Speed control Target address setting ABS mode 4 Position speed switching control Set the amount of movement before the switching from position control to speed control ...

Page 191: ...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 192: ...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 193: ... 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 194: ...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 195: ... 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 contr...

Page 196: ...rried 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 change Note that when starting positioning if the 1 speed is set for the positio...

Page 197: ...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 198: ...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 199: ... 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 to m...

Page 200: ...tems in a single unit of block start data are shown included in a bold frame Each axis has five start blocks block Nos 0 to 4 Start block 2 to 4 are not allocated to buffer memory Set with GX Works2 Note For information on the organization of the buffer memory addresses assigned to the start block 1 refer to Appendix 1 List of buffer memory addresses The following pages explain the block start dat...

Page 201: ...1 Start block 0 Condition 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 to to Maximum control axis No Condition data 1 to 10 7003 Axis 1 Start block 3 Condition data 1 to 10 to to Maxim...

Page 202: ...tinue 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 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 to 0AH Number of repetit...

Page 203: ...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 block...

Page 204: ...tarting axis No 2 Simultaneous starting axis No 3 Condition data No Up to 10 condition data points can be set stored for each block No in the buffer memory addresses shown on the left Items in a single unit of condition data are shown included in a bold frame Each axis has five start blocks block Nos 0 to 4 Start block 2 to 4 are not allocated to buffer memory Set with GX Works2 Note For informati...

Page 205: ...1 Start block 0 Condition 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 to to Maximum control axis No Condition data 1 to 10 7003 Axis 1 Start block 3 Condition data 1 to 10 to to Maxim...

Page 206: ... Parameter 1 Value b0 b15 b16 b31 22105 22104 Example High order Low order Value 0000H 22104 400n 22105 400n Da 19 Parameter 2 Value b0 b15 b16 b31 22107 22106 Example High order Low order Value 0000H 22106 400n 22107 400n Simultaneous starting axis Da 23 Number of simultaneous starting axes 2 2 axes 2H Da 24 Da 26 Da 25 Da 23 b0 b4 b8 b12 b15 0000H 22101 400n 3 3 axes 3H 4 4 axes 4H Da 24 Simulta...

Page 207: ... target Da 15 Condition target Setting value Setting details 01H Device X 02H Device Y 07H DEV ON The state ON OFF of an I O signal is defined as the condition Select ON or OFF as the trigger 08H DEV OFF 03H Buffer memory 1 word 04H Buffer 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 Da 17 Address Set the ...

Page 208: ... No 2 Low order 16 bit Simultaneous starting axis No 1 positioning data No 1 to 600 01H to 258H High order 16 bit Simultaneous starting axis No 2 positioning data No 1 to 600 01H to 258H Da 19 Parameter 2 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 Se...

Page 209: ...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 Axis 5 C Axis...

Page 210: ...e 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 2406 100n Md 23 Axis error No 2406 100 15 3906 5 6 1 System monitor data Storage item Storage details Md 1 In test mode flag Whether the mode is the test mode from the GX Wo...

Page 211: ...trol Reading the monitor value Default value Buffer memory address Monitoring is carried out with a decimal Storage value 0 Not in test mode 1 In test mode Monitor value 0 4000 Unless noted in particular the monitor value is saved as binary data ...

Page 212: ...h cycle At start Monitoring is carried out with a hexadecimal display Simultaneous start JOG operation Machine HPR Manual pulse generator Fast HPR 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 90...

Page 213: ...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 Md 8 Item Each group of buffer memory addresses storing a complete starting history record is assigned a pointer No Example Pointer No 0 Buffer memory addresses 4012 to 4016 4240 Pointer No 1 Buffer memory addresses 4017 to 4021 4241 Pointer No 2 Buffer memory addresses 40...

Page 214: ... 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 215: ... 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 Md 8 Item Each group of buffer memory addresses storing a complete starting history record is assigned a pointer No Example Pointer No 0 Buffer memory addresses 4012 to 4016 4240 Pointer No 1 Buffer memory addresses 4017 to 4021 4241 Pointer No 2 Buffer memory addresses 4022 to 4...

Page 216: ...r 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 11 Axis error occurrence Day hour Stores the time Day hour at which an axis error was detected Refresh cycle Immediate Monitoring is c...

Page 217: ... 31300 1 4097 4098 4257 4099 4100 31301 31302 31303 31304 31305 31306 31307 31308 31309 31310 31311 31312 31313 31314 31315 4157 Md 13 Pointer No 15 Buffer memory addresses 4153 to 4156 4271 31315 Each history record is assigned 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 replac...

Page 218: ...is 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 occurrence Day hour Stores the time Day hour at which an axis warning was detected Refresh cycle Immediate Mo...

Page 219: ...13 14 15 31316 1 31317 31318 31319 31320 31321 31322 31323 31324 31325 31326 31327 31328 31329 31330 31331 Servo warning Md 58 Indicates a pointer No that is next to the pointer No assigned to the latest of the existing warning history records 4222 Md 18 Pointer No 15 Buffer memory addresses 4218 to 4221 4287 31331 Each history record is assigned a pointer No in the range between 0 and 15 If the p...

Page 220: ...lue 0 Forced stop input ON Forced stop 1 Forced stop input OFF Forced stop release Md 59 Module information Stores the module information Refresh cycle At power supply ON Monitoring is carried out with a hexadecimal display Storage value 2 QD77GF 0 0 Monitor value Storage value 0 4 axes 1 8 axes 2 16 axes Md 130 OS version Stores the first five digits of the module product information Refresh cycl...

Page 221: ...5 101 Chapter 5 Data Used for Positioning Control Default value Buffer memory address 0 4224 4225 0 4231 QD77GF4 2000H QD77GF8 2001H QD77GF16 2002H 31332 Factory set product information 4006 4007 0 4011 ...

Page 222: ... operation cycle Refresh cycle Immediate Monitoring is carried out with a decimal 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 oper...

Page 223: ...5 103 Chapter 5 Data Used for Positioning Control Default value Buffer memory address RJ010 mode 0 CiA402 mode 0000H 4238 0 4239 0 4008 0 4009 ...

Page 224: ...alues between 0 and 359 99999 degrees However the feed machine value is restored with cumulating the feed machine value before the power supply OFF the rounded value within the range of 0 to 359 99999 degrees to the movement amount during the power supply OFF at the communication start with servo amplifier after the power supply ON or PLC CPU reset Machine coordinates Characteristic coordinates de...

Page 225: ...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 Feed current value Md 20 Feed machine value Md 21 Feedrate Md 22 3 When Pr 83 Speed control 10 x multiplier setting for degree axis is valid 2 0000H 2400 100n 2401 100n 0000H 2402...

Page 226: ...data relating to the current operation When the PLC READY signal Y0 goes OFF the value is set to 0 Refresh cycle Immediate Md 26 Axis operation status This area stores the axis operation status Refresh cycle Immediate Md 27 Current speed The Da 8 Command speed used by the positioning data currently being executed is stored If Da 8 Command speed is set to 1 this area stores the command speed set by...

Page 227: ...t standby 7 HPR 8 Position control 9 Speed control 10 Speed control in speed position switching control 11 Position control in speed position switching control 12 Position control in position speed switching control 13 Speed control in position speed switching control 15 Synchronous control 20 Servo amplifier has not been connected servo amplifier power OFF 21 Servo OFF 30 Control mode switch 31 S...

Page 228: ...with the speed position switching control is stored When the control method is Reverse run position speed the negative value is stored Refresh cycle Immediate Md 30 External input signal The ON OFF state of the external input signal is stored The following items are stored Lower limit signal Upper limit signal Stop signal External command signal switching signal Proximity dog signal This area stor...

Page 229: ...on table Unit conversion Actual value High order buffer memory Low order buffer memory R 10m Unit conversion table Md 29 Axis feedrate Md 28 Md 28 Speed position switching control positioning movement amount Md 29 When Pr 83 Speed control 10 x multiplier setting for degree axis is valid 2 0000H 2412 100n 2413 100n 0000H 2414 100n 2415 100n Monitoring is carried out with a hexadecimal b15 b0 b4 b8 ...

Page 230: ...n a machine HPR operation 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 processe...

Page 231: ...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 HPR request flag HPR 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 complete 0 ...

Page 232: ...ess 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 spe...

Page 233: ...12 b4 b0 b8 E F G H b31 b28 b20 b16 b24 A B C D Monitor value Low order buffer memory Example 2420 High order buffer memory Example 2421 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 con...

Page 234: ...ion The Cd 22 New torque value forward new torque value is stored When HPR The Pr 17 Torque limit setting value or Cd 101 Torque output setting value is stored But Pr 54 HPR torque limit value is stored after the Pr 47 Creep speed completion RJ010 mode Refresh cycle Immediate Md 36 Special start data instruction code setting value The instruction code used with special start and indicated by the s...

Page 235: ...art 01 Condition start 02 Wait start 03 Simultaneous start 04 FOR loop 05 FOR condition 06 NEXT Storage value Monitor value 0 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 2428 100n Monitoring is carried out with a deci...

Page 236: ...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 237: ... speed change ON 0 2431 100n Monitoring is carried out with a decimal display Monitor value Storage value 0 to 255 0 2432 100n Monitoring is carried out with a hexadecimal display Monitor value Storage value 0 to FFFF 0000H 2433 100n Monitoring is carried out with a decimal display Monitor value Storage value 1 to 50 0 2434 100n Monitoring is carried out with a decimal display Monitor value Storag...

Page 238: ...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 239: ...oning identifier Da 1 to Da 4 2439 100n M code Condition data No Number of LOOP to LEND repetitions Da 10 2440 100n Dwell time JUMP destination positioning data No Da 9 2441 100n Axis to be interpolated Da 20 to Da 22 2442 100n Command speed Da 8 2443 100n 2444 100n Positioning address Da 6 2445 100n 2446 100n Arc address Da 7 2447 100n Monitoring is carried out with a decimal display Storage valu...

Page 240: ...ea stores the current value feed current value deviation counter droop pulses Example mm Buffer memory 0 1 µm Refresh 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 ser...

Page 241: ... m Unit conversion table Unit conversion Actual value High order buffer memory Low order buffer memory R 10m Md 100 Md 101 Unit conversion table Md 102 Md 100 HPR re travel value Md 101 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 2448 100n 2449 100n 0000H 2450 100n 2451 100n 0000H 2452 100n 2453 100n 0000H 245...

Page 242: ...ng 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 CiA402 mode Stores Position control mode when the status of the control mode of the servo amplifier is other than CSV and CST Gain switching Turns ON during the g...

Page 243: ... b8 b4 b0 b0 b3 0 OFF 1 ON Zero point pass Zero speed Stored items Meaning b4 Speed limit b8 PID control 0000H 2476 100n Monitoring is carried out with a hexadecimal display b15 b12 b8 b4 b0 b0 b1 0 OFF 1 ON Stored items Meaning b7 b12 b13 b14 READY ON Servo ON In position Torque limit Servo alarm Servo warning Absolute position lost b15 b3 b2 Control mode b3 b2 0 0 0 1 1 0 Control mode Position c...

Page 244: ...ue is stored as a percentage rated torque being 100 Buffer memory Refresh cycle Operation cycle Md 111 Peak torque ratio The maximum torque is indicated Holding value The peak values for the past 15 seconds are indicated rated torque being 100 Buffer memory Refresh cycle Operation cycle Md 113 Semi Fully closed loop status The switching status of semi closed loop control fully closed loop control ...

Page 245: ... display Monitor value Effective load torque ratio 0 2479 100n Monitoring is carried out with a decimal display Monitor value Peek torque ratio 0 2480 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 2487 100n Monitoring is carried out with a hexadecimal display Monitor value Servo alarm...

Page 246: ...rt JOG operation start manual pulse generator operation The 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 re...

Page 247: ... Buffer memory b9 b12 b13 Remote Operation mode specific b15 b12 b4 b0 b8 b0 b1 b2 b3 b4 b5 b6 b7 Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Switch on disabled Warning 0 OFF 1 ON Stored items Meaning 0000H 2482 100n Monitoring is carried out with a decimal display Monitor value Storage value 1 to 1000 0 2491 100n n Axis No 1 ...

Page 248: ...speed control mode Refresh cycle Operation cycle Speed control mode only Md 123 Torque during command This area stores the command torque during torque control mode Buffer memory 0 1 0 is stored other than during torque control mode Refresh cycle Operation cycle Torque control mode only Md 514 HPR operating status CiA402 mode This area stores the HPR operating status Refresh cycle Operation cycle ...

Page 249: ...ltiplier setting for degree axis is valid 2 0 2492 100n 2493 100n 0 2494 100n Monitoring is carried out with a hexadecimal display Monitor value Storage value FFFFH 0001H 0002H 0003H Status The servo amplifier is not set to the home position return mode Homing procedure is in progress Homing procedure is interrupted or not started Homing is attained but target is not reached Homing procedure is co...

Page 250: ...ycle 103 ms RJ010 mode 116 ms CiA402 mode 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 ROM is completed 3 The number of writes to the flash ROM with the seque...

Page 251: ...e Motion module resets the value to 0 automatically when the write access completes This indicates the completion of write operation 1 0 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 parameter initialization 1...

Page 252: ...celeration 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 Cd 44 External input signal operation device Axis 1 to 16 Operate the stop signal input status of QD77GF when 1 is set in Pr 80 External input signal selection Operate the external input signal s...

Page 253: ...ult value 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5931 b1 b2 b3 b4 b5 b9 b10 b12 b13 b14 b11 b8 b7 b6 b0 b15 b1 b2 b3 b4 b5 b9 b10 b12 b13 b14 b11 b8 b7 b6 b0 b15 Axis 9 Upper limit signal FLS Axis 9 Lower limit signal RLS Axis 9 Proximity dog signal DOG Axis 9 STOP signal STOP Axis 10 Upper limit signal FLS Axis 10 Lower limit signal RLS Axis 10 Proximity dog signal DOG Ax...

Page 254: ...imple 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 Set 0 in Cd 5 and then set...

Page 255: ...he Simple Motion module resets the value to 0 automatically when the continuous operation is interrupted 1 to 50 0 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 4302 100n Set with a decimal K 1 Restart com...

Page 256: ... 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 257: ...lue External command valid 0 Invalidates an external command 1 Validates an external command K 0 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 4306 100n 4307 100n Set with a decimal Cd 10 New acceleration time value Cd 11 New deceleration time value Setting ...

Page 258: ...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 259: ...cimal 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 4314 100n 4315 100n Set with a decimal Setting ...

Page 260: ...et 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 2degree min Fetch cycle At st...

Page 261: ...eed 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 4318 100n 4319 100n Set with a decimal Setting value Interruption request continuous operation 1 Interrupts continuous oper...

Page 262: ...abled Cd 21 Manual 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 ...

Page 263: ... OFF This indicates the completion of HPR request flag OFF request 1 0 4321 100n Set with a decimal K Manual pulse generator 1 pulse input magnification 1 to 10000 Setting value 1 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 4324 100n Set with a decimal K 0 to Pr 17 T...

Page 264: ...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 265: ...ed 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 4328 100n Set with a decimal 10m Actual value mm min inch min degree min m 2 3 3 0 PLS s Unit R Setting value Decimal C...

Page 266: ...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 267: ... min degree 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...

Page 268: ...starting the axis setting is not required Setting value is ignored Fetch cycle At start Cd 33 Simultaneous starting axis start data No 3 Use these data items to specify a start data No 3 for each axis that has to start simultaneously Note For 2 axis simultaneous starting and 3 axis simultaneous starting the axis setting is not required Setting value is ignored Fetch cycle At start Cd 34 Step mode ...

Page 269: ...42 100n 0 4343 100n Set with a decimal Setting value Step mode 0 Stepping by deceleration units 1 Stepping by data No units K 0 4344 100n Set with a decimal Setting value Step valid flag 0 Invalidates step operations 1 Validates step operations K 0 4345 100n Set with a decimal Setting value Step start information 1 Continues step operation K The Simple Motion module resets the value to 0 automatic...

Page 270: ...tch 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 done The value is cleared to 0 when the Simple Motion module is initialized when a teaching operation completes and when an illegal value 601 or higher is entered Fetch cycle 103 ms RJ010 mode 116 ms CiA402 mode Cd 40...

Page 271: ...decelerate stop and then start the next positioning operation 0 4347 100n Set with a decimal Setting value Teaching data selection K 0 Takes the feed current value as a positioning address 1 Takes the feed current value as an arc data 0 4348 100n Set with a decimal Setting value K Teaching positioning data No 1 to 600 0 4349 100n Set with a decimal Setting value ABS direction in degrees K 0 Takes ...

Page 272: ...arting 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 Speed position switching device selection Select the device used for speed position switching Note If the setting is outside the range at start operation is performed with the setting regarded as 0 Fetch cycle At positio...

Page 273: ...sition 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 proximity dog signal for switching from position control to speed control 2 Use Speed position switching command for switching from position control to speed control Cd 46 Cd 46 0 4366 100n Se...

Page 274: ...gain switching with the setting regard as 0 Refer to each servo amplifier instruction manual Cd 112 Torque change function switching request Sets same setting individual setting of the forward torque limit value or reverse torque limit value in the torque change function Fetch cycle Operation cycle POINT Set 0 normally when the forward torque limit value and reverse torque limit value are not divi...

Page 275: ...g command ON K 0 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 individual setting K 0 4363 100n Set with a decimal K New reverse torque value 0 to Pr 17 Torque limit setting value Setting value 0 4364 100n Set with a decimal Setting value K Semi Fully closed loop switching r...

Page 276: ...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 277: ...et with a decimal Setting value K Control mode setting 0 Position control mode 10 Speed control mode 20 Torque control mode 0 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 control 10 x multiplier setting for degree...

Page 278: ...ase 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 tor...

Page 279: ...e K Torque time constant at torque control mode Forward direction ms 0 to 65535 1000 4381 100n Set with a decimal Setting value K Torque time constant at torque control mode Negative direction ms 0 to 65535 1000 4382 100n Set with a decimal 10m Actual value Conversion into an integer value m 2 mm min 3 inch min degree min 0 PLS s Unit R Setting value 3 Cd 146 Speed limit value at torque control mo...

Page 280: ...xis turns ON all axes in the interpolation control will decelerate and stop Fetch cycle Operation cycle Cd 181 Forward run JOG start 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 an...

Page 281: ...ested 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 282: ...5 162 Chapter 5 Data Used for Positioning Control MEMO ...

Page 283: ...r 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 used 6 5...

Page 284: ...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 285: ...ntelligent 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 module When using the FROM TO command for communication with the Simple Motion module change the circuit incorporating the intelligent functi...

Page 286: ...ARISON command RST M0 M0 FROMP D102 M0 K4321 H0 K1 RST M0 G4321 K0 D102 K0 0 0 Data read out U0 HPR requ est OFF command HPR requ est OFF command HPR requ est OFF command HPR requ est OFF command Dwell ti me d When the circuit uses the intelligent function device for a WAND command change the command to a FROM command and a WAND command H8 D0 M2 FROMP D101 M2 K4317 H0 K1 0 0 G4317 WANDP U0 H8 D0 D...

Page 287: ... system used 1 Inputs outputs external inputs external outputs and internal relays of QD77GF16 Device name Device Application Details when ON Inputs outputs of QD77GF16 Input X0 READY signal QD77GF preparation completed X1 Synchronization flag QD77GF buffer memory accessible 2417 100n b12 M code ON signal M code outputting 2417 100n b13 Error detection signal Error detected Axis 1 X10 BUSY signal ...

Page 288: ...is stop signal Requesting stop 30101 10n Forward run JOG start signal Starting forward run JOG 30102 10n Reverse run JOG start signal Starting reverse run JOG Axis 1 Y10 Positioning start signal Requesting start Axis 2 Y11 Axis 3 Y12 Axis 4 Y13 Axis 5 Y14 Axis 6 Y15 Axis 7 Y16 Axis 8 Y17 Axis 9 Y18 Axis 10 Y19 Axis 11 Y1A Axis 12 Y1B Axis 13 Y1C Axis 14 Y1D Axis 15 Y1E Axis 16 Y1F 30103 10n Execut...

Page 289: ...itioning control start X2C M code OFF command Commanding M code OFF X2D JOG operation speed setting command Commanding JOG operation speed setting X2E Forward run JOG inching command Commanding forward run JOG inching operation X2F Reverse run JOG inching command Commanding reverse run JOG inching operation X30 Manual pulse generator operation enable command Commanding manual pulse generator opera...

Page 290: ...tion speed switching prohibit command Position speed switching prohibit command X43 Speed change command Speed change command X44 Inching movement amount setting command Inching movement amount setting command X45 Target position change command Target position change command X46 Step start information command Step start information command X47 Positioning start command k10 Positioning start comman...

Page 291: ...esting 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 hel...

Page 292: ...1 Manual pulse generator enable flag D11 Speed change value low order 16 bits Cd 14 New speed value D12 Speed change value high order 16 bits D13 Speed change request Cd 15 Speed change request D14 Override value Cd 13 Positioning operation speed override D15 Acceleration time setting low order 16 bits Cd 10 New acceleration time value D16 Acceleration time setting high order 16 bits D17 Decelerat...

Page 293: ... start No D71 Point 4 shape start No D72 Point 5 shape start No D73 Point 1 special start instruction 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 D100 Positioning identifier Data No 1 Da 1 Operation pattern Da 2 Control method Da 3 A...

Page 294: ... time No 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 address high order 16...

Page 295: ...time No 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 address high order 16 ...

Page 296: ...er 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 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 co...

Page 297: ...t U0 G4317 Inching movement amount Cd 16 Inching movement amount U0 G4320 Interrupt request during continuous operation Cd 18 Interrupt request during continuous operation U0 G4321 HPR request flag OFF request Cd 19 HPR request flag OFF request U0 G4324 Manual pulse generator enable flag Cd 21 Manual pulse generator enable flag U0 G4326 Speed position switching control movement amount Cd 23 Speed ...

Page 298: ...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 299: ...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 300: ...ed No 28 Error reset program Yes Absolute system No Continued on next page Carried out HPR 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 HPR is Initialization program Required Required No Yes Continued from previous page ...

Page 301: ... 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 HPR control Major positioning control High level positioning control Expansion...

Page 302: ...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 303: ...ng program 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 HPR 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 ...

Page 304: ...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 Feed current value of the speed K30 K1 K1 TOP H0 Speed position function selectio K34 K2 K1 TOP H0 JOG...

Page 305: ... 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 139 Positioning address DMOVP K 1...

Page 306: ...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 307: ... 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 245 K6010 Position ing iden tifier Positioning address DMOVP K9000000 D116 For Unit d...

Page 308: ...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 identifie D130 D131 SM402 ON for 1 scan onl y after RUN 298 K6020 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 309: ...H0 TOP K6030 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 310: ...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 311: ...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 404 D...

Page 312: ...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 457 K6050 Position ing iden tifier Positioning address DMOVP K18000000 D156 For Unit degr...

Page 313: ...ntrol 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 510 K6090 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 C...

Page 314: ...H0 TOP K6100 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 315: ...Setting of command speed D244 Command speed Setting of dwell time MOVP K300 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 316: ...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 317: ...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 K22050 Special start instruction to normal start Setting block start data to QD77 TOP H0 K5 D68 Point 1 K22000 Setting block start data to QD77 632 ...

Page 318: ...lse Position ing star t signal Start co mplete s ignal M1 654 Y10 HPR request OFF command hold HPR request OFF command ON HPR requ est OFF command storage SET M2 HPR request flag OFF command OFF HPR requ est OFF command SET M0 WANDP D0 H8 HPR requ est flag Status U0 G2417 HPR requ est flag D0 K0 HPR request OFF write HPR requ est flag OFF U0 G4321 K0 HPR requ est OFF command RST M0 HPR request fla...

Page 319: ... WANDP D0 H8 X23 712 MOVP K9001 D32 No 9 Positioning start No setting program 1 Machine HPR 2 Fast HPR X4F 705 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 683 MOVP K1 U0 G4305 No 6 External command function valid setting flag Y0 External command valid External command valid All axis servo O N sig...

Page 320: ... No Setting of positioning data No 1 K0 HPR requ est flag D32 Fast HPR 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 757 Speed po sition s witching disable X29 763 Movement amount changing command X27 X28 Speed po sition s witching disable Speed po sition s witching enable Speed ...

Page 321: ...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 G4330 New speed writing Position speed s witching control Speed low orde r 16 bit s MOVP K0 U0 G4332 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 322: ...apter 6 Sequence Program Used for Positioning Control X26 Speed po sition s witching operati X40 Position speed s witching operati X2A High lev el posit ioning c ontrol c M6 Position ing star t comman d storag ...

Page 323: ...10 Position ing star t comman d pulse Position ing star t comman d storag MOVP D32 U0 G4300 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 DX10 M9 Manual p ulse gen erater o peration Fast HPR command Fast HPR command Fast HPR command hold U0 G2417 E U0 ...

Page 324: ... amou MOVP D5 U0 G4317 U0 G2417 C 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 speed TOP D5 K3 Inching movement amount Inching movement amount Inching movement amount write Inching movement amount Inching movement amount In JOG i nching o per...

Page 325: ... o peration flag Manual pulse generator operation Manual pulse generator 1 pulse i Manual pulse generator operation Manual pulse generator data writ 902 RST M7 X2E 911 M7 X30 923 PLS M8 M8 929 X0 X10 DMOVP K1 D8 MOVP K1 D10 No 13 Manual pulse generator operation program TOP H0 K3 D8 K4322 In JOG i nching o peration flag Reverse run JOG inching command SET M7 X2F 894 X0 X0 Forward run JOG start si ...

Page 326: ...tion 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 954 X32 Speed change command pulse Speed ch ange com mand PLS M11 Speed ch ange ena ble puls e Speed ch ange ena ble puls e BUSY sig nal Axi s 1 SET M12 Speed ch ange com mand st...

Page 327: ...ogram Speed ch ange com mand sto rage Speed change request storage OFF RST M12 D11 K3 TOP H0 K4314 Speed ch ange req uest K0 U0 G4316 Override command Override command Override value D14 999 X48 M40 1002 X10 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 G4313 Override Override initial izatio...

Page 328: ...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 DMOV K1 Accelera tion dec eleratio n time c D19 Accel decel time or change ena K4308 D15 Accel t ime sett ing low order K5 TOP H0 X35 1033 X34 Accel d ecel ti me chang e disabl Accel decel time change disabl Accel d ecel ...

Page 329: ...p 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 18 Step operation program U0 G4325 Torque c hange va lue M16 1061 Y10 MOVP K1 D20 MOVP K1 D21 MOVP K1 D22 Step mod e DMO...

Page 330: ...tioning start No Position ing star t comman d k10 MOVP K10 D32 Start No 1087 X38 Skip operation pulse Skip com mand PLS M17 Skip com mand pul se M17 1090 X10 BUSY sig nal Axi s 1 Skip command ON storage Skip com mand pul se SET M18 Skip com mand sto rage U0 G4347 K0 Cd 37 Sk ip comma nd U0 G4347 1103 X39 Teaching command pulse Teaching command PLS M19 Teaching command pulse M19 1110 X10 BUSY sig n...

Page 331: ... w Continuo us opera tion int errupt c MOVP K1 U0 G4320 Continuo us opera tion int errupt r No 21 Continuous operation interrupt program No 21 Continuous operation interrupt program No 22 Target position change program 1150 X45 Target position change command p Target p osition change c ommand PLS M30 Target p osition change c ommand p M30 1156 X10 BUSY sig nal Axi s 1 Target position change comman...

Page 332: ...g 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 A xis 1 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 DMOVP K0 D25 MOVP K1 D27 TOP H0 K5 D23 ...

Page 333: ... lization command PLC READ Y signal Parameter initialization command Parameter initialization command PLC READY output to QD77 standby 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 storage PLC READ Y signal PLC READY output to QD77 standby M24 1218 X10 X3C 1212 T0 1227 M25 1221 Y0 T0 PLS M2...

Page 334: ... command storage Flash ROM write command storage RST M27 PLC READ Y signal OFF con firmatio T1 1252 Error re set Error reset clear execution MOVP K0 Error co de MOVP D79 Error re set MOVP K1 Axis er ror No Axis 1 U0 G2406 U0 G4302 Error re set clea r comman d X4C 1283 U0 G4302 1306 END BUSY sig nal Axi s 1 X10 When servo amplifier alarms cannot be reset even if error reset is requested 0 is not st...

Page 335: ...ime chart for HPR OFF request OFF ON OFF 0 1 0 ON OFF PLC READY signal Y0 READY signal X0 HPR request OFF flag Md 31 Status b3 Cd 19 HPR request flag OFF request Fig 6 1 Time chart for HPR 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 p...

Page 336: ...is No 1 Refer to Section 5 7 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 Cd 4 Positioning starting point No 1 to 50 Point No of block start data 4301 100n n Axis No 1 Refer to Section 5 ...

Page 337: ...ing item Setting value Setting details Buffer memory address Cd 25 Position speed switching control speed change register Used to set a new value when speed is changed during positioning control 4330 100n 4331 100n Cd 26 Position speed switching enable flag 1 To validate position speed switching signal this is set to 1 4332 100n n Axis No 1 Refer to Section 5 7 List of control data for details on ...

Page 338: ...ata No 1 3 Note When starting positioning with the scan after the completion of positioning insert the start complete signal Md 31 Status b14 as an interlock so that positioning is started after Y10 is turned OFF and the start complete signal Md 31 Status b14 is turned OFF Simple Motion module 1 Set the positioning start No in Cd 3 Positioning start No according to the control to be started In the...

Page 339: ...tion completed X0 All axis servo ON ON All axis servo ON Y1 Synchronization flag ON QD77GF buffer memory Accessible X1 Axis stop signal OFF Axis stop signal is OFF Cd 180 Axis stop M code ON signal OFF M code ON signal is OFF Md 31 Status b12 Error detection signal OFF There is no error Md 31 Status b13 BUSY signal OFF BUSY signal is OFF X10 to X1F Start complete signal OFF Start complete signal i...

Page 340: ... b below a When next positioning is not to be carried out If a dwell time is set the system will wait for the set time to pass and then positioning will be completed When 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 po...

Page 341: ...am Starting time chart The time chart for starting each control is shown below 1 Time chart for starting machine HPR READY signal Start complete signal BUSY signal Error detection signal OFF OFF ON ON ON ON OFF OFF OFF 9001 ON ON OFF OFF Proximity dog V t HPR request flag Md 31 Status b3 Cd 3 Positioning start No Positioning start signal Y10 PLC READY signal Y0 X0 Md 31 Status b14 X10 HPR complete...

Page 342: ...FF OFF 9002 V t ON OFF PLC READY signal READY signal Start complete signal BUSY signal Error detection signal Cd 3 Positioning start No Y10 Y0 X0 Md 31 Status b14 X10 OFF ON All axis servo ON Y1 Standby Axis operation status Md 26 Servo OFF Md 31 Status b13 Positioning start signal Fig 6 5 Time chart for starting fast HPR ...

Page 343: ...attern 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 All axis servo ON Y1 Standby Servo OFF Md 26 Axis operation status Md 31 Status b14 Md 31 Status b15 Md 31 Status b13 Fig 6 6 Time chart for starting major positioning control ...

Page 344: ...t 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 All axis servo ON Y1 Standby Servo OFF Md 26 Axis operation status Md 31 Status b14 Md 31 Status b15 Md 31 Status b13 Fig 6 7 Time chart for starting speed...

Page 345: ... 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 Stop command Position speed switching signal All axis servo ON Y1 Standby Servo OFF Md 26 Axis operation status Md 31 Status b14 Md 31 Status b15 Md 31 Status b13 Fig 6 8 Time chart for starting posi...

Page 346: ...ig 6 9 Machine HPR operation timing and process time Normal timing time Unit ms Pr 132 Communication mode setting Operation cycle t1 t2 t3 t4 MR J4 B RJ010 communication mode 0 88 0 7 to 1 6 7 1 to 10 3 0 to 0 9 0 to 0 9 1 77 1 1 to 2 5 7 1 to 10 3 0 to 1 8 0 to 1 8 3 55 1 1 to 4 2 9 0 to 14 0 0 to 3 6 0 to 3 6 Communication mode correspond to CiA402 1 00 1 0 to 1 7 7 1 to 10 5 0 to 1 0 2 00 1 1 t...

Page 347: ...ete signal or HPR complete flag are already ON the positioning complete signal or HPR complete flag will turn OFF when the positioning start signal turns ON Normal timing time Unit ms Pr 132 Communication mode setting Operation cycle t1 t2 t3 t4 t5 t6 MR J4 B RJ010 communication mode 0 88 0 8 to 1 5 0 to 0 9 0 to 0 9 2 5 to 3 2 0 to 0 9 Follows parameters 1 77 1 1 to 2 5 0 to 1 8 0 to 1 8 5 6 to 6...

Page 348: ...d to be set and then turn ON the external command signal Restrictions When starting by inputting the external command signal the start complete signal will not turn ON Data required to be set To execute positioning start with the external command signal set parameter Pr 42 beforehand and validate the external command signal with the external command signal validity setting program program No 5 Set...

Page 349: ...l 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 Standby Servo OFF Md 26 Axis operation status X10 Md 31 Status b14 Md 31 Status b15 Md 31 Status b13 Fig 6 11 Time chart for starting with external start signal...

Page 350: ...Interrupt request during continuous operation 1 Operation during continuous operation interruption For Stop command ON 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 comma...

Page 351: ...ed until the positioning 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 reque...

Page 352: ... 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 restart i...

Page 353: ...The following conditions must be satisfied when restarting Assemble the required conditions into the sequence program as an interlock 1 Operation state Md 26 Axis operation status is 1 Stopped 2 Signal state Signal name Signal state Device Interface signal PLC READY signal ON PLC CPU preparation completed Y0 READY signal ON QD77GF preparation completed X0 All axis servo ON ON All axis servo ON Y1 ...

Page 354: ...sitioning start signal Cd 180 Axis stop READY signal Start complete signal BUSY signal Error detection signal Cd 6 Restart command Positioning complete signal PLC READY signal Md 26 Axis operation status Y10 Y0 X0 X10 All axis servo ON Y1 Md 31 Status b14 Md 31 Status b15 Md 31 Status b13 Fig 6 14 Time chart for restarting ...

Page 355: ...Machine HPR control Fast HPR control JOG Inching operation Manual pulse generator operation Forced stop Forced stop input to Simple Motion module 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 No change Servo amplifier has not been connected Servo alar...

Page 356: ...elerate The Simple Motion module immediately stops the command For the stop method of the servo amplifier refer to each servo amplifier instruction manual 2 Rapid stop 1 Deceleration stop 3 Immediate stop Actual deceleration time Set deceleration time Positioning speed Actual rapid stop deceleration time Pr 36 Rapid stop deceleration time Positioning speed Positioning speed Stop Stop cause Pr 8 Sp...

Page 357: ...ion curve is continued after stop cause occurrence For details refer to Section 13 7 9 Stop command processing for deceleration stop function Note 1 The stop process when using the driver HPR method follows the specification of the servo amplifier CiA402 mode 2 If the stop signal designated for rapid stop turns ON or a stop cause occurs during deceleration the rapid stop process will start from th...

Page 358: ...HPR the operation will stop at that deceleration speed If input at the creep speed the operation will stop immediately The stop process when using the driver HPR method follows the specification of the servo amplifier CiA402 mode 3 If a stop cause designated for rapid stop occurs during deceleration the rapid stop process will start from that point The rapid stop process during deceleration is car...

Page 359: ...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 QD77GF memory 7 2 7 1 1 Configuration and roles of QD77GF...

Page 360: ...004 Servo amplifier setting Pr 101 Servo amplifier parameter MR J4 B use QD77GF Buffer memory Area that can be directly accessed with sequence program with PLC CPU Not possible Internal memory Area that can be set only with GX Works2 2 Not possible Area that can be set only using buffer memory Not possible Flash ROM Area for backing up data required for positioning 1 Possible Internal memory nonvo...

Page 361: ...tioning 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 operation status of synchronous control is stored CC Link IE Field Network area Note 2 Area where data ...

Page 362: ...trol data area Block start data area No 7000 to 7004 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 Pr 90 Pr 95 Pr 801 Pr 805 to Pr 807 Parameter area b Parameters validated when the TO command is executed from the CPU modul...

Page 363: ...0n Mark detection monitor data 54960 80k to 55039 80k Control data area System control data 5900 to 5999 Possible Axis control data 4300 100n to 4399 100n 30100 10n to 30109 10n Mark detection control data 54640 10k to 54649 10k Positioning data area No 1 to 100 Positioning data 6000 1000n to 6999 1000n Positioning data area No 101 to 600 Set with GX Works2 Block start data area No 7000 Block star...

Page 364: ...Not possible CC Link IE Field Network area Link device RX 59392 to 59903 Possible Link device RY 59904 to 60415 Not possible Link device RWw 60416 to 61439 Possible Link device RWr 61440 to 62463 Not possible Link device SB 62464 to 62495 Possible Not possible Link device SW 62496 to 63007 Possible Not possible System 63008 to 63151 Not possible Slave station offset size information 63152 to 63983...

Page 365: ...al 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 upon execution of the TO command 3 PLC READY signal Y0 OFF ON Valid Parameter area c CC Link IE Field Network area Servo parameter area MR J4 B use 1 Power supply ...

Page 366: ...ta No 7002 to 7004 can be set with only GX Works2 3 Refer to Section 7 1 1 Configuration and roles of QD77GF memory for details of the area 3 Validate parameters when PLC READY signal Y0 changes from OFF to ON When the PLC READY signal Y0 changes from OFF to ON the data stored in the buffer memory s parameter area a 4 is validated 4 Refer to Section 7 1 1 Configuration and roles of QD77GF memory f...

Page 367: ...ier 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 QD77GF Parameter area c 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 Internal memory nonvolatile CC Link IE Field N...

Page 368: ...r 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 the flash ROM internal memory nonvolatile will be lost 2 Do not ...

Page 369: ... 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 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 Internal memory nonvolatile CC Link IE Field Network area Servo parameter area MR J4 B use ...

Page 370: ...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 QD77GF from the GX Works2 1 The parameters positioning data No 1 to 600 block start data No 7000 to 7004 and servo ...

Page 371: ...ning data area No 1 to 600 Block start data area No 7000 to 7004 Monitor data area Control data area Servo parameter area QD77GF Parameter area b 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 Internal memory nonvolatile CC Link IE Field Network area Servo parameter area MR J4 B use ...

Page 372: ...wing condition is realized together 1 The power of Simple Motion module and servo amplifier is turned ON 2 When the station number of servo amplifier is set by the network parameter in GX Works2 and 0 Use for the actual servo amplifier is set in Pr 101 Virtual servo amplifier setting inside the buffer memory area of Simple Motion module Servo parameter of the internal memory The followings show de...

Page 373: ...d started before the system s power supply ON 2 When the servo amplifier s power supply is turned ON after the PLC READY signal Y0 is turned OFF to ON Fig 7 2 B Communication start timing to the servo amplifier When the servo amplifier had started Fig 7 2 A Transfer the servo parameter The data stored backed up in the internal memory nonvolatile PLC CPU RUN Initialization completion of QD77GF Inte...

Page 374: ...7 16 Chapter 7 Memory Configuration and Data Process MEMO ...

Page 375: ... 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 HPR Control 8 1 to 8 24 Chapter 9 Major Positioning Control 9 1 to 9 128 Chapter 10 High Level Positioning Control 10 1 to 10 26 Chapter 11 Man...

Page 376: ...MEMO ...

Page 377: ... on HPR using the GX Works2 8 1 Outline of HPR control 8 2 8 1 1 Two types of HPR control 8 2 8 2 Machine HPR 8 5 8 2 1 Outline of the machine HPR operation 8 5 8 2 2 Machine HPR method 8 7 8 2 3 HPR method 1 Proximity dog method RJ010 mode 8 8 8 2 4 HPR method 2 Count method 1 RJ010 mode 8 10 8 2 5 HPR method 3 Count method 2 RJ010 mode 8 12 8 2 6 HPR method 4 Data set method RJ010 mode 8 14 8 2 ...

Page 378: ...positioning control HP Machine HPR positioning start No 9001 2 Carry out positioning toward the HP Fast HPR positioning start No 9002 The machine HPR above must always be carried out before executing the fast HPR CAUTION When using the absolute position system function on starting up and when the controller or absolute position motor has been replaced always perform an HPR In the case of the absol...

Page 379: ...R The address information stored in the Simple Motion module cannot be guaranteed while the HPR request flag is ON The HPR request flag turns OFF and the HPR complete flag Md 31 Status b4 turns ON if the machine HPR is executed and is completed normally Wiring the proximity dog When using the proximity dog signal wire the signal contact that supports the proximity dog of the equipment to be used a...

Page 380: ...less of the status of the proximity dog or the workpiece position Depending on the specification of HPR executed in the servo amplifier it may be required to return the workpiece to the forward position of the proximity dog according to the position relation between the proximity dog and the workpiece Also if you try to move a workpiece to the forward position of the proximity dog JOG operation ca...

Page 381: ...n starting a machine HPR When Pr 43 HPR method is set to other than driver HPR method RJ010 mode 1 The machine HPR is started 2 The operation starts according to the speed and direction set in the HPR parameters Pr 43 to Pr 57 3 The HP is established by the method set in Pr 43 HPR method and the machine stops Refer to Sections 8 2 2 to 8 2 7 4 If a is set as Pr 45 HP address a will be stored as th...

Page 382: ...amplifier 4 The HP is established and the machine stops Refer to Section 8 2 8 5 If a is set as Pr 45 HP address a will be stored as the current position in the Md 20 Feed current value and Md 21 Feed machine value which are monitoring the position 6 The machine HPR is completed POINT The method for establishing an HP by a driver HPR method differs according to the setting of the servo amplifier F...

Page 383: ...proximity dog OFF ON position and stops at that position The machine HPR is then regarded as completed Data set method RJ010 mode The position where the machine HPR has been performed becomes an HP The feed current value and feed machine value are overwritten to the HP address Scale origin signal detection method RJ010 mode The machine moves in the opposite direction against of Pr 44 HPR direction...

Page 384: ...OFF to ON and the HPR request flag Md 31 Status b3 turns from ON to OFF 1 HPR request flag t Machine HPR start Positioning start signal ON OFF HPR speed Deceleration at the proximity dog ON Creep speed ON OFF OFF ON HPR Standby Axis operation status Inconsistent 0 Movement amount after proximity dog ON Value of the machine moved is stored HP address Feed current value Feed machine value V Zero sig...

Page 385: ...sed 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 HPR without passing the zero point The workpiece will continue decelerating and stop if the proximity dog is turned OFF before it has decelerated to the creep speed thus causing the error Dog det...

Page 386: ...us b3 turns from ON to OFF Machine HPR start Positioning start signal t ON OFF ON OFF OFF ON 0 V ON Pr 47 Creep speed Pr 46 HPR speed Pr 50 Setting for the movement amount after proximity dog ON Md 34 Movement amount after proximity dog ON Zero signal Proximity dog OFF Leave sufficient distance from the zero point position to the proximity dog OFF Standby HPR Md 26 Axis operation status Inconsiste...

Page 387: ...irection 5 The machine HPR 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 proximity dog ON on detection of the proximity dog signal ON Fig 8 6 Count method 1 machine HPR on the proximity dog ON position 4 Turn OFF the proximity dog at a sufficient distance from the HP Although there is no harm in operati...

Page 388: ...he Pr 47 Creep speed and subsequently moves at that speed 4 The command from the Simple Motion module will stop and the machine HPR will be completed when the machine moves the movement amount set in Pr 50 Setting for the movement amount after proximity dog ON from the proximity dog ON position Md 21 Feed machine value t V ON OFF ON OFF ON ON OFF 0 OFF Pr 46 HPR speed Pr 47 Creep speed Pr 50 Setti...

Page 389: ...ration when an HPR is started at the proximity dog ON position 1 A machine HPR is started 2 The machine moves at the HPR speed in the opposite direction of an HPR 3 Deceleration processing is carried out when the proximity dog OFF is detected 4 After the machine stops a machine HPR is carried out in the HPR direction 5 The machine HPR is completed after moving the movement amount set in the Pr 50 ...

Page 390: ... even once the error HPR zero point not passed error code 210 will occur When the error HPR zero 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 HPR again However if selecting 1 Not need to pass servo motor Z phase after power on with Function selection C 4 PC17 it...

Page 391: ...e acceleration is completed 2 The machine begins decelerating when the proximity dog ON is detected 3 After deceleration stop the machine moves in the opposite direction against of HPR at the Pr 46 HPR 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 HPR at the Pr 47 Creep speed and then sto...

Page 392: ... is in the proximity dog ON position deceleration stop 2 is started at the zero signal without waiting for the proximity dog OFF Fig 8 11 Operation when a machine HPR is started from the proximity dog ON position 3 When the stop signal stops the machine HPR carry out the machine HPR again When restart command is turned ON after the stop signal stops the HPR the error HPR restart not possible error...

Page 393: ...R V Zero signal Proximity dog 1 Pr 47 Creep speed HPR direction Pr 44 Pr 46 HPR speed ON 2 3 OFF 5 6 4 Fig 8 12 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 HPR with the backlash compensation function 8 When using the direct drive motor make it passed the Z phase once before reaching 3 of Fi...

Page 394: ... Status b3 turns from ON to OFF t V Positioning start singal Y11 OFF 3H FFFFH ON OFF Md 514 HPR operating status Motor rotation speed ON 0H Homing procedure is in progress 1H FFFFH ON OFF 1H Homing procedure is interrupted or not started 3H is stored when the HP is already established 3H Homing procedure is completed successfully FFFFH The servo amplifier is not set to the home position return mod...

Page 395: ...r driver HPR method Refer to Section 5 1 3 Setting items for HPR parameters Start of driver HPR method The control mode of the servo amplifier is set to Home mode if 9001 is set in Cd 3 Positioning start No and the axis is started If Zero speed Md 108 Servo status low order buffer memory address b3 is not turned ON at start for the MR J4 GF the HPR operation does not start until Zero speed turns O...

Page 396: ...rvo off Thus the servo amplifier HPR method Method 35 and 37 Data set method cannot be executed during servo off 2 The servo input axis cannot be used during the HPR During the HPR turn OFF Cd 380 Synchronous control start of the output axis which is synchronized When the HPR is used during the synchronous control the axis operates as follows depending on the servo input axis type Pr 300 Servo inp...

Page 397: ... or a zero signal The following shows the operation during a basic fast HPR start Machine HP HP Pr 46 HPR speed Fast HPR start Positioning start signal Md 26 Axis operation status Position control Standby HP Positioning to the HP M Standby Fig 8 13 Fast HPR 1 The fast HPR is started 2 Positioning control to the HP established by a machine HPR begins at speed set in Pr 46 HPR speed 3 The fast HPR i...

Page 398: ...ond to CiA402 1 00 0 9 to 1 8 3 1 to 4 8 0 to 1 0 2 00 0 9 to 2 6 5 5 to 6 8 0 to 2 0 4 00 1 2 to 4 8 11 5 to 13 5 0 to 4 0 The t1 timing time could be delayed by the operation state of other axes Operating restrictions 1 The fast HPR can only be executed after the HP is established by executing the Machine HPR If not the error HPR request ON error code 207 will occur HPR request flag Md 31 Status...

Page 399: ...s signal Md 108 Servo status low order buffer memory address b0 ON without passing the zero point Buffer memory address low order Md 108 Servo status b0 2476 100n n Axis No 1 Data setting To select the HPR setting condition set the servo parameter shown in the following table Servo parameters are set for each axis The HPR setting condition is stored into the following buffer memory addresses Setti...

Page 400: ...8 24 Chapter 8 HPR Control MEMO ...

Page 401: ...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 37 9 2 5 4 axis linear interpolation control 9 43 9 2 6 1 axis fixed feed c...

Page 402: ...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 403: ...y turning ON the position speed switching signal after first carrying out position control Other control NOP instruction NOP A nonexecutable 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 Feed current value is changed to an address set in the positioning data...

Page 404: ...nd 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 replacement etc corresponding to the code No related to the posit...

Page 405: ...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 406: ...control of movement amount 0 is executed ON time 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 da...

Page 407: ...omplete the positioning If the operation pattern is set to positioning continue 01 or 11 the operation will continue until operation pattern 00 is found If the operation pattern 00 cannot be found the operation may be carried out until the positioning data No 600 If the operation pattern of the positioning data No 600 is not completed the operation will be started again from the positioning data N...

Page 408: ...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 409: ... 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 data currently being executed is continuous pat...

Page 410: ...eference 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 Rapidly reverse direction 2 When a 0 is set in the Da 6 Positioning address movement amount of the continuous path control pos...

Page 411: ...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 412: ... the positioning point set in the positioning 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...

Page 413: ...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 414: ...ion 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 will occur When the speed cannot change over to t...

Page 415: ...150 B point 300 C point Within the stroke limit range Address 150 Address 100 Address 100 Address 150 Start point End point HP 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 416: ...his is the value stored in Md 21 Feed machine value This value always has an address established with a machine HPR as a reference The address cannot be changed even if the current value is changed to a new value The feed current value and feed machine value are used in monitoring the current value display etc 0 1 to Md 20 Feed current value t V HP 20000 Current value changed to 20000 with current...

Page 417: ...tion or DMOV P instruction from the PLC CPU Buffer memory addresses Md 20 Feed current value 2400 100n 2401 100n Md 21 Feed machine value 2402 100n 2403 100n 1 The following shows the examples of programs to read out the feed current value of the QD77GF16 axis 1 to D104 and D105 when X40 is turned ON a For the DFRO P instruction X40 K2400 D104 K1 H0 DFRO b For the DMOV P instruction X40 DMOV U0 G2...

Page 418: ... 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 419: ...ning direction not 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 n...

Page 420: ...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 421: ...is following the positioning data set in the reference axis and controls the interpolation axis corresponding to the reference axis control so that a linear or arc path is drawn The following table shows the reference axis and interpolation axis combinations Axis definition Interpolation of Da 2 Control method QD77GF Reference axis Interpolation axis 2 axis linear interpolation control 2 axis fixe...

Page 422: ...rcular sub circular right and circular left Only during circular sub circular right and circular left 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 1 Da 21 Axis to be interpolated No 2 1 Da 22 Axis to be inter...

Page 423: ... 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 424: ...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 425: ...9 25 Chapter 9 Major Positioning Control MEMO ...

Page 426: ... control 2 axis fixed feed control 3 axis fixed 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 f...

Page 427: ...ion data No at JUMP Number of LOOP to LEND repetition Always set Set according to requirements when not set Setting not possible If setting is made the error Continuous path control not possible error code 516 will occur at a start Setting not required Use the initial values or setting values within a range The ABS absolute system or INC incremental system can be used for the control system REMARK...

Page 428: ... 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 429: ...ion 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 dwells after the positioning stop command...

Page 430: ...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 431: ...time at deceleration 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 after the positioning stop command stop to the o...

Page 432: ...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 433: ...t in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 6 Positioning address movement amount 10000 0 m 4000 0 m Set the end point 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 ...

Page 434: ...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 435: ...d Da 2 Control method INC linear 2 Set incremental system 2 axis linear interpolation control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 6 Positioning address movement amount 9000 0 m 3000 0 m Set the mo...

Page 436: ...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 437: ...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 438: ...ed Da 2 Control method ABS linear 3 Set absolute system 3 axis linear interpolation control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 6 Positioning address movement amount 4000 0 m 8000 0 m 4000 0 m Set...

Page 439: ...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 440: ... 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 441: ...ed Da 2 Control method INC linear 3 Set incremental system 3 axis linear interpolation control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 6 Positioning address movement amount 10000 0 m 5000 0 m 6000 0 m...

Page 442: ...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 443: ...eration pattern Positioning complete Set Positioning complete assuming the next positioning data will not be executed Da 2 Control method ABS linear 4 Set absolute system 4 axis linear interpolation control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time...

Page 444: ... 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 immedi...

Page 445: ...4000 0 m 3000 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 00 mm min Set the speed during movement Da 9 Dwell time JUMP destination positioning data No 500ms Set the time the machine dwells after the positioning stop command stop to the output of the positioning complete signal Da 10 M cod...

Page 446: ...ing control to reverse direction Address decrease direction 0 0 0 0 0 Md 20 Feed current 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 447: ...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 448: ...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 dwells after the positioning stop command sto...

Page 449: ...rol to reverse direction Address decrease direction Designated movement amount Md 20 Feed current 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 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 pat...

Page 450: ... Da 6 Positioning address movement amount 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 Set the speed during movement Designate the composite speed of reference axis speed in Pr 20 Interpolation speed designation method Da 9 Dwell time JUMP destination positionin...

Page 451: ... start and not carried to next positioning 2PLS 2PLS 2PLS 3PLS 2 5 0 5 Movement amount INC Linear 1 Fixed feed 1 2 5 m 2 5 m 0 5 PLS hold by the Simple Motion module is carried to next positioning 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 452: ...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 453: ... 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 230 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 pattern...

Page 454: ... 10 Deceleration time 0 as the deceleration time at deceleration Da 6 Positioning address movement amount 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 ignored Da 8 Command speed 6000 00 mm min Set the speed during movement Da 9 Dwell time JUMP destination positioning data No 500ms Set the time...

Page 455: ...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 0 5 PLS hold by the Simple Motion module is cleared to 0 at start and not carried to next positioning 2PLS 2PLS 2PLS 3PLS 2 5 0 5 Movement amount INC Linear 1 Fixed feed 1 2 5 m 2 5 m 0 5 PLS hold by the Simple Motion module is carried to next positio...

Page 456: ...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 457: ... No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 6 Positioning address movement amount 4000 0 m 8000 0 m 4000 0 m 3000 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 Set the speed during movement Da 9 Dwell time JUMP destina...

Page 458: ...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 0 5 PLS hold by the Simple Motion module is cleared to 0 at start and not carried to next positioning 2PLS 2PLS 2PLS 3PLS 2 5 0 5 Movement amount INC Linear 1 Fixed feed 1 2 5 m 2 5 m 0 5 PLS hold by the Simple Motion module is carried to next positio...

Page 459: ...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 460: ... circular interpolation control is possible is 536870912 229 The error Outside radius range error code 544 will occur at positioning start When the center point address is outside the range of 2147483648 231 to 2147483647 231 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 setti...

Page 461: ...s Assuming mm is set in Pr 1 Unit setting Da 7 Arc address 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 Set the speed when moving to the end point address Designate the composite speed in Pr 20 Interpolation speed designation method Da 9 Dwell time JUMP destination positioning data No 500ms Set the time the machine d...

Page 462: ...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 463: ...e sub point address is outside the range of 2147483648 231 to 2147483647 231 1 The error Sub point setting error error code 525 will occur When the end point address is outside the range of 2147483648 231 to 2147483647 231 1 The error End point setting error error code 526 will occur When the center point address is outside the range of 2147483648 231 to 2147483647 231 1 The error Sub point settin...

Page 464: ...amount Assuming that the Pr 1 Unit setting is set to mm Da 7 Arc address 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 Set the speed during movement Designate the composite speed in Pr 20 Interpolation speed designation method Da 9 Dwell time JUMP destination positioning data No 500ms Set the time the machine dwells a...

Page 465: ...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 466: ...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 467: ...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 468: ... is 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 positioni...

Page 469: ...nt 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 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 Set the speed when moving to the end point address Designate the composite speed in Pr 20 Interpolation speed designation method Da 9 Dwell time JUMP de...

Page 470: ... 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 471: ...e 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 start will not be possible in the following cases The machine will imm...

Page 472: ...0 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 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 Set the speed when moving to the end point address Designate the composite speed in Pr 20 Interpolation speed designation method Da 9 Dwell time...

Page 473: ...ward run direction and Reverse run speed 1 in 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 t V OFF ON OFF ON OFF OFF ON Does not turn ON even when c...

Page 474: ... t Feed current value is updated b Feed current value updated c Feed current 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 475: ...ration time 0 as the deceleration time at deceleration Da 6 Positioning address movement amount Setting not required setting value is ignored Da 7 Arc address Set the speed to be commanded Da 8 Command speed 6000 00mm min 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 repetitions 10 Set this w...

Page 476: ... to Section 9 1 6 Interpolation control for the combination 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 t V BUSY signal X10 X11 OFF ON...

Page 477: ...is maintained a Feed current value not updated t Feed current value is updated b Feed current value updated c Feed current 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 478: ...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 479: ...gnate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration 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 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 ...

Page 480: ...tion control for the combination of the reference axis with 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 t V BUSY signal X10 X11 X12 OFF ON Positioning start si...

Page 481: ...is maintained a Feed current value not updated t Feed current value is updated b Feed current value updated c Feed current 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 482: ... 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 483: ...e No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration 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 Set the speed to be commanded Da 9 Dwell time JUMP destination positioning data No Setting not required setting value is ignored Da...

Page 484: ...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 485: ...t V BUSY signal X10 X11 X12 X13 OFF ON Positioning start signal Y10 OFF ON OFF 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 8 Md 31 Status b0 In speed control flag Positioning complet...

Page 486: ... maintained a Feed current value not updated t Feed current value is updated b Feed current value updated c Feed current value zero cleared t 0 V 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 487: ...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 488: ...tart Da 4 Deceleration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration 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 1000 00 mm min Set the speed to be commanded Da 9 Dwell time JUMP destination positioning data No Setting...

Page 489: ...n function selection 0 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 settin...

Page 490: ...o position control 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 Cd 24 Speed pos...

Page 491: ...FF ON 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 Positioning start signal Y10 to Y1F BUSY signal X10 to X1F Cd 45 Speed position switching device selection Cd 24 Speed position switching enable...

Page 492: ...ontrol INC mode Positioning start signal Y10 to Y1F BUSY signal X10 to X1F Standby Speed control Positioning operation t1 t2 t3 t4 t5 t2 t7 Position control Speed control Position 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 si...

Page 493: ... 3 6 0 1 to 0 2 Follows parameters Communication mode correspond to CiA402 1 00 0 9 to 1 8 0 to 1 0 0 to 1 0 2 7 to 3 5 0 to 1 0 0 1 to 0 2 Follows parameters 2 00 1 0 to 2 6 0 to 2 0 0 to 2 0 5 5 to 6 5 0 to 2 0 0 1 to 0 2 Follows parameters 4 00 1 3 to 3 9 0 to 4 0 0 to 4 0 11 5 to 12 6 0 to 4 0 0 1 to 0 2 Follows parameters The t1 timing time could be delayed by the operation state of other axe...

Page 494: ...d current value updated c Feed current value zero cleared V V Feed current value Feed current value Feed current 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...

Page 495: ...d 8 External command valid Refer to Section 5 7 List of control data for information on the setting details 3 The following table shows the items that must be set to use Cd 46 Speed position switching command as speed position switching signals Setting item Setting value Setting details Buffer memory address Cd 45 Speed position switching device selection 2 Use the Cd 46 Speed position switching c...

Page 496: ...m the point where the control changes to position control by the input of a speed position switching signal from an external device t Movement amount Speed position switching signal ON OFF Speed control Position control Position control start Speed position switching control INC mode start 0 P2 OFF ON ON OFF P3 P2 becomes the position control movement amount Cd 23 Speed position switching control ...

Page 497: ...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 498: ...e at deceleration 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 destination positioning data No 500ms Set a time from...

Page 499: ...osition which 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 tu...

Page 500: ...em Setting value Setting details Buffer memory address Cd 46 Speed position switching command 1 1 Switch from speed control to position control 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 the control will co...

Page 501: ...itioning start signal OFF ON BUSY signal OFF ON OFF ON ON Speed control Position control Dwell time In speed control flag Md 31 Status b0 Da 8 Command speed OFF OFF OFF ON ON Y10 to Y1F X10 to X1F Address set in Da 6 Positioning address movement amount Speed position switching signal External command signal DI Setting details are taken in at positioning start 0 Positioning complete signal Md 31 St...

Page 502: ...0 270 00000 Operation timing and processing time during speed position switching control ABS mode Standby Speed control t1 t2 t3 t5 t2 t7 Position control Speed control Position control t6 Speed control carried out until speed position switching signal turns ON Standby t4 M code ON signal Md 31 Status b12 WITH mode Positioning operation Speed position switching command Md 26 Axis operation status ...

Page 503: ... 3 6 0 1 to 0 2 Follows parameters Communication mode correspond to CiA402 1 00 0 8 to 1 7 0 to 1 0 0 to 1 0 2 7 to 3 2 0 to 1 0 0 1 to 0 2 Follows parameters 2 00 1 0 to 2 5 0 to 2 0 0 to 2 0 5 5 to 6 9 0 to 2 0 0 1 to 0 2 Follows parameters 4 00 1 2 to 4 7 0 to 4 0 0 to 4 0 7 6 to 11 7 0 to 4 0 0 1 to 0 2 Follows parameters The t1 timing time could be delayed by the operation state of other axes...

Page 504: ...rol Only 1 Update current value is valid for the setting of Pr 21 Feed current 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 Feed current value during speed control setting is other than 1 t Speed Position control Speed control Updated Feed current value updated Switching time from sp...

Page 505: ...must be set to use the proximity dog signal DOG as speed position switching signals Setting item Setting value Setting details Buffer memory address Cd 45 Speed position switching device selection 1 Use the proximity dog signal for switching from speed control to position control 4366 100n Note The setting is not required for Pr 42 External command function selection and Cd 8 External command vali...

Page 506: ...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 Feed current value during speed control is 1 Update feed current 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 507: ...t deceleration 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 destination positioning data No 500ms Set a time ...

Page 508: ...n position speed in which control starts 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 Cd 45 Speed position switching device selection The d...

Page 509: ...ver to speed control The control will be switched over from position control to speed control when the position speed switching signal turns from OFF to ON again Only 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 Cd 26 Position s...

Page 510: ... enable flag Cd 26 t V Positioning start signal Y10 to Y1F OFF ON Command speed BUSY signal X10 to X1F OFF ON OFF OFF ON Position control Speed control OFF OFF ON In speed control flag Md 31 Status b0 Da 8 OFF ON Does not turn ON even when control is stopped by stop command Position speed switching signal External command signal DI Cd 45 Speed position switching device selection Setting details ar...

Page 511: ...atus b4 Positioning complete signal Md 31 Status b15 Cd 180 Axis stop Fig 9 19 Operation timing and processing time during position speed switching control Normal timing time Unit ms Pr 132 Communication mode setting Operation cycle t1 t2 t3 t4 t5 t6 MR J4 B RJ010 communication mode 0 88 1 0 to 1 7 0 to 0 9 0 to 0 9 2 7 to 3 4 0 1 to 0 2 1 77 1 1 to 2 5 0 to 1 8 0 to 1 8 5 6 to 6 9 0 1 to 0 2 3 55...

Page 512: ...dated during position control and speed control 2 Zero clear feed current value The feed current value is updated during position control and the feed current value is cleared to 0 as soon as position control is switched to speed control t Speed control Updated c Feed current value zero cleared 0 Position control a Feed current value not updated V t Speed control Updated Maintained Position contro...

Page 513: ...must be set to use the proximity dog signal DOG as position speed switching signals Setting item Setting value Setting details Buffer memory address Cd 45 Speed position switching device selection 1 Use the proximity dog signal for switching from position control to speed control 4366 100n Note The setting is not required for Pr 42 External command function selection and Cd 8 External command vali...

Page 514: ...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 515: ...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 516: ...ation 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 destination positioning data No 500ms Set the time t...

Page 517: ... changing The Md 20 Feed current value is changed to the value set in Da 6 Positioning address movement amount when the positioning start signal turns ON Positioning start signal Y10 to Y1F Md 20 50000 0 OFF ON Feed current 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 Fee...

Page 518: ...ta setting examples When current value changing is set in the positioning data No 1 of axis 1 Setting item Setting example Setting details Axis 1 Positioning data No 1 Da 1 Operation pattern Positioning complete Set Positioning complete assuming that the next positioning data will be executed Continuous path control cannot be set by current value change Da 2 Control method Current value changing S...

Page 519: ...Y1F 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 Software stroke limit error code 508 will occur if the designated value is outside the software stroke limit range 3 The current value cannot be changed during stop commands...

Page 520: ...rt No 9003 for the new current value 4300 100n Cd 9 New current value 50000 Set the new Md 20 Feed current value 4306 100n 4307 100n Note Refer to Section 5 7 List of control data for details on the setting details 2 The following shows a start time chart 9003 V t 50000 Start of data No 9003 Data No during positioning execution Address during positioning execution Md 20 Feed current value Cd 3 Pos...

Page 521: ...feed current value in D106 and D107 Program example Y10 DX10 0 Pulsate current value changing command Write current value changing to the QD77 Write the current value changing 9003 Execute current value changing PLS M103 SET Y10 X4A Turn OFF positioning start signal Y10 K4300 K9003 K1 RST Y10 M103 3 D106 K1 H0 K4306 DTOP H0 TOP 19 U0 G2417 E U0 G2417 E U0 G2417 D ...

Page 522: ...eration time No 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 Da 21 Axis to be interpolated No 2 Da 22 Axis to be interpolated No 3 Note Refer to Section 5 3 List of positioning data for information on the setting d...

Page 523: ...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 524: ...oning data No 1 Da 1 Operation 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 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP destination positioning data No 500 Set the positioning d...

Page 525: ...ent 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 Setting not required setting value is ignored Da 21 Axis to be interpolated No 2 Da 22 Axis to be interpolated No 3 Note Refer to Section 5 3 List of positioning ...

Page 526: ... 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 527: ...s 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 Axis 1 Positioning data No 1 Da 1 Operation pattern Setting not required Setting value is ignored Da 2 Control method LEND Set the LEND Da 3 Acceleration time No Setting not required Setting value i...

Page 528: ...9 128 Chapter 9 Major Positioning Control MEMO ...

Page 529: ...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 530: ...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 531: ...er executing only the block start data of the shape itself or continue executing the block start data set in the next point Da 12 Start data No Set the positioning data No to be executed Da 13 Special start instruction Set the method by which 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 ...

Page 532: ...r memory address 22110 400n 22101 400n 22102 400n 22103 400n Da 17 Da 18 Da 19 22104 400n 22105 400n 22106 400n 22107 400n Da 24 Da 26 Da 23 Da 25 Da 16 Da 15 Number of simultaneous starting axes Simultaneous starting axis No 1 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 ...

Page 533: ...rt data and condition data corresponding to the following block Nos 7001 to 7004 using sequence program or GX Works2 to Simple Motion module The block start data and condition data corresponding to block No 7002 to 7004 are not allocated Set the data with GX Works2 ...

Page 534: ... to the PLC 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 designati...

Page 535: ...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 536: ... 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 537: ...ata 1 00 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 3rd point settings Positioning according to the 2nd point settings Address BUSY signal X10 to X1F 1 1 1 1 1 1 1 OFF OFF ON Positioning complete signal Md 31 Status ...

Page 538: ...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 539: ...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 540: ...ation 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 simultaneous starting axis Axis 2 is standing by Go to 2 Axis 2 i...

Page 541: ...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 542: ...ata 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...

Page 543: ... 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 544: ...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 545: ...y when Da 16 is 05H or 06H 04H Buffer memory 2 words Note 1 05H Positioning data No 2 Low order 16 bits Da 24 Simultaneous starting 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 Use the initial value or a...

Page 546: ...ses 2400 2401 Md 20 Feed current value is 1000 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 3 Designating the axis and positioning data N...

Page 547: ...ly 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 Simultaneous starting axis start data No 3 2 Restrictions 1 The error Error before simultaneous start error code 501 will occur and all simultaneous starting axes will not start if the simultaneous starting axis start data No is not set to the axis control data on th...

Page 548: ...d to execute the multiple axes simultaneous start control with positioning start signals The axis control data on the start axis is set Setting item Setting value Setting details Buffer memory address Cd 3 Positioning start No 9004 Set the multiple axes simultaneous start control start No 9004 4300 100n Cd 43 Simultaneous starting axis Set the number of simultaneous starting axes and target axis 4...

Page 549: ...s starting axis start data No 1 200 Immediately after the start of the axis 10 the axis 12 starts the axis 12 positioning data No 200 5241 Cd 32 Simultaneous starting axis start data No 2 300 Immediately after the start of the axis 10 the axis 14 starts the axis 14 positioning data No 300 5242 Cd 33 Simultaneous starting axis start data No 3 0 Will not start simultaneously 5243 POINTS 1 The multip...

Page 550: ... memory Control by designated positioning data When carrying out a positioning start with the next scan after a positioning operation is completed input the start complete signal Md 31 Status b14 as an interlock so that the start is carried out once the start complete signal Md 31 Status b14 turns OFF after the Y10 signal turns OFF 1 3 2 4 1 Set 7000 in Cd 3 Positioning start No This establishes t...

Page 551: ...ting details 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 Interface signal PLC READY signal ON PLC CPU preparation completed Y0 READY signal ON QD77GF preparation completed...

Page 552: ... Continuous path control 2 00 Positioning complete 10 11 Continuous path control 11 11 Continuous path control 12 00 Positioning complete 3 Start time chart V t Positioning data No Dwell time 12 00 Operation pattern 1 11 1st point buffer memory address 22000 2nd point buffer memory address 22001 11 11 10 11 2 00 7000 1 32767 10 8001H 000AH Cd 3 Positioning start No Cd 4 Positioning starting point ...

Page 553: ...sitioning start command M104 PLS Y10 M104 Turn ON the positioning start signal Y10 SET K1 K1 K4301 H0 TO Write the positioning start point No K1 K7000 K4300 H0 TO Write the positioning data No 7000 for block positioning X10 Set the block start data beforehand Program example X4B 0 3 ...

Page 554: ...10 26 Chapter 10 High Level Positioning Control MEMO ...

Page 555: ...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 556: ...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 557: ...ns Refer to Section 3 2 5 Combination of QD77GF 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 558: ...om 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 selection 4 The operation stops...

Page 559: ... 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 560: ... Md 31 Status b15 Fig 11 5 JOG operation timing and processing times Normal timing times Unit ms Pr 132 Communication mode setting Operation cycle t1 t2 t3 t4 MR J4 B RJ010 communication mode 0 88 0 7 to 1 5 0 to 0 9 2 5 to 3 4 0 to 0 9 1 77 0 7 to 2 3 0 to 1 8 6 2 to 7 9 0 to 1 8 3 55 1 3 to 4 0 0 to 3 6 11 2 to 13 7 0 to 3 6 Communication mode correspond to CiA402 1 00 0 7 to 1 6 0 to 1 0 2 5 to...

Page 561: ... to Chapter 6 JOG operation 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 movem...

Page 562: ...3647 Pr 13 Software stroke limit lower limit value Unit PLS 2147483648 Pr 14 Software stroke limit selection 0 feed current 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 Decelera...

Page 563: ...ing the Simple Motion module When carrying out other controls major positioning control high level positioning control HPR 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 564: ...equence 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 Interface signal PLC READY signal ON PLC CPU preparation completed Y0 READY signal ON QD77GF preparation completed X0 All axis servo ON ON All axis servo ON Y1 Synchronization flag ON QD77GF buffer memory The access is possible X1 Axis stop...

Page 565: ...reating the program Program example No 10 JOG operation setting program JOG operation speed 1200 000deg min No 12 JOG operation inching operation execution program Write JOG operation speed JOG inching operation flag ON X2D 858 DMOVP K10000 D6 Set JOG operation speed 100 00mm min MOVP K0 DMOVP K1200000 H0 K4317 X4D D6 D5 TOP D5 K3 SET M7 886 902 RST M7 X2E 911 M7 MOVP K1 U0 G30101 SET M7 X2F 894 X...

Page 566: ...e error Stop signal ON at start error code 106 will occur The operation can be started by turning the stop signal OFF and turning the JOG start signal from OFF to ON again Ignores that the JOG start signal is turned ON from OFF while the stop signal is ON t OFF ON BUSY signal X10 to X1F OFF ON OFF ON OFF ON READY signal X0 PLC READY signal Y0 OFF ON OFF ON All axis servo ON Y1 Cd 181 Forward run J...

Page 567: ...ated when the BUSY signal of Simple Motion module is turned 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 OFF ON OFF ON BUSY signal X10 to X1F OFF ON Forward run JOG operation t The reverse run JOG start signal is ignored Reverse run JOG operation Cd 181...

Page 568: ...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 In test mode flag ON t OFF ON OFF Forward run JOG operation execution JOG operation not possible be...

Page 569: ...ovement 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 Positioning complete signal output time has been elapsed PLC READY signal Y0 OFF ON BUSY signal X10 to X1F OFF OFF ON OFF ON Forward run inching operation ON OFF READY s...

Page 570: ...25 When unit is set to degree and Pr 83 Speed control 10 x multiplier setting for degree axis is valid 67 5 33 75 16 88 When unit setting is other than the above 675 337 5 168 75 CiA402 mode Unit ms Operation cycle 1 00 2 00 4 00 When unit is set to PLS 1000 500 250 When unit is set to degree and Pr 83 Speed control 10 x multiplier setting for degree axis is valid 60 30 15 When unit setting is oth...

Page 571: ...16 JOG operation 3 Standby 0 1 Arbitary value Standby 0 Fig 11 12 Inching operation timing and processing times Normal timing times Unit ms Pr 132 Communication mode setting Operation cycle t1 t2 t3 t4 MR J4 B RJ010 communication mode 0 88 0 6 to 1 3 2 4 to 3 2 0 to 0 9 Follows parameters 1 77 0 9 to 2 2 6 4 to 7 7 0 to 1 8 Follows parameters 3 55 0 9 to 4 1 10 6 to 13 9 0 to 3 6 Follows parameter...

Page 572: ...of the axis to be started 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 tur...

Page 573: ... 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 feed current 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 574: ...ence 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 Interface signal PLC READY signal ON PLC CPU preparation completed Y0 READY signal ON QD77GF preparation completed X0 All axis servo ON ON All axis servo ON Y1 Synchronization flag ON Accessible to QD77GF buffer memory X1 Axis stop signal OFF ...

Page 575: ...Positioning complete signal Md 31 Status b15 Fig 11 13 Inching operation start time chart Creating the program Program example Set inching movement amount 10 0µm JOG inching operation flag ON Write inching movement amount MOVP K100 D5 MOVP D5 U0 G4317 SET M7 X2E 886 902 RST M7 X0 X10 X2E 911 M7 MOVP K1 U0 G30101 SET M7 X2F 894 X0 X0 MOVP K0 U0 G30101 U0 G30102 K0 U0 G30101 K0 MOVP K1 U0 G30102 X2F...

Page 576: ...ill occur The inching operation can be re started when the stop signal is turned OFF and then re turned ON t V OFF ON BUSY signal X10 to X1F OFF ON OFF ON READY signal X0 ON OFF OFF ON All axis servo ON Y1 ON OFF Cd 181 Forward run JOG start Cd 180 Axis stop PLC READY signal Y0 Ignores that the JOG start signal is turned ON from OFF while the stop signal is ON Fig 11 14 Operation when executing in...

Page 577: ... and the inching operation will not be carried out In test mode flag ON t OFF ON OFF Forward run inching operation execution Inching operation not possible because this is not the rising edge of the JOG start signal Cd 181 Forward run JOG start Inching operation not possible because the test function is being used Fig 11 15 Operation when the JOG start signal is turned ON while the test function i...

Page 578: ...are input from the manual pulse generator 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 Manual pulse generator operation stops t BUSY signal X10 to X1F Input pulses from manual pulse generator Manual pulse generator operation enabled 0 OFF ON OFF 1 2 3 4 1 0 Cd 21 Manual pulse generator enable flag 1 2 Sta...

Page 579: ...udes hardware software stroke limit 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 62914560pps 63Mpps the servo alarm Command frequency error alarm No 35 will occur The follow...

Page 580: ...ing To carry out manual pulse generator operation 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 pu...

Page 581: ...ulse movement amount 0 1µm 0 00001inch 0 00001degree 1PLS For example when Pr 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 feed current value is as follows 100 2 0 1 20 µm Md 20 Feed current value 200 The number of pulses output actually to the servo amplifier is Manual pulse generator 1pulse mov...

Page 582: ...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 583: ...e limit lower limit value Unit PLS 2147483648 Pr 14 Software stroke limit selection 0 feed current 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 584: ...tions The 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 Interface signal PLC READY signal ON PLC CPU preparation completed Y0 READY signal ON QD77GF preparation completed X0 All ...

Page 585: ...generator operation start time chart Creating the program 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 pulse generator operation disable co...

Page 586: ...11 32 Chapter 11 Manual Control MEMO ...

Page 587: ...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 3 12 1 3 Setting the required data for speed...

Page 588: ...ons that are compatible with each control mode are shown below For the support information not listed in the table below refer to the instruction manual of the servo amplifier to be used Servo amplifier model Software version Speed control Torque control MR J4 _B_ RJ010 A1 or later MR J4 GF_ RJ CiA402 mode There is no restriction by the version POINT When switching the control mode for the servo a...

Page 589: ...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 590: ... control mode 4376 100n 4377 100n Cd 141 Acceleration time at speed control mode Set the acceleration time at speed control mode 4378 100n Cd 142 Deceleration time at speed control mode Set the deceleration time at speed control mode 4379 100n n Axis No 1 Refer to Section 5 7 List of control data for the setting details Required control data setting for the torque control mode The control data sho...

Page 591: ... not satisfied and the control mode is not 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 Seed control mode Position control mode During motor stop N...

Page 592: ...s switched from the speed control to the torque control after the servomotors stop 4 The operation to press with limited torque during the speed control cannot be used 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 switched to the sp...

Page 593: ...s 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 1 RJ010 mode 1 6 to 11ms CiA402 mode 1 The switching time differs by the specification of the servo amplifier When ZSP disabled selection at control switching of the servo parameter Function selection C E PC76 is set t...

Page 594: ...ontrol 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 5...

Page 595: ... control mode BUSY signal X10 Axis operation status Md 26 Cd 146 Speed limit value at torque control mode Cd 143 Command torque at torque control mode Cd 138 Control mode switching request Cd 139 Control mode setting Zero speed Servo status b3 Md 108 Control mode Servo status b2 b3 Md 108 0 RJ010 mode 1 6 to 11ms CiA402 mode 1 The switching time differs by the specification of the servo amplifier ...

Page 596: ...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 597: ...l mode BUSY signal X10 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 torque control mode 0 0 RJ010 mode 1 6 to 11ms CiA402 mode 1 The switching time differs by the specification of the servo amplif...

Page 598: ...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 599: ...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 forced stop input to Simple ...

Page 600: ... 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 601: ...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 602: ...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 control Feed cur...

Page 603: ...que 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 is not executed The positio...

Page 604: ...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 605: ...3 Near pass function 13 21 13 4 Functions to limit the control 13 23 13 4 1 Speed limit function 13 23 13 4 2 Torque limit function 13 25 13 4 3 Software stroke limit function 13 30 13 4 4 Hardware stroke limit function 13 37 13 4 5 Forced stop function 13 41 13 5 Functions to change the control details 13 44 13 5 1 Speed change function 13 44 13 5 2 Override function 13 51 13 5 3 Acceleration dec...

Page 606: ...exceeds 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 com...

Page 607: ...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 virtual start time Deceleration start flag function Function that turns ON th...

Page 608: ...own below explain about the HPR retry function 1 Control details 2 Precautions during control 3 Setting the HPR retry function 1 Control details The following drawing shows the operation of the HPR retry function 1 HPR 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 HPR direction by a machine HPR start ...

Page 609: ...R direction Pr 44 HPR direction Proximity dog Hardware upper limit switch Hardware lower limit switch Movement range Machine HPR start HP Zero signal In the above example 1 and 2 0 Positive direction is set in Pr 44 HPR direction REMARK When the 0 Positive direction is selected in Pr 44 HPR direction the upper limit switch is set to the limit switch in the HPR direction When the 1 Negative directi...

Page 610: ...aution during control 1 The following table shows whether the HPR retry function may be executed by the Pr 43 HPR method Pr 43 HPR method Execution status of HPR retry function Proximity dog method RJ010 mode Execution possible Count method 1 Execution possible Count method 2 Execution possible Data set method Scale origin signal detection method Execution not possible Driver HPR method CiA402 mod...

Page 611: ...added to the machine HPR control The set details are validated at the rising edge OFF ON of the PLC READY signal Y0 Set Pr 57 Dwell time during HPR retry according to the user s requirements Setting item Setting value Setting details Factory set initial value Pr 48 HPR retry 1 Set 1 Carry out HPR retry by limit switch 0 Pr 57 Dwell time during HPR retry Set the deceleration stop time during HPR re...

Page 612: ...ed HP can then be interpreted at that point The details shown below explain about the HP shift function 1 Control details 2 Setting range for the HP shift amount 3 Movement speed during HP shift 4 Precautions during control 5 Setting the HP shift function 1 Control details The following drawing shows the operation of the HP shift function Machine HPR start Pr 53 HP shift amount Speed selected by t...

Page 613: ...P shift is set in Pr 56 Speed designation during HP shift The movement speed during the HP shift is selected from either the Pr 46 HPR speed or the Pr 47 Creep speed The following drawings show the movement speed during the HP shift when a mechanical HPR is carried out by the proximity dog method For the acceleration deceleration time the value specified in Pr 51 HPR acceleration time selection or...

Page 614: ...hift operation considering proximity dog ON as 0 is stored 5 Setting the HP shift function To use the HP 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 HP shift function will be added to the machine HPR control The set details are validated at the rising edge OFF ON of the PLC READY s...

Page 615: ...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 616: ...d in the same direction as Pr 44 HPR direction the backlash compensation is not executed However when the positioning is executed in the reverse direction against Pr 44 HPR direction the backlash compensation is executed 3 Setting the backlash compensation function To use the backlash compensation function set the backlash compensation amount in the parameter shown in the following table and write...

Page 617: ...tarted 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 moveme...

Page 618: ...e Reduction ratio AP AL AM The basic concept of the electronic gear is represented by the following expression Pr 2 Number of pulses per rotation AP Pr 3 Movement amount per rotation AL Pr 4 Unit magnification AM Movement amount per rotation that 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 ...

Page 619: ...ent amount per rotation Ball screw pitch Reduction ratio 10 mm 9 44 10000 0 m 9 44 Substitute this for the above expression 1 At this time make calculation with the reduction ratio 9 44 remaining as a fraction AP 4194304 PLS S 10000 0 m 9 44 4194304 44 10000 0 9 184549376 90000 0 23068672 23068672 AP 11250 0 11250 0 AL 1 AM 23068672 AP 1125 0 AL 10 AM Thus AP AL and AM to be set are as follows AP ...

Page 620: ...ary axis When the rotary axis is used the motor is HG KR 4194304PLS rev and the reduction ratio of the reduction gear is 3 11 Reduction ratio 3 11 M First find how many degrees the load machine will travel S when the motor turns one revolution AP AP Number of pulses per rotation 4194304 PLS S Movement amount per rotation 360 00000 degree Reduction ratio 360 00000 3 11 Substitute this for the above...

Page 621: ...n gear is 7 53 Reduction ratio 7 53 M Belt conveyor Pulley ratio 1 3 135mm As the travel value of the conveyor is used to exercise control set mm as the control unit First find how many millimeters the load machine will travel S when the motor turns one revolution AP AP Number of pulses per rotation 4194304 PLS S Movement amount per rotation 135000 0 m Reduction ratio 135000 0 m 7 53 1 3 Substitut...

Page 622: ...be set are as follows AP 166723584 Pr 2 AL 742201 2 Pr 3 AM 1 Pr 4 This setting will produce an error for the true machine value but it cannot be helped This error is as follows 7422012 166723584 1 100 8 69 10 6 2362500 166723584 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 It is equivalent to an about 86 9 m error in co...

Page 623: ... 05 μm Movement amount AL AM μm 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 in the actual setting When MR J4 W GF use set the same value in AP AL and AM as the value set in the servo parameter Linear encoder resolution Numerator PL02 and Linear encoder reso...

Page 624: ...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 625: ...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 626: ...he reference axis movement direction changes To prevent the rapid 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 627: ...s the relation of the speed limit function and various controls Control type Speed limit function Speed limit value HPR control Machine HPR control Pr 8 Speed limit value CiA402 mode The speed limit value follows the setting of the driver servo amplifier when using the driver HPR method Fast HPR control Pr 8 Speed limit value Major positioning control Position control 1 axis linear control 2 to 4 ...

Page 628: ...trol 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 ...

Page 629: ...imit value The torque limit function protects the deceleration function limits the power of the operation pressing against the stopper etc It controls the operation so that unnecessary force is not applied to the load and machine The details shown below explain about the torque limit function 1 Relation between the torque limit function and various controls 2 Control details 3 Precautions during c...

Page 630: ...ontrol 2 to 4 axes 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 Speed position switching control Position speed switching control Other control Current value changing Setting value is invalid JUMP instruction NOP instruction LOOP to LEND Manual control JOG operation Inching operat...

Page 631: ...t setting value Cd 101 New torque value forward new torque value Cd 22 Torque limit stored value forward torque limit stored value Md 35 1 1 2 2 2 3 3 0 Torque change function switching request Cd 112 3 Positioning start signal Y10 Fig 13 11 Torque limit function operation 3 Precautions during control 1 When limiting the torque at the Pr 17 Torque limit setting value confirm that Cd 22 New torque ...

Page 632: ...e Will be an upper limit value of the torque change value 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...

Page 633: ...rse torque limit stored value is stored depending on the control status Pr 17 Pr 54 Cd 22 Cd 101 or Cd 113 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 programs and devices Th...

Page 634: ... 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 feed current value and feed machine value are selected 2 Software stroke limit check details 3 Relation between the software stroke limit funct...

Page 635: ... the feed machine value is set at the limit The feed machine value of 5000 feed current value 4000 becomes the upper stroke limit 4000 5000 5000 6000 Upper stroke limit 1000 2000 Moveable range Md 20 Feed current value Md 21 Feed machine value 2 When the feed current value is set at the limit The feed current value of 5000 feed machine value 6000 becomes the upper stroke limit 4000 5000 5000 6000 ...

Page 636: ...e error Software stroke limit error code 507 or Software stroke limit error code 508 will occur 2 An error shall occur if the command address is outside the software stroke limit range Check Da 6 Positioning address movement amount 1 Check whether the Md 20 Feed current value or Md 21 Feed machine value is set in Pr 14 Software stroke limit selection 2 Moveable range from the Pr 12 Software stroke...

Page 637: ...rrent value is outside the software stroke limit range JUMP instruction NOP instruction LOOP to LEND Check not carried out Manual control JOG operation Inching operation 3 Check 1 in the previous section 2 is carried out The machine will carry out a deceleration stop when the software stroke limit range is exceeded If the address is outside the software stroke limit range the operation can only be...

Page 638: ...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 639: ...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 640: ...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 641: ...y 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 servo amplifier External input signal via CPU buffer memory ...

Page 642: ...SN signal with the servo parameter Input device selection 1 to 3 PD03 to 05 2 The signal to be wired differs by the servo parameter Rotation direction selection travel direction selection PA14 Setting value of Rotation direction selection travel direction selection PA14 Signal name of servo amplifier Lower limit Upper limit 0 Forward rotation CCW with the increase of the positioning address LSN LS...

Page 643: ...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 the feed current value and the motor rotation direction travel direction can be changed by the parameters depending on the servo amplifier Refer to the servo amplifier instruction manual for details Fig 13 18 Wiri...

Page 644: ...vo amplifier 1 Controller 3 1 Input from controller Servo amplifier 1 2 Buffer memory of QD77GF 0 Input from servo amplifier Servo amplifier 1 Controller 1 1 Input from controller Servo amplifier 2 Controller Controller HPR 1 External input signal of servo amplifier 0 Input from servo amplifier Servo amplifier Servo amplifier 1 Input from controller Servo amplifier 1 2 Buffer memory of QD77GF 0 In...

Page 645: ...unction 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 the 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 signal is turned on Refer to the servo amplifier instruction manual for the operation of the...

Page 646: ...rced stop valid invalid selection 0 Forced stop valid Md 108 Servo status b1 Servo ON ON 0 1 OFF 1 ON ON OFF Forced stop causes occurrence Fig 13 20 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 following drawing As for the 24VDC power supply the direction of curre...

Page 647: ...onitor value Storage details Buffer memory address 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 4231 Refer to Section 5 6 1 System monitor data for details on the storage details 5 Precautions during control 1 After the Forced stop input is released the servo ON OFF is valid for the status of al...

Page 648: ...he 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 b...

Page 649: ...in the 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 spee...

Page 650: ...speed change 0 flag Md 31 Status b10 turns ON During interpolation control the speed change 0 flag on the reference axis side turns ON The axis stops but Md 26 Axis operation status does not change and the BUSY signal remains ON If a stop signal is input the BUSY signal will turn OFF and Md 26 Axis operation status will change to stopped In this case setting the Cd 14 New speed value to a value be...

Page 651: ... by one Therefore the start timing of speed change is different for each axis 10 Speed change cannot be carried out during the machine HPR 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 or torque control mode Refer to Section 12 1 Sp...

Page 652: ...ioning complete signal Md 31 Status b15 Fig 13 26 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 90 00mm min Set speed change request M11 PLS M12 SET M11 PLS K9000 DMOVP D11 M11 PLS K3600000 DMOVP D11 Wr...

Page 653: ...e request 62 150n Cd 8 External command valid 1 Set 1 Validates an external command 4305 100n Cd 14 New speed value 1000000 Set the new speed 4314 100n 4315 100n n Axis No 1 Set the external command signal DI to be used in Pr 95 External command signal selection 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 shows the...

Page 654: ...arts speed change processing Speed change processing Write the new speed K1 D108 K4314 H0 DTOP K1 K1 K4305 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 Program example M0 ...

Page 655: ...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 656: ...carry out commands correctly 5 When a machine HPR 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 proximity dog ON When the override is enabled during HPR and the speed is changed the override is disabled and the speed accelerates to the creep speed after the proximity dog ON is detected 6 When de...

Page 657: ... PLC READY signal Y0 Start complete signal Md 31 Status b14 Positioning complete signal Md 31 Status b15 Error detection signal Md 31 Status b13 Fig 13 29 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 override value M13...

Page 658: ... 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 659: ... 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 660: ...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 661: ...ontrolled with the acceleration deceleration time in the parameter 5 The acceleration deceleration change function cannot be used during speed control mode or torque control mode Refer to Section 12 1 Speed torque control for the acceleration deceleration processing during speed control mode POINT If the speed is changed when an acceleration deceleration change is enabled the new acceleration dece...

Page 662: ...me value Set the new deceleration time 4310 100n 4311 100n Cd 12 Acceleration deceleration time change value during speed change enable disable 1 Set 1 Acceleration deceleration time change enable 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 acceleration deceleration time change comman...

Page 663: ...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 664: ...ignal Y0 All axis servo ON Y1 Positioning 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 v...

Page 665: ...mit 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 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 Fig 13 32 Torque change operation...

Page 666: ... the data shown in the following 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 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 settin...

Page 667: ...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 668: ... 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 669: ... position change value New address 3000 Set the new address 4334 100n 4335 100n Cd 28 Target position change value New speed 1000000 Set the new speed 4336 100n 4337 100n Cd 29 Target position change request flag 1 Set 1 Requests a change in the target position 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 time chart fo...

Page 670: ...mand Hold target position change command Set target position change value 12000 0 m address 1159 1150 1156 PLS M30 X10 DMOVP K 120000 D23 SET M31 M31 X45 M30 Set target position change request MOVP K1 D27 Turn OFF target position change command memory K0 U0 G4338 RST M31 Write target position change D23 K5 K4334 TOP H0 Program example DMOVP K0 D25 X4D Set target position change value 300 00000deg ...

Page 671: ...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 HPR in the servo amplifier To use the absolute position system set 1 Enabled absolute position detection system for the parameter shown in the following table Servo ser...

Page 672: ... the location of the HP is moved by manual operation JOG operation manual pulse generator operation is treated as the HP The stop position during HPR execution is stored as the HPR position 9001 HPR destination Cd 3 Positioning start No Positioning start Y10 to Y1F Movement range for the machine Moved to this position by manual operation Fig 13 36 Operation of the HPR execution ...

Page 673: ...ontinue the control 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 bet...

Page 674: ...step start information The step start information is set in the control data Cd 36 Step start information The following table shows the results of starts using the 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 Th...

Page 675: ...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 676: ...Positioning start signal Y10 to Y1F X10 to X1F Fig 13 37 Operation during step execution by deceleration unit step 2 The following drawing shows a step operation during a data No unit step 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 ON OFF OFF ON ON ON OFF t ...

Page 677: ...function settings To use the 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 Cd 34 Step mode Set 0 Stepping by deceleration ...

Page 678: ...lowing table shows the relation between the skip function and various controls Control type Skip function Skip applicability HPR control Machine HPR control Skip operation not possible Fast HPR 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 679: ... 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 axis and the next reference axis positioning ...

Page 680: ...Set 1 Skip request 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 Program example No 19 Skip program Save skip command O...

Page 681: ... below in section 2 Setting item Setting value Setting details Buffer memory address 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 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 settin...

Page 682: ...xplain about 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 follow...

Page 683: ... M code signal in Cd 7 M code OFF request Setting item Setting value Setting details Buffer memory address Cd 7 M code OFF request 1 Set 1 Turn OFF the M code ON signal 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 ON signal is not turned OFF The processing differs according to...

Page 684: ...er 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 code ...

Page 685: ... WITH mode 1 AFTER 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 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 positioning data i...

Page 686: ...cuted using the sequence program when the BUSY signal X10 to X1F is OFF During manual control teaching can be carried out as long as the axis is not BUSY even when an error or warning has occurred 2 Addresses for which teaching is possible The addresses for which teaching is possible are feed current values Md 20 Feed current value having the HP as a reference The settings of the movement amount u...

Page 687: ...ting may become impossible 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 addres...

Page 688: ...et the positioning data No for which the teaching will be carried out Set the positioning data No in the buffer memory address 4349 Confirm that the buffer memory address 4349 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 5900 has become 0 Set 1 in the b...

Page 689: ...ing data No for which the teaching will be carried out Set the positioning data No in the buffer memory address 4349 Set 1 in the buffer memory address 4348 Set Writes the feed current 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 op...

Page 690: ...teaching data to buffer memory address 4448 and 4449 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 ...

Page 691: ...he target position with manual operation Pulsate teaching command Hold teaching command M19 PLS 1103 1110 1114 M20 K0 K4348 K1 M20 SET M20 RST M19 X39 X10 Program example H0 TOP K3 K4349 K1 H0 TOP K1 K5900 K1 H0 TOP K0 U0 G5900 POINT 1 Confirm the teaching function and teaching procedure before setting the positioning data 2 The positioning addresses that are written are absolute address ABS value...

Page 692: ...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 693: ...mand in position width check Fig 13 44 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 HPR control start At the JOG operation start At the inching operation star...

Page 694: ...sition of the position 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 Md 31 Status The command in position flag is stored in the b2 position 2417 100n n Axis No 1 Refer to Section 5 6 List of monito...

Page 695: ...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 HPR etc Set the required values for the acceleration deceleration time in the parameters s...

Page 696: ...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 45 Trapezoidal acceleration deceleration processing method 2 S curve acceleration deceleration processing method In this method the motor burden is reduced during sta...

Page 697: ...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 698: ...tart signal with the execution prohibition flag Cd 183 ON However if 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...

Page 699: ...ing 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 the execution prohibition flag at the same time or before turning ON the positioning start signal Pre reading may not be started if the execution prohibition flag is turned ON during Ta after the positioning start signal is turned ON The pre reading start function is invalid if th...

Page 700: ...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 49 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 49 Op...

Page 701: ...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 QD77GF main functions and sub functions 2 The deceleration start flag does not turn ON when the operation pattern is continuous p...

Page 702: ...ration in the positioning data being 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 Cd 41 Deceleration start flag valid Set whether the...

Page 703: ...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 704: ...currence 3 The stop command processing for deceleration stop function is invalid when 1 Rapid stop is set in Pr 37 Stop group 1 rapid stop selection to Pr 39 Stop group 3 rapid 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 Rapid stop deceleration time In the position control including position control of ...

Page 705: ...they are written to the buffer memory The PLC ready signal Y0 is irrelevant Setting item Setting value Setting details Buffer memory address Cd 42 Stop command processing for deceleration stop selection Set the stop command processing for deceleration stop function 0 Deceleration curve re processing 1 Deceleration curve continuation 5907 For details of the setting details refer to Section 5 7 List...

Page 706: ...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 HPR 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 707: ... limit value at torque control mode For the speed limit value Pr 83 Speed control 10 x multiplier setting for degree axis is evaluated whether it is valid for each axis If valid the positioning control will be performed at decuple speed of setting value max speed 2 Setting method of Speed control 10 x multiplier setting for degree axis function Normally the speed specification range is 0 001 to 20...

Page 708: ...start in the following case 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 2 axis circular interpolation control with 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 using posit...

Page 709: ... of Operation setting for incompletion of HPR To use the Operation setting for incompletion of HPR set the following parameters using a sequence program Setting item Setting value Setting details Buffer memory address Pr 55 Operation setting for incompletion of HPR Set the operation setting for incompletion of HPR 0 Positioning control is not executed 1 Positioning control is executed 87 150n n Ax...

Page 710: ...bled 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 servo OFF Then turn off Y1 after delay time passes Refer to each servo amplifier instruction manual for details of servo ON command OFF and ready ON command OFF fr...

Page 711: ...N or OFF status while operation is stopped position control mode The servo OFF command of during positioning in position control mode manual pulse control HPR speed control mode and torque control mode will be ignored When the servo OFF is given to all axes All axis servo ON Y1 is applied even if all axis servo ON command is turned ON to OFF with Cd 100 Servo OFF command set 0 ...

Page 712: ...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 1 OFF ON ON Servo alarm detected Follow up function executed 0 Fig 13 54 Operation timings of follow up function POINT The follow up fun...

Page 713: ...he setting and execution procedures for each common function indicated in this chapter thoroughly and execute the appropriate function where required 14 1 Outline of common functions 14 2 14 2 Parameter initialization function 14 3 14 3 Execution data backup function 14 5 14 4 External signal selection function 14 7 14 5 External I O signal logic switching function 14 12 14 6 History monitor funct...

Page 714: ...nal of servo amplifier External input signal via CPU the buffer memory of QD77GF External I O signal logic switching function This function switches I O signal logic according to the equipment connected to the Simple 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 chang...

Page 715: ...by GX Works2 Refer to the Simple Motion Module Setting Tool Help of GX Works2 for the execution method 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 Setting data Basic parameters Pr 1 to Pr 10 Detailed paramet...

Page 716: ...es about 16 seconds Up to 30 seconds are sometimes required Do not turn the power ON 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 Parameter initialization method 1 Parameter initialization is carried out by the writing of t...

Page 717: ...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 1 Execution data backup written to flash ROM means The backup is executed with a sequence program The backup...

Page 718: ...portant Do not turn the power ON OFF or reset the PLC CPU during executing the flash ROM writing 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 Execution data backup method 1 Refer to Section 7 2 Data transmission process for the data transmission processing at the backup of the ex...

Page 719: ...l details 4 Program example 1 Parameter setting details The setting details of the External signal selection function are shown in the following table Setting item Setting value Setting details Buffer memory address Pr 80 External input signal selection 1 Set the external signal selection 1 External input signal of servo amplifier 2 Buffer memory of QD77GF 32 150n n Axis No 1 1 When 1 External inp...

Page 720: ...en using MR J4 GF the servo parameter Function selection D 4 PD41 is required to be set as shown in the following table CiA402 mode Refer to Section 13 4 4 Hardware stroke limit function Pr 80 External input signal selection Setting of servo parameter Function selection D 4 PD41 1 External input signal of servo amplifier 01_ _H 2 Buffer memory of QD77GF 11_ _H 3 Control details The following table...

Page 721: ...wing shows the device list that is used with the program example Device name Device Limit switch to be connected Purpose Description at device ON External input command X20 FLS 1 Axis1 FLS ON command When Pr 22 Input signal logic selection is negative logic ON When 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 Axis...

Page 722: ...8 2 External input s ignal op eration device axis 1 D OG U0 G5928 3 External input s ignal op eration device axis 1 S TOP U0 G5928 C External input s ignal op eration device axis 4 F LS U0 G5928 D External input s ignal op eration device axis 4 R LS 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 X...

Page 723: ...input s ignal op eration device axis 8 D OG U0 G5929 F External input s ignal op eration device axis 8 S TOP U0 G5931 C External input s ignal op eration device axis 16 FLS U0 G5931 D External input s ignal op eration device axis 16 RLS 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 724: ... GF is connected set the logic of the upper lower limit signal FLS RLS and proximity dog signal DOG as shown below If the setting is incorrect the external input signal may be detected incorrectly during the HPR or positioning operation For the input logic specification of the servo amplifier refer to the instruction manual of the servo amplifier to be used When the external input signal of the se...

Page 725: ...lse generator input b8 2 When a servo amplifier is used and HPR is being executed the setting is ignored For the input logic specification of the servo amplifier refer to the instruction manual of the servo amplifier to be used CiA402 mode Refer to Section 5 2 List of parameters for the information on detail settings 2 Precautions on parameter setting 1 The external I O signal logic switching para...

Page 726: ...n be monitored all the time This function allows users to check the operation sequence whether the operations have been started in a predetermined sequence at system start up For the starting 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 can be moni...

Page 727: ...rrent value Servo command value Encoder single revolution position 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 single revolution position Encoder multiple revolution counter Time 1 Year month 1 Time 2 Day hour 1 Time 3 Minu...

Page 728: ...right before the power disconnection is output to the buffer memory The backup data at the power on starts being output after the power on 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 absolute system or increme...

Page 729: ...tion return completion Encoder single revolution position 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 i...

Page 730: ... the READY signal X0 will not be turned ON if the PLC READY signal Y0 is turned OFF to ON c When other than 1 is set in Pr 101 Virtual servo amplifier setting set in the flash ROM it does not operate as virtual servo amplifier even if 1 is set in Pr 101 Virtual servo amplifier setting of buffer memory after power supply ON and the PLC READY signal Y0 is turned OFF to ON d The servo amplifier is no...

Page 731: ...t pass b0 Always ON Zero speed b3 Changed depending on the command speed Speed limit b4 Always ON when a value other than 0 is set to the command torque at torque control mode Otherwise always OFF PID control b8 Always OFF 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 A...

Page 732: ...mple Motion module even in the virtual servo amplifier Torque limit function Turns ON OFF the 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...

Page 733: ... 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 734: ...types Optional buffer memory data 2 word Feed current value Feed machine 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 axi...

Page 735: ... 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 736: ...e 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 value for latch data at ...

Page 737: ...790 to 54799 10 Mark detection 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 Guide to buffer memory address In the buffer memory address k in 54002 20k etc indicates a value corresponding to mark detection setti...

Page 738: ...mark detection 1 to 4 Axis 1 to axis 4 at 4 axis module use 1 to 8 Axis 1 to axis 8 at 8 axis module use 1 to 16 Axis 1 to axis 16 at 16 axis module use 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 cycl...

Page 739: ...ernal command valid 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 dat...

Page 740: ...it 1 to 4 1 to 8 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 Note Cam axis current value per cycle that considered delay of the servo system If a value other than the above is set the warning Outside mark detection data axi...

Page 741: ...n the mark detection data is greater or equal to the lower limit value or less than the upper limit value t Upper limit value Lower limit value Upper limit value Lower limit value The mark detection range is not checked The mark detection is executed for all range Pr 807 Mark detection mode setting Set the data storage method of mark detection Mode Setting value Operation for mark detection Mark d...

Page 742: ...le 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 k Mark detection setting No 1 Cd 800 Number of mark detection clear request Set 1 to execute 0 clear of Md 800 Number of mark detection 0 is automatically set after completion by 0 clear...

Page 743: ...on setting No 1 Md 800 Number of mark detection The counter value is incremented by 1 at mark detection Preset 0 clear in Cd 800 Number of mark detection clear request to execute the mark detection in specified number of detections mode or ring buffer mode Md 801 Mark detection data storage area 1 to 32 The latch data at mark detection is stored Data for up to 32 times can be stored in the specifi...

Page 744: ...PU module 2 Operation 1 The error occurs in the PLC CPU or Intelligent function module 2 The PLC CPU collects and stores the error in each intelligent function module as Module error history 3 The list of error in PLC CPU or each intelligent function module error is displayed with GX Works2 Module B CPU 19 29 QD77GF 19 34 19 36 QD77GF 19 29 QD77GF 19 34 19 36 QD77GF 19 33 CPU QD77GF 19 29 Error A1...

Page 745: ... in this chapter These instructions are used to facilitate the programming for the use of the functions 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 ...

Page 746: ...the SREAD instruction when data read is completed the device on the other station is turned on Data reading from the other station by the SREAD instruction can be checked SREAD WRITE Writes data in the device of another station In units of words For the SWRITE instruction when data write is completed the other station s device is turned on It can be confirmed that data was written to the other sta...

Page 747: ...apter Errors can be confirmed with the LED display of Simple Motion module and GX Works2 When an error or warning is detected confirm the detection details and carry out the required measures 16 1 Checking errors using GX Works2 16 2 16 2 Troubleshooting 16 5 16 3 Error and warning details 16 6 16 4 List of errors 16 12 16 5 List of warnings 16 44 ...

Page 748: ...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 749: ...inary State of the 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 s...

Page 750: ...urrence is stored in binary Baton pass status each station station No 97 to 112 The baton pass status of station No 97 to 112 at error occurrence is stored in binary Baton pass status each station station No 113 to 120 The baton pass status of station No 113 to 120 at error occurrence is stored in binary Dedicated instruction name in which the error occurred The name of dedicated instruction in wh...

Page 751: ...above check items a watchdog timer error 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 t...

Page 752: ...both the 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 ...

Page 753: ...ange errors 1201 to 1209 Encoder errors 2000 Servo amplifier errors 53248 to 57343 CC Link IE Field Network communication errors Error storage When an error occurs the error detection signal turns ON and the error code corresponding to the error details is stored in the following buffer memory address Md 23 Axis error No for axis error No storage Note that there is a delay of up to operation cycle...

Page 754: ...ror error code 2000 is stored in Md 23 Axis error No and the alarm code 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 1 2488 2 2588 3 2688 4 2788 5 2888 to to 16 3988 ...

Page 755: ...f an axis warning occurs 3 Servo amplifier detection warnings These are warning that occur at the hardware error such as servo amplifier and servomotor or the inapplicable servo parameters Error or normality operation can t be executed by waning when warning is left as it is though servo off isn t executed When the warning cause is removed warning is automatically released in servo amplifier Howev...

Page 756: ...ccurs 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 Axis No Buffer memory address 1 2417 2 2517 3 2617 4 2717 5 2817 to to 16 3917 When a warning occurs on servo amplifier the warning Servo amplifier warning warning code 2000 is stored in Md 24 Axis warning No and the warning code ...

Page 757: ...is warning detection Md 31 Status b9 is turned OFF POINT When servo amplifier 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 confirme...

Page 758: ...he detailed parameter 2 rapid 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 During operation The system stops with the setting deceleration stop rapid stop of the detailed parameter 2 rapid stop selection stop group 1 Note t...

Page 759: ... 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 3 perform manual control operation refer to Chapter 11 to move the axis to the...

Page 760: ...h the setting deceleration stop rapid stop of the detailed parameter 2 rapid stop selection stop group 3 Note that the deceleration stop only occurs during the manual pulse generator operation 206 Count method movement amount fault In the count method 1 and 2 machine HPR a parameter Setting for the movement amount after proximity dog ON is smaller than a distance necessary for deceleration stop fr...

Page 761: ...deceleration time and set the movement amount after proximity dog ON so that the distance becomes a deceleration distance or longer Lower the HPR speed Adjust the proximity dog position so that the movement amount after proximity dog ON becomes longer Refer to Section 8 2 4 8 2 5 74 150n 75 150n HPR speed 1 to 1000000000 PLS s 1 to 2000000000 10 2mm min 4300 100n Positioning start No 1 to 600 7000...

Page 762: ... value is large Setting condition Inching movement amount A JOG speed limit value Use the following values for A RJ010 mode Unit ms The inching operation is not carried out when the inching movement amount exceeds a JOG speed limit at the time of inching start Operation cycle 0 88 1 77 3 55 When unit is set to PLS 1125 562 5 281 25 When unit is set to degree and Pr 83 Speed control 10 x multiplier...

Page 763: ...rect to the available HPR method 4318 100n 4319 100n JOG speed 1 to 1000000000 PLS s 1 to 2000000000 10 2mm min or others Bring the JOG speed into the setting range Refer to Section 11 2 4317 100n Inching movement amount 0 to 65535 Set a smaller inching movement amount so that the setting condition is satisfied Refer to Section 11 3 Refer to Section 5 4 List of block start data Condition data No 1...

Page 764: ... 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 or is outside the setting range 502 Illegal data No The positioning data No tried to be executed is outside the ranges of 1 to 600 7000 to 7004 and 9001 to 9004 The designation of a JUMP destination is executed currently The designati...

Page 765: ... 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 axis start data No 1 to 3 1 to 600 4342 100n Simultaneous starting axis start data No 2 4343 100n Simultaneous starting axis start data No 3 4300 100n Positioning start No 1 to 600 7000 to 7004 9001 to 9004 Normalize the positionin...

Page 766: ...eds the upper limit of the software stroke limit During the speed control mode the torque control mode the feed current 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 includin...

Page 767: ...or allowable limit 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 feed current value within the software stroke limit by the manual control operation Refer to Chapter 11 Correct the positioning address At circul...

Page 768: ...ent 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 rapid stop of the detailed par...

Page 769: ...tching 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 position speed switching ...

Page 770: ...o 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 771: ...t 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 Section 9 2 ...

Page 772: ...e An 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 co...

Page 773: ...rmalize 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 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 Check the progra...

Page 774: ...plete positioning was started at HPR request ON When executing operation setting at HPR incomplete control mode switching was executed at HPR request ON At start The system does not operate At control mode switching The mode does not change 550 Speed torque control not supported Switching to the speed torque control mode is requested to a servo amplifier which does not support the speed torque con...

Page 775: ...date set the software stroke limit upper limit value to the software stroke limit lower limit value Refer to Section 9 1 5 18 150n 19 150n Software stroke limit lower limit 20 150n 21 150n Operation setting for incompletion of HPR Operation setting for incompletion of HPR 0 1 Start after the HPR is executed Switch the control mode after the HPR is executed For systems which can operate the positio...

Page 776: ... the basic parameter 1 Unit setting is outside the setting range The READY signal X0 is not turned ON 901 Outside pulse number per rotation range The set value of the basic parameter 1 Number of pulses per rotation is outside the setting range 902 Outside movement amount per rotation range The set value of the basic parameter 1 Movement amount per rotation is outside the setting range 903 Outside ...

Page 777: ...150n 1 to 200000000 4 150n 5 150n 1 to 200000000 1 150n 1 10 100 1000 Set AL and AM values which make Movement amount per rotation AL Unit magnification AM within 2147483647 and then turn the PLC READY signal Y0 from OFF to ON With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 6 150n 7 150n 0 PLS s 0 10 2mm min or others Set the bias speed to not more than ...

Page 778: ...2 Pr 3 Pr 4 4194303 The READY signal X0 is not turned ON 921 Software stroke limit upper limit In the unit of degree the set value of the detailed parameter 1 Software stroke limit upper limit value is outside the setting range In a unit other than degree the software stroke limit upper limit value is smaller than the software stroke limit lower limit value 922 Software stroke limit lower limit In...

Page 779: ...Pr 2 Number of pulses per rotation AP Pr 3 Movement amount per rotation AL Pr 4 Unit magnification AM Pr 11 Backlash compensation amount Review the items above Refer to Section 5 2 1 or Section 5 2 3 18 150n 19 150n mm inch PLS 2147483648 to 2147483647 degree 0 to 35999999 Bring the setting into the setting range In a unit other than degree set so that the lower limit value is smaller than the upp...

Page 780: ...ection error The detailed parameter 1 Speed position function selection is preset to 2 and the following three conditions are not satisfied 1 Unit is degree 2 Software stroke limits are invalid 3 Update feed current value 936 External input signal selection error The set value of the detailed parameter 1 External input signal selection is outside the setting range 937 Forced stop valid invalid set...

Page 781: ...ns 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 OFF to ON 32 150n 0 1 2 3 4 5 6 With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 35 0 1 31 150n 0 1 With the setting of the axis is matched turn the PLC READY signal Y0 from OFF ...

Page 782: ...eration time selection is outside the setting range 958 JOG deceleration time selection setting error The set value of the detailed parameter 2 JOG operation deceleration time selection is outside the setting range 959 Acceleration deceleration process selection setting error The set value of the detailed parameter 2 Acceleration deceleration process selection is outside the setting range 960 S cu...

Page 783: ...n JOG speed limit value 1 to 1000000000 PLS s 1 to 2000000000 10 2mm min or others With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON Bring the setting into the speed limit value 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 ...

Page 784: ...que control mode is outside the setting range 978 External command signal 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 In system construction the unset up servo amplifier axis is set as the synchronous encoder via servo amplifier The servo amplifier axis set as sync...

Page 785: ...n selection at mode switching b12 to b15 0 1 69 150n 0 1 2 3 4 With remove causes switch the power on again or reset the PLC 70 150n RJ010 mode 0 4 5 6 7 CiA402 mode 8 With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 71 150n 0 1 72 150n 73 150n mm inch PLS 2147483648 to 2147483647 degree 0 to 35999999 74 150n 75 150n HPR speed 1 to 1000000000 PLS s 1 to 2...

Page 786: ...lue of the HPR detailed parameter HPR torque limit value is outside the setting range The HPR detailed parameter HPR torque limit value has exceeded the detailed parameter 1 Torque limit setting value 997 Speed designation during HP shift error The set value of the HPR detailed parameter Speed designation during HP shift is outside the setting range 998 Operation setting for incompletion of HPR er...

Page 787: ...000 88 150n 0 1 87 150n 0 1 105 132 150n Operation cycle setting RJ010 mode 0 1 2 CiA402 mode 1000H 1001H 1002H Communication mode setting 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 28401 100n 0 1 With the setting brought into 0 Use for the actual servo amplifier write to the flash ROM and switch the power on again or r...

Page 788: ...ever been executed after the system starts The home position return is started but not completed correctly The servo alarm Absolute position erased alarm No 25 or the servo warning Absolute position counter warning warning No E3 occurred Rotation direction selection travel direction selection PA14 of the servo parameter is changed The operation continues Servo amplifier 2000 Servo amplifier error ...

Page 789: ...hooting Related buffer memory address Set range Setting with sequence program Remedy Execute HPR 2488 100n Confirm the alarm code by Md 114 servo alarm and refer to the servo amplifier instruction manual for details n Axis No 1 ...

Page 790: ...hing 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 Controlled at 100 Wh...

Page 791: ...ode 109 Request to write when the PLC READY signal Y0 is OFF 4313 100n Positioning operation speed override 1 to 300 Set a value within the setting range 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 torque limit setting value 26 150n Torque limit setting value 1 to 1000 Refer to Section 5 3 Li...

Page 792: ...g is not Optional 2 word buffer memory the mark detection data type setting is outside the range All mark detections are not operated 133 Outside mark detection data buffer memory No setting range When the mark detection data type setting is Optional 2 word buffer memory the mark detection data buffer memory No is outside the range or odd number JOG operation warnings 300 Speed change during decel...

Page 793: ...20k 54005 20k Mark detection data buffer memory No 0 to 65534 Set a value 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 4318 100n 4319 100n New speed value New speed value 0 to 1000000000 PLS s 0 to 2000000000 10 2 mm min or another...

Page 794: ...ching 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 flag is turned ON Speed control mode torque control mode Th...

Page 795: ...ion change value New speed 0 to 1000000000 PLS s 0 to 2000000000 10 2 mm min or another 4336 100n 4337 100n 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 4313 100n Command speed at speed control mode Command speed at speed control mode 1000000000...

Page 796: ...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 797: ...ing the speed control mode Set Cd 146 Speed limit value at torque control mode to within the setting range during the torque control mode 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 4330 100n 4331 100n Target position change value New speed Target posit...

Page 798: ...as issued when speed change 0 flag Md 31 Status b10 was ON 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 The torque is controlled with the torque limit setting value 521 Torque initial value selection invalid At switching the control mode the ...

Page 799: ...and 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 4380 100n Torque limit setting value Torque limit setting value 1 to 1000 26 150n Operation setting for speed torque control mode Torque initial value selection b4 to b7 0 1 Use a servo amplifier which supports the servo parameter Function selecti...

Page 800: ...16 54 Chapter 16 Troubleshooting MEMO ...

Page 801: ...ervo amplifiers Appendix 14 Appendix 3 Connection with external device Appendix 17 Appendix 3 1 Connector Appendix 17 Appendix 3 2 External input signal cable Appendix 20 Appendix 3 3 Manual pulse generator MR HDP01 Appendix 26 Appendix 4 When using GX Works2 Appendix 27 Appendix 5 External dimension drawing Appendix 28 ...

Page 802: ...on 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 Item Memory area 0 150n Pr 1 Unit setting Basic parameters 1 Positioning parameters 1 150n Pr 4 Unit magnification AM 2 150n 3 150n P...

Page 803: ...150n Pr 29 Deceleration time 2 46 150n 47 150n Pr 30 Deceleration time 3 48 150n 49 150n Pr 31 JOG speed limit value 50 150n Pr 32 JOG operation acceleration time selection 51 150n Pr 33 JOG operation deceleration time selection 52 150n Pr 34 Acceleration deceleration process selection 53 150n Pr 35 S curve ratio 54 150n 55 150n Pr 36 Rapid stop deceleration time 56 150n Pr 37 Stop group 1 rapid s...

Page 804: ...nt amount after proximity dog ON HPR detailed parameters 82 150n Pr 51 HPR acceleration time selection 83 150n Pr 52 HPR deceleration time selection 84 150n 85 150n Pr 53 HP shift amount 86 150n Pr 54 HPR torque limit value 87 150n Pr 55 Operation setting for incompletion of HPR 88 150n Pr 56 Speed designation during HP shift 89 150n Pr 57 Dwell time during HPR retry 105 Pr 96 Operation cycle sett...

Page 805: ...y 4094 4p Md 10 Axis error No 31300 p Md 57 Servo alarm 4256 p Md 55 Axis error occurrence Year month 4095 4p Md 11 Axis error occurrence Day hour 4096 4p Md 12 Axis error occurrence Minute second 4157 Md 13 Error history pointer 4158 4p Md 14 Axis in which the warning occurred Warning history 4159 4p Md 15 Axis warning No 31316 p Md 58 Servo warning 4272 p Md 56 Axis warning occurrence Year month...

Page 806: ...419 100n Md 32 Target value 2420 100n 2421 100n Md 33 Target speed 2424 100n 2425 100n Md 34 Movement amount after proximity dog ON 2426 100n Md 35 Torque limit stored value forward torque limit stored value 2427 100n Md 36 Special start data instruction code setting value 2428 100n Md 37 Special start data instruction parameter setting value 2429 100n Md 38 Start positioning data No setting value...

Page 807: ...453 100n Md 102 Deviation counter value 2454 100n 2455 100n Md 103 Motor rotation speed 2456 100n Md 104 Motor current value 2457 100n Md 514 HPR operating status 2470 100n Md 107 Parameter error No 2476 100n Md 108 Servo status 2477 100n 2478 100n Md 109 Regenerative load ratio 2479 100n Md 110 Effective load torque 2480 100n Md 111 Peak torque ratio 2482 100n Md 117 Statusword 2487 100n Md 113 S...

Page 808: ... 4317 100n Cd 16 Inching movement amount 4318 100n 4319 100n Cd 17 JOG speed 4320 100n Cd 18 Interrupt request during continuous operation 4321 100n Cd 19 HPR request flag OFF request 4322 100n 4323 100n Cd 20 Manual pulse generator 1 pulse input magnification 4324 100n Cd 21 Manual pulse generator enable flag 4325 100n Cd 22 New torque value forward new torque value 4326 100n 4327 100n Cd 23 Spee...

Page 809: ...d flag 4363 100n Cd 112 Torque change function switching request 4364 100n Cd 113 New reverse torque value 4365 100n Cd 136 PI PID switching request 4366 100n Cd 45 Speed position switching device selection 4367 100n Cd 46 Speed position switching command 4374 100n Cd 138 Control mode switching request 4375 100n Cd 139 Control mode setting 4376 100n 4377 100n Cd 140 Command speed at speed control ...

Page 810: ...g data Da 2 Control method Da 3 Acceleration time No Da 4 Deceleration time No 6001 1000n Da 10 M code condition data No Number of LOOP to LEND repetitions 6002 1000n Da 9 Dwell time JUMP destination 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 6004 1000n 6005 1000n Da 8 Command speed...

Page 811: ... Da 15 Condition target No 1 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 22102 400n 22103 400n Da 17 Address 22104 400n 22105 400n Da 18 Parameter 1 22106 400n 22107 400n Da 19 Parameter 2 22110 400n to 22119 400n No 2 22120 400n to 221...

Page 812: ...address Item Memory area Set with GX Works2 Block start data Starting block 2 Positioning data Starting block data Condition data Block start data Starting block 3 Condition data Block start data Starting block 4 Condition data n Axis No 1 ...

Page 813: ...rea 54000 20k Pr 800 Mark detection signal setting Mark detection setting parameters 54001 20k Pr 801 Mark detection signal compensation time 54002 20k Pr 802 Mark detection data type 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 l...

Page 814: ...E Field Network by being attached to the MR J4 _B_ RJ010 CiA402 mode The connectable our servo amplifier is MR J4 GF The CC Link IE Field Network communication function is exclusive of the CC Link communication function It cannot be used with the CC Link communication function at the same time Refer to the servo amplifier instruction manual CC Link IE Field Network interface for details Note It ca...

Page 815: ... mode selection of the servo parameter Operation mode PA01 Set 1 Fully closed loop control in Cd 133 Semi Fully closed loop switching request The switching status of semi closed loop control fully closed loop control is indicated in Md 113 Semi Fully closed loop status For wiring the CC Link IE Field Network cable use the 1000BASE T compliant Ethernet cables Ethernet cable Connector Type Category ...

Page 816: ...EMARK Cable types The following cable types are available depending on the operating environment Standard type Cables for inside the control panel and indoor connection L type Cables for outdoor connection Cables and relay adapters of flame retardant or waterproof type are also available Please contact your local Mitsubishi representative CAUTION Connect the CC Link IE Field Network cable to the C...

Page 817: ... 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 2mm2 AWG28 Stranded 0 08mm2 Note The ext...

Page 818: ... 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 819: ...Appendix 19 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 820: ...t prepared as an option Fabricate the cable on the customer side 1 Connection diagram The connection diagram differs depending on the type of the manual pulse generator incremental synchronous encoder to be used and the connected power supply Make the cable as shown in the following connection diagram ...

Page 821: ...DI1 DI3 DI2 DI4 DICOM HBL HAL HAH HBH SG 5V EMI DI1 DI3 DI2 DI4 DICOM HB HA SG 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 Note 2 Be sure to connect the 0 V of the manual pulse generator incremental synchronous encoder and the SG of the Simple Motion module Note 3 The 5VDC power supply from the Simple Motion mo...

Page 822: ...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 Note 2 Be sure to connect the 0 V of the manual pulse generator incremental synchronous encoder and the SG of the Simple Motion module Note 3 Be sure not to be used except for supplying the power to the manual pulse gene...

Page 823: ...tor incremental synchronous encoder and the SG of the Simple Motion module Note 3 The 5VDC power supply from the Simple Motion module must not be used 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 HB...

Page 824: ...der and the SG of the Simple Motion module Note 3 Be sure not to be used except for supplying the power to the manual pulse generator 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 Note 2 5V No...

Page 825: ...racteristics 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 16mm2 8 4 pairs 7 0 18TA 115 1 0 6 8 20276FACBL 7 0 18mm 5P AWG25 0 16mm2 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 c...

Page 826: ...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 827: ...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 828: ...ppendix 28 Appendices Appendix 5 External dimension drawing 1 QD77GF4 Unit mm inch 115 4 53 3 0 12 23 0 91 27 4 1 08 98 3 86 4 0 16 2 QD77GF8 Unit mm inch 115 4 53 3 0 12 23 0 91 27 4 1 08 98 3 86 4 0 16 ...

Page 829: ...Appendix 29 Appendices 3 QD77GF16 Unit mm inch 115 4 53 3 0 12 23 0 91 27 4 1 08 98 3 86 4 0 16 ...

Page 830: ...Appendix 30 Appendices MEMO ...

Page 831: ...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 832: ... 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 833: ......

Page 834: ...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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