Mitsubishi Electric Q172DSCPU Programming Manual Download Page 1

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Summary of Contents for Q172DSCPU

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Page 2: ...r 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 by CAUTION ma...

Page 3: ...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 Motion controller servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric shocks...

Page 4: ...ied in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion controller servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire o...

Page 5: ...mpatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the 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 servo amplifier and servo power supply module The protective functions may not function if th...

Page 6: ...onnected wires or cables When transporting the servomotor never hold the cables shaft or detector When transporting the Motion controller or servo amplifier never hold the front case as it may fall off When transporting installing or removing the Motion controller or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the mass can be withstood...

Page 7: ...ct sunlight No corrosive gases flammable gases oil mist or dust must exist Altitude 1000m 3280 84ft or less above sea level Vibration According to each instruction manual When coupling with the synchronous encoder or servomotor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector damage Do not apply a load larger than the tolerable load onto the synchronous ...

Page 8: ...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 fi...

Page 9: ...tions Input power According to each instruction manual Input frequency According to each instruction manual Tolerable momentary power failure According to each instruction manual 7 Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier confirm the check details according to the instruction manual and restore the operation If a dan...

Page 10: ...orrectly When the Motion controller or absolute value motor has been replaced carry out a home position return operation using one of the following methods otherwise position displacement could occur 1 After writing the servo data to the Motion controller using programming software switch on the power again then perform a home position return operation 2 Using the backup function of the programmin...

Page 11: ...er electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident 10 General cautions A...

Page 12: ...ual Number IB NA 0300193 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2012 MITSUBISHI ELECTRIC CORPORATION ...

Page 13: ...M 2 1 to 2 6 2 1 Starting Up the Advanced Control System 2 1 2 2 Starting Ending for Synchronous Control 2 2 2 3 Stop Operation of Output Axis 2 5 3 SYNCHRONOUS CONTROL MODULE 3 1 to 3 4 3 1 List of Synchronous Control Module 3 1 4 POSITIONING DEDICATED SIGNALS 4 1 to 4 40 4 1 Internal Relays 4 3 4 2 Data Registers 4 20 4 3 Motion Registers 4 37 4 4 Special Relays SM 4 39 4 5 Special Registers SD ...

Page 14: ...iary shaft parameters 7 15 7 2 3 Auxiliary shaft clutch parameters 7 18 7 2 4 Auxiliary shaft clutch control data 7 26 7 3 Clutch 7 27 7 3 1 Overview of clutch 7 27 7 3 2 Control method for clutch 7 27 7 3 3 Smoothing method for clutch 7 34 7 3 4 Use example of clutch 7 38 7 4 Speed Change Gear Module 7 39 7 4 1 Overview of speed change gear module 7 39 7 4 2 Speed change gear parameters 7 40 7 5 ...

Page 15: ...PENDICES APP 1 to APP 78 APPENDIX 1 Error Codes Stored Using the Motion CPU APP 1 APPENDIX 1 1 Servo program setting errors Stored in SD517 APP 4 APPENDIX 1 2 Minor errors APP 9 APPENDIX 1 3 Major errors APP 23 APPENDIX 1 4 Servo errors APP 36 APPENDIX 2 Setting Range for Indirect Setting Devices APP 37 APPENDIX 3 Processing Times of the Motion CPU APP 39 APPENDIX 4 Sample Program of Synchronous C...

Page 16: ...B 0300135 1XB929 Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE This manual explains the servo parameters positioning instructions device lists error lists and others IB 0300136 1XB930 Q173D S CPU Q172D S CPU Motion controller SV22 Programming Manual VIRTUAL MODE This manual explains the dedicated instructions to use the synchronous control by virtual main shaft m...

Page 17: ...ent function modules SH 080485ENG 13JR75 QnUCPU User s Manual Communication via Built in Ethernet Port This manual explains functions for the communication via built in Ethernet port of the CPU module SH 080811ENG 13JZ29 MELSEC Q L Programming Manual Common Instruction This manual explains how to use the sequence instructions basic instructions application instructions and micro computer program S...

Page 18: ... MR J3W B Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for 2 axis AC Servo Amplifier MR J3W B Servo amplifier SH 030073 1CW604 SSCNET Compatible Linear Servo MR J3 B RJ004 Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for Linear Servo MR J3 B RJ004 Servo am...

Page 19: ...A 18 MEMO ...

Page 20: ...odule QnUD E H CPU Multiple CPU system or Motion system Abbreviation for Multiple PLC system of the Q series CPUn Abbreviation for CPU No n n 1 to 4 of the CPU module for the Multiple CPU system Operating system software General name for SW7DNC SV Q SW8DNC SV Q SV13 Operating system software for conveyor assembly use Motion SFC SW8DNC SV13Q SV22 Operating system software for automatic machinery us...

Page 21: ...ion CPU module Motion unit Q173D S CPU Q172D S CPU Motion controller User s Manual PLC CPU peripheral devices for sequence program design I O modules and intelligent function module Manual relevant to each module Operation method for MT Developer2 Help of each software Multiple CPU system configuration Performance specification Design method for common parameter Auxiliary and applied functions com...

Page 22: ...d When handling printed circuit boards with bare hands you must ground your body or the work bench Do not touch current carrying or electric parts of the equipment with bare hands Make parameter settings within the ranges stated in this manual Use the program instructions that are used in programs in accordance with the conditions stipulated in this manual Some devices for use in programs have fix...

Page 23: ...nged on two of Main shaft side Auxiliary shaft side or After composite auxiliary shaft gear Servo amplifier Servo motor Axis 3 Axis 2 Cam Composite auxiliary shaft gear Main shaft clutch Speed change gear Note 2 Speed change gear Note 2 Output axis Servo amplifier Servo motor Composite main shaft gear Auxiliary shaft gear Auxiliary shaft clutch Auxiliary shaft axis Main shaft gear Positioning star...

Page 24: ...tion return function Home position return re try function provided home position shift function provided JOG operation function Provided Manual pulse generator operation function Possible to connect 3 modules Q173DPX use Possible to connect 1 module Built in interface in Motion CPU use Note 1 Synchronous encoder operation function Note 2 Possible to connect 12 module SV22 use Q172DEX Q173DPX Built...

Page 25: ... of Motion related modules Q173DPX 4 modules usable Note 5 Note 1 When the manual pulse generator is used via the built in interface in Motion CPU the Q173DPX cannot be used Note 2 Any incremental synchronous encoder connected to the built in interface in Motion CPU will automatically be assigned an Axis No one integer greater than the number of encoders connected to any Q172DEX modules and Q173DP...

Page 26: ...y Cam open area 1048576 bytes Number of cam registration Note 1 Up to 256 Dependent on memory capacity cam resolution and coordinate number Comment Up to 32 characters per cam data Cam resolution 256 512 1024 2048 4096 8192 16384 32768 Stroke ratio data format Stroke ratio 214 7483648 to 214 7483647 Coordinate number 2 to 16384 Cam data Coordinate data format Coordinate data Input value 0 to 21474...

Page 27: ...er axis specifications Item Specification Number of control axes 12 Synchronous encoder axis type Synchronous encoder Pn Via device Control unit mm inch degree PLS Possible to select the decimal places of position unit and speed unit Numerator 2147483648 to 2147483647 Synchronous encoder axis position unit Unit conversion Denominator 1 to 2147483647 PLS Length per cycle setting range 1 to 21474836...

Page 28: ...ommand M3212 20n valid in speed control 00B Note 3 External forced stop input ON latch SM506 00B Note 4 Operation method SD560 00B Note 4 Advanced synchronous control 00B 1 47Z This manual Limit switch output function expansion 00B 1 47Z Note 4 There is no restriction by the version Note 1 SV13 SV22 is the completely same version Note 2 The operating system software version can be confirmed in the...

Page 29: ...s supported to Motion CPU are shown below MELSOFT MT Works2 MT Developer2 Motion CPU SV13 SV22 SV43 MR Configurator2 MR Configurator Q173DSCPU 1 39R Note 1 1 10L Not support Q172DSCPU 1 39R Note 1 1 10L Not support Note 1 Use version 1 47Z or later to use advanced synchronous method ...

Page 30: ...nous control Monitor the synchronous control change Complete synchronous control System setting Multiple CPU settings Automatic refresh setting Refer to the Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE Set the following positioning parameter Fixed parameters Servo parameters Parameter blocks Limit switch output data Refer to the Q173D S CPU Q172D S CPU Motion co...

Page 31: ...ynchronous control begins if the target axis bit device is turned ON Synchronous control ends if the bit device is turned OFF during synchronous control OFF Synchronous control end ON Synchronous control start Operation cycle OFF M12000 n Rq 381 Synchronous analysis request If the target axis bit device is turned ON and synchronous control is started the analysis is only executed and the control d...

Page 32: ...mpletion at the synchronous control start St 381 Synchronous analysis complete M10912 n turns ON by the analysis completion at the synchronous control analysis mode start 4 Ending method for synchronous control Synchronous control can be ended by turning Rq 380 Synchronous control start M12000 n from ON to OFF after the input axis operation is stopped St 380 Synchronous control start M10880 n turn...

Page 33: ...ronous control start the travel value of the input axis is reflected immediately after the synchronous control start The output axis might suddenly accelerate depending on the travel value of the input axis Start the input axis operation after confirming that are configured for synchronous control c The analysis process for synchronous control start might take time depending on the parameter setti...

Page 34: ...r Servo error occurrence Servo amplifier power supply is turned from ON to OFF Immediate stop Software stroke limit error occurrence External input signal STOP FLS RLS input Stop processing on STOP input Deceleration stop The Motion CPU is turned from RUN to STOP The PLC ready flag M2000 is turned from ON to OFF Stop command input Deceleration stop External input signal STOP FLS RLS input Stop pro...

Page 35: ... feed value D0 20n D1 20n Md 407 Cam axis current value per cycle D13612 30n D13613 30n Rq 380 Synchronous control start M12000 n St 380 Synchronous control M10880 n Start accept flag M2001 n Command speed 8004 20n 8005 20n Deceleration stop rapid stop cause t t POINT 1 Since the synchronous control ends by the output axis stop the current feed value during deceleration stop draws the path regardl...

Page 36: ...coder axis Servo input axis parameter Servo input axis Command generation axis parameter Command generation axis Input axis module Synchronous encoder axis parameter Synchronous encoder axis Servo input axis parameter Servo input axis Command generation axis parameter Command generation axis Input axis module Command generation axis parameter Command generation axis Servo input axis parameter Serv...

Page 37: ...t axis Used to drive the input axis with the position of the servomotor controlled by the Q173DSCPU Q172DSCPU 32 16 Section 5 1 Command generation axis Used to drive the input axis with the only position command generated in the servo program 32 16 Section 5 2 Input axis module Synchronous encoder axis Used to drive the input axis with input pulse from the synchronous encoder 12 Section 5 3 ...

Page 38: ...uxiliary shaft axis The input axis of the auxiliary shaft module 32 16 1 Section 7 2 Auxiliary shaft gear The converting auxiliary shaft travel value is transmitted by the setting gear ratio 32 16 1 Section 7 2 Auxiliary shaft clutch The auxiliary shaft travel value is transmitted by the clutch ON OFF 32 16 1 Section 7 2 Section 7 3 Auxiliary shaft module Composite auxiliary shaft gear The composi...

Page 39: ...3 4 3 SYNCHRONOUS CONTROL MODULE MEMO ...

Page 40: ...t The upper lower limit of the positioning range is controlled Stop signal This signal makes the starting axis stop Proximity dog signal ON OFF signal from the proximity dog Speed position switching signal Signal for switching from speed to position Manual pulse generator input Signal from the manual pulse generator Note Device memory data 1 2 Multiple CPU high speed bus Device memory PLC control ...

Page 41: ...2 11 10 19 18 27 26 4 3 12 11 20 19 28 27 5 4 13 12 21 20 29 28 6 5 14 13 22 21 30 29 7 6 15 14 23 22 31 30 8 7 16 15 24 23 32 31 Calculate as follows for the device No corresponding to each axis Example For axis 32 M3200 20n Stop command M3200 20 31 M3820 M3215 20n Servo OFF command M3215 20 31 M3835 The range of axis No 1 to 16 is valid in the Q172DSCPU 2 In the positioning dedicated signals n i...

Page 42: ...xis command signal 20 points 32 axes M3840 to User device 4352 points M8192 Note 1 to System area 1608 points M9800 Note 1 to Command generation axis status 20 points 32 axes M10440 Note 1 to Synchronous encoder axis status 10 points 12 axes M10560 Note 1 to Output axis status 10 points 32 axes M10880 Note 1 to Synchronous control signal St 380 32 points M10912 Note 1 to Synchronous analysis compl...

Page 43: ... 380 32 points M12032 Note 1 to Synchronous analysis request signal Rq 381 32 points M12064 Note 1 to M12287 Note 1 Unusable 224 points It can be used as an user device POINT 1 Total number of user device points 6352 points 2 Note 1 Do not set M8192 to M12287 as the latch range in advanced synchronous control method 3 This manual describes only details for internal relays used in the synchronous c...

Page 44: ...on cycle 15 M2680 to M2699 11 FLS 16 M2700 to M2719 12 RLS 17 M2720 to M2739 13 STOP 18 M2740 to M2759 14 External signals DOG CHANGE Main cycle 19 M2760 to M2779 15 Servo ready 20 M2780 to M2799 16 Torque limiting Operation cycle Status signal 21 M2800 to M2819 17 22 M2820 to M2839 18 Unusable 23 M2840 to M2859 19 M code outputting Operation cycle Status signal 24 M2860 to M2879 25 M2880 to M2899...

Page 45: ...519 10 17 M3520 to M3539 11 Unusable 18 M3540 to M3559 19 M3560 to M3579 12 Feed current value update command At start Command signal 20 M3580 to M3599 13 21 M3600 to M3619 14 Unusable 22 M3620 to M3639 15 Servo OFF command Operation cycle 23 M3640 to M3659 16 Gain changing command 24 M3660 to M3679 17 PI PID switching command Operation cycle Note 1 25 M3680 to M3699 18 Control loop changing comma...

Page 46: ...17 M10120 to M10139 8 18 M10140 to M10159 9 Unusable 19 M10160 to M10179 20 M10180 to M10199 10 St 345 Command generation axis start accept flag 21 M10200 to M10219 22 M10220 to M10239 11 St 346 Command generation axis speed change accepting flag 23 M10240 to M10259 24 M10260 to M10279 12 St 347 Command generation axis speed change 0 accepting flag 25 M10280 to M10299 26 M10300 to M10319 13 St 348...

Page 47: ... 5 15 M11240 to M11259 6 Unusable 16 M11260 to M11279 17 M11280 to M11299 7 Rq 346 Command generation axis error reset command Main cycle Command signal 18 M11300 to M11319 8 19 M11320 to M11339 9 20 M11340 to M11359 10 21 M11360 to M11379 11 Unusable 22 M11380 to M11399 23 M11400 to M11419 12 Rq 347 Feed current value update request command At start Command signal 24 M11420 to M11439 13 25 M11440...

Page 48: ...r detection flag Immediate Status signal 5 Unusable 6 St 325 Synchronous encoder axis control complete flag Immediate Status signal 7 8 9 Unusable POINT Refer to Section 5 3 5 for details of synchronous encoder axis status 7 Synchronous encoder axis command signal list Axis No Device No Signal name 1 M11600 to M11603 2 M11604 to M11607 3 M11608 to M11611 Symbol Signal name Refresh cycle Fetch cycl...

Page 49: ...9 13 M10680 to M10689 6 St 426 Control change complete Operation cycle Status signal 14 M10690 to M10699 7 15 M10700 to M10709 8 16 M10710 to M10719 9 Unusable 17 M10720 to M10729 18 M10730 to M10739 19 M10740 to M10749 20 M10750 to M10759 21 M10760 to M10769 22 M10770 to M10779 23 M10780 to M10789 24 M10790 to M10799 25 M10800 to M10809 26 M10810 to M10819 27 M10820 to M10829 28 M10830 to M10839 ...

Page 50: ...o M11819 6 Rq 405 Auxiliary shaft clutch forced OFF command Operation cycle Command signal 15 M11820 to M11829 7 Unusable 16 M11830 to M11839 17 M11840 to M11849 8 Rq 406 Control change request command Operation cycle Command signal 18 M11850 to M11859 9 Unusable 19 M11860 to M11869 20 M11870 to M11879 21 M11880 to M11889 22 M11890 to M11899 23 M11900 to M11909 24 M11910 to M11919 25 M11920 to M11...

Page 51: ...0897 19 M10898 20 M10899 21 M10900 22 M10901 23 M10902 24 M10903 25 M10904 26 M10905 27 M10906 28 M10907 29 M10908 30 M10909 31 M10910 32 M10911 St 380 Synchronous control Operation cycle Status signal POINT 1 The range of axis No 1 to 16 is valid in the Q172DSCPU 2 The device area more than 17 axes in the Q172DSCPU can be used as an user device However when the project of Q172DSCPU is replaced wi...

Page 52: ...19 M10930 20 M10931 21 M10932 22 M10933 23 M10934 24 M10935 25 M10936 26 M10937 27 M10938 28 M10939 29 M10940 30 M10941 31 M10942 32 M10943 St 381 Synchronous analysis complete Operation cycle Status signal POINT 1 The range of axis No 1 to 16 is valid in the Q172DSCPU 2 The device area more than 17 axes in the Q172DSCPU can be used as an user device However when the project of Q172DSCPU is replac...

Page 53: ... 19 M12018 20 M12019 21 M12020 22 M12021 23 M12022 24 M12023 25 M12024 26 M12025 27 M12026 28 M12027 29 M12028 30 M12029 31 M12030 32 M12031 Rq 380 Synchronous control start Operation cycle Command signal POINT 1 The range of axis No 1 to 16 is valid in the Q172DSCPU 2 The device area more than 17 axes in the Q172DSCPU can be used as an user device However when the project of Q172DSCPU is replaced...

Page 54: ...0 20 M12051 21 M12052 22 M12053 23 M12054 24 M12055 25 M12056 26 M12057 27 M12058 28 M12059 29 M12060 30 M12061 31 M12062 32 M12063 Rq 381 Synchronous analysis request At start of synchronous control Command signal POINT 1 The range of axis No 1 to 16 is valid in the Q172DSCPU 2 The device area more than 17 axes in the Q172DSCPU can be used as an user device However when the project of Q172DSCPU i...

Page 55: ...accepting flag Operation cycle Status signal Note 1 Note 2 M2032 Axis 32 Start accept flag Operation cycle Status signal Note 1 Note 2 M2093 M2033 M2094 M2034 Unusable 2 points M2095 M2035 Motion error history clear request flag Main cycle Command signal M3080 M2096 M2036 M2097 M2037 Unusable 2 points M2098 M2038 Motion SFC debugging flag At debugging mode transition M2099 M2039 Motion error detec...

Page 56: ...151 Axis 24 M2223 M2152 Axis 25 M2224 M2153 Axis 26 M2225 M2154 Axis 27 M2226 M2155 Axis 28 M2227 M2156 Axis 29 M2228 M2157 Axis 30 M2229 M2158 Axis 31 M2230 M2159 Axis 32 Automatic decelerating flag Operation cycle Status signal Note 1 Note 2 M2231 M2160 M2232 M2161 M2233 M2162 M2234 M2163 M2235 M2164 M2236 M2165 M2237 M2166 M2238 M2167 M2239 Unusable 46 points M2168 M2240 Axis 1 M2169 M2241 Axis...

Page 57: ...r status Operation cycle Status signal Note 1 Note 2 M2277 Axis 6 M2304 M2278 Axis 7 M2305 M2279 Axis 8 M2306 M2280 Axis 9 M2307 M2281 Axis 10 M2308 M2282 Axis 11 M2309 M2283 Axis 12 M2310 M2284 Axis 13 M2311 M2285 Axis 14 M2312 M2286 Axis 15 M2313 M2287 Axis 16 M2314 M2288 Axis 17 M2315 M2289 Axis 18 M2316 M2290 Axis 19 M2317 M2291 Axis 20 M2318 M2292 Axis 21 Control loop monitor status Operation...

Page 58: ...ement when the device of a remark column is turned ON OFF directly In addition when the request from a data register and the request from the above device are performed simultaneously the request from the above device becomes effective Note 2 It can also be ordered the device of a remark column Note 3 Do not use it as an user device It can be used as a device that performs automatic refresh becaus...

Page 59: ...ints D12280 Note 1 to Servo input axis monitor device 10 points 32 axes D12600 Note 1 to Command generation axis monitor device 20 points 32 axes D13240 Note 1 to Synchronous encoder axis monitor device 20 points 12 axes D13480 Note 1 to Unusable 120 points D13600 Note 1 to Output axis monitor device 30 points 32 axes D14560 Note 1 to Unusable 40 points D14600 Note 1 to Servo input axis control de...

Page 60: ...oints 32 axes D19800 Note 1 to D19823 Note 1 Unusable 24 points It can be used as an user device POINT 1 Total number of points for the user devices 9440 points 2 Note 1 Do not set D8192 to D19823 as the latch range in advanced synchronous control method 3 This manual describes only details for data registers used in the synchronous control If it is required refer to the Q173D S CPU Q172D S CPU Mo...

Page 61: ...a set pointer for constant speed control At start during start Monitor device 21 D400 to D419 16 22 D420 to D439 17 Unusable Note 1 23 D440 to D459 18 24 D460 to D479 19 Real current value at stop input Operation cycle Monitor device 25 D480 to D499 26 D500 to D519 27 D520 to D539 28 D540 to D559 29 D560 to D579 30 D580 to D599 31 D600 to D619 32 D620 to D639 Note 1 It can be used as the travel va...

Page 62: ...1 17 D672 D673 18 D674 D675 19 D676 D677 20 D678 D679 21 D680 D681 22 D682 D683 23 D684 D685 24 D686 D687 25 D688 D689 26 D690 D691 27 D692 D693 28 D694 D695 29 D696 D697 30 D698 D699 31 D700 D701 32 D702 D703 POINT 1 The range of axis No 1 to 16 is valid in the Q172DSCPU 2 The device area more than 17 axes in the Q172DSCPU can be used as an user device However when the project of Q172DSCPU is rep...

Page 63: ...ion cycle Monitor device 12 D12390 to D12399 8 13 D12400 to D12409 9 Unusable 14 D12410 to D12419 15 D12420 to D12429 16 D12430 to D12439 17 D12440 to D12449 18 D12450 to D12459 19 D12460 to D12469 20 D12470 to D12479 21 D12480 to D12489 22 D12490 to D12499 23 D12500 to D12509 24 D12510 to D12519 25 D12520 to D12529 26 D12530 to D12539 27 D12540 to D12549 28 D12550 to D12559 29 D12560 to D12569 30...

Page 64: ...4624 D14625 14 D14626 D14627 15 D14628 D14629 16 D14630 D14631 17 D14632 D14633 18 D14634 D14635 19 D14636 D14637 20 D14638 D14639 21 D14640 D14641 22 D14642 D14643 23 D14644 D14645 24 D14646 D14647 25 D14648 D14649 26 D14650 D14651 27 D14652 D14653 28 D14654 D14655 29 D14656 D14657 30 D14658 D14659 31 D14660 D14661 32 D14662 D14663 POINT 1 The range of axis No 1 to 16 is valid in the Q172DSCPU 2 ...

Page 65: ...ion cycle Monitor device 15 D12880 to D12899 8 Unusable 16 D12900 to D12919 17 D12920 to D12939 9 Md 346 Command generation axis data set pointer for constant speed control At start during start 18 D12940 to D12959 10 19 D12960 to D12979 11 Md 347 Command generation axis current value per cycle 20 D12980 to D12999 12 21 D13000 to D13019 13 Md 348 Command generation axis command speed Operation cyc...

Page 66: ...D14724 to D14727 13 D14728 to D14731 14 D14732 to D14735 15 D14736 to D14739 16 D14740 to D14743 17 D14744 to D14747 18 D14748 to D14751 19 D14752 to D14755 20 D14756 to D14759 21 D14760 to D14763 22 D14764 to D14767 23 D14768 to D14771 24 D14772 to D14775 25 D14776 to D14779 26 D14780 to D14783 27 D14784 to D14787 28 D14788 to D14791 29 D14792 to D14795 30 D14796 to D14799 31 D14800 to D14803 32 ...

Page 67: ...nous encoder axis current value per cycle 8 D13380 to D13399 4 9 D13400 to D13419 5 Md 322 Synchronous encoder axis speed 10 D13420 to D13439 6 11 D13440 to D13459 7 Md 323 Synchronous encoder axis phase compensation amount 12 D13460 to D13479 8 9 Md 324 Synchronous encoder axis rotation direction restriction amount Operation cycle 10 Md 327 Synchronous encoder axis minor error code 11 Md 326 Sync...

Page 68: ... 6 D14870 to D14879 7 D14880 to D14889 2 Cd 320 Synchronous encoder axis control start condition 8 D14890 to D14899 9 D14900 to D14909 3 Cd 321 Synchronous encoder axis control method 10 D14910 to D14919 4 11 D14920 to D14929 5 Cd 322 Synchronous encoder axis current value setting address At synchronous encoder axis control start 12 D14930 to D14939 6 7 Cd 325 Input value for synchronous encoder v...

Page 69: ...mpensation amount 16 D14050 to D14079 12 17 D14080 to D14109 13 Md 407 Cam axis current value per cycle 18 D14110 to D14139 14 19 D14140 to D14169 15 Md 408 Cam reference position 20 D14170 to D14199 16 21 D14200 to D14229 17 Md 409 Cam axis current feed value 22 D14230 to D14259 18 Md 410 Execute cam No Operation cycle Monitor device 23 D14260 to D14289 19 Unusable 24 D14290 to D14319 20 25 D1432...

Page 70: ...ss Operation cycle 21 D18000 to D18149 16 22 D18150 to D18299 17 Pr 410 Travel value before main shaft clutch OFF At completing clutch OFF condition 23 D18300 to D18449 18 Pr 411 Main shaft clutch smoothing method 24 D18450 to D18599 25 D18600 to D18749 19 Pr 412 Main shaft clutch smoothing time constant At start of synchronous control 26 D18750 to D18899 20 27 D18900 to D19049 21 Pr 413 Slippage ...

Page 71: ...ange ratio 1 Denominator Operation cycle 19 D17700 to D17849 52 Pr 490 Speed change gear 2 20 D17850 to D17999 21 D18000 to D18149 53 Pr 491 Speed change gear 2 smoothing time constant At start of synchronous control 22 D18150 to D18299 54 23 D18300 to D18449 55 Pr 492 Speed change ratio 2 Numerator 24 D18450 to D18599 56 25 D18600 to D18749 57 Pr 493 Speed change ratio 2 Denominator Operation cyc...

Page 72: ...00 to D18449 90 24 D18450 to D18599 91 25 D18600 to D18749 92 26 D18750 to D18899 93 27 D18900 to D19049 94 28 D19050 to D19199 95 29 D19200 to D19349 96 30 D19350 to D19499 97 31 D19500 to D19649 98 32 D19650 to D19799 99 Unusable 100 Pr 460 Setting method of current value per cycle after main shaft gear 101 Pr 461 Setting method of current value per cycle after auxiliary shaft gear 102 Pr 462 Ca...

Page 73: ...to D16799 120 13 D16800 to D16949 121 14 D16950 to D17099 122 15 D17100 to D17249 123 16 D17250 to D17399 124 17 D17400 to D17549 125 18 D17550 to D17699 126 19 D17700 to D17849 127 20 D17850 to D17999 128 21 D18000 to D18149 129 Unusable 22 D18150 to D18299 23 D18300 to D18449 130 Cd 407 Synchronous control change command 24 D18450 to D18599 131 Cd 409 Synchronous control reflection time 25 D1860...

Page 74: ...o 1 to 16 is valid in the Q172DSCPU 2 The device area more than 17 axes in the Q172DSCPU can be used as an user device 3 Refer to Section 7 1 2 Section 7 1 3 Section7 2 3 Section7 4 2 Section7 5 2 Section7 6 2 and Section8 5 for details of output axis control device ...

Page 75: ...62 D715 Manual pulse generator axis 1 No setting register D763 D716 D764 D717 Manual pulse generator axis 2 No setting register D765 D718 D766 D719 Manual pulse generator axis 3 No setting register D767 D720 Axis 1 D768 D721 Axis 2 D769 D722 Axis 3 D770 D723 Axis 4 D771 D724 Axis 5 D772 D725 Axis 6 D773 D726 Axis 7 D774 D727 Axis 8 D775 D728 Axis 9 D776 D729 Axis 10 D777 D730 Axis 11 D778 D731 Axi...

Page 76: ...19 2 7 8120 to 8139 3 Motor speed Operation cycle 1 7 ms or less Operation cycle Operation cycle 3 5 ms or more 3 5 ms 8 8140 to 8159 4 9 8160 to 8179 5 Command speed Operation cycle 10 8180 to 8199 6 11 8200 to 8219 7 Home position return re travel value At home position return re travel 12 8220 to 8239 13 8240 to 8259 8 Servo amplifier display servo error code 14 8260 to 8279 9 Parameter error N...

Page 77: ...he product information list devices are shown below Device No Signal name Refresh cycle Fetch cycle Signal direction 8736 to 8743 Operating system software version 8744 to 8751 Motion CPU module serial number At power on Monitor device POINT Refer to the Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE for details of product information list device ...

Page 78: ...ecial relays Table 4 1 Special relay list Device No Signal name Refresh cycle Fetch cycle Signal type SM500 PCPU REDAY complete flag SM501 TEST mode ON flag Main cycle SM502 External forced stop input flag Operation cycle SM503 Digital oscilloscope executing flag Main cycle SM506 External forced stop input ON latch flag Ver Operation cycle SM508 Amplifier less operation status flag SM510 TEST mode...

Page 79: ...ng information At power supply on operation cycle SD508 SSCNET control status Main cycle SD510 SD511 Test mode request error information At test mode request SD512 Motion CPU WDT error cause At Motion CPU WDT error occurrence SD513 SD514 SD515 Manual pulse generator axis setting error information At the manual pulse generator enable flag SD516 Error program No SD517 Error item information At start...

Page 80: ...e Pr 303 Servo input axis phase compensation time constant Pr 304 Servo input axis rotation direction restriction Current value of servo input axis Md 303 Servo input axis rotation direction restriction amount D12286 10n D12287 10n Md 302 Servo input axis phase compensation amount D12284 10n D12285 10n Phase compensation processing Pr 300 Servo input axis type Md 300 Servo input axis current value...

Page 81: ...tting Servo input axis position unit Range 0 mm 10 4 mm 10 1 μm 214748 3648 to 214748 3647 mm 214748364 8 to 214748364 7 μm 1 inch 10 5 inch 21474 83648 to 21474 83647 inch 2 degree 10 5 degree 21474 83648 to 21474 83647 degree 1 Current feed value 2 Real current value 3 PLS PLS 2147483648 to 2147483647 PLS 3 Servo command value 4 Feedback value PLS 2147483648 to 2147483647 PLS Table 5 2 Servo inp...

Page 82: ...ack value in Pr 300 Servo input axis type 2 When a home position return for the axis where 1 Current feed value or 2 Real current value is set in Pr 300 Servo input axis type is performed if the servo input axis operation during home position return is used as the input value the input is stopped in the midway of home position return When the servo input axis operation during home position return ...

Page 83: ...Set this parameter to restrict the input travel value to one direction 0 Without rotation direction restriction 1 Enable only for current value increase direction 2 Enable only for current value decrease direction At power supply ON 0 1 Pr 300 Servo input axis type Set the current value type to be generated of the input value for the servo input axis 0 Invalid Servo input axis is invalid 1 Current...

Page 84: ...othing time constant Averaging by smoothing time constant 3 Pr 302 Servo input axis phase compensation advance time D14600 2n D14601 2n Set the time to advance or delay the phase input response of the servo input axis Refer to Section 8 1 for the peculiar time delay of the system using the servo input axis 1 to 2147483647 μs Advance the phase input response according to the setting time 0 μs Do no...

Page 85: ...ime D14600 2n D14601 2n Speed before phase compensation t t t t Current value before phase compensation Current value after phase compensation Md 302 Servo input axis phase compensation amount D12284 10n D12285 10n Speed before phase compensation Speed after phase compensation Servo input axis current value 63 63 Pr 303 Servo input axis phase compensation time constant Pr 303 Servo input axis phas...

Page 86: ...will be reflected when the input travel value moves in the enabled direction again Therefore the current value of servo input does not deviate when the reverse operation is repeated The rotation direction restricted amount is set to 0 at the following timing 1 At home position return complete 2 At current value change complete 3 At speed control complete when the control is started by turning OFF ...

Page 87: ... 5 1 1 as follows The current value for the servo input axis is the value after processing the smoothing the phase compensation and the rotation direction restriction Setting value of Pr 300 Servo input axis type Storage details 1 Current feed value 2 Real current value The accumulative current value started with Current feed value Real current value for the connection to the servo amplifier is st...

Page 88: ...e direction of the enabled direction is stored in servo input axis position units Refer to Section 5 1 1 as follows Setting value of Pr 304 Servo input axis rotation direction restriction Storage details 1 Enable only for current value increase direction A negative accumulation is stored during rotation direction restriction 0 is stored if there is no restriction 2 Enable only for current value de...

Page 89: ...used with command generation axis are shown below Control mode Servo instruction Usable unusable Linear control ABS 1 ABS 2 ABS 3 ABS 4 INC 1 ABS 2 INC 3 INC 4 Circular interpolation control ABS circular INC circular Helical interpolation control ABS helical INC helical Fixed pitch feed FEED 1 FEED 2 FEED 3 Constant speed control CPSTART1 CPSTART2 CPSTART3 CPSTART4 Speed control VF VR Speed contro...

Page 90: ...for 32 axes are stored corresponding to each bit As for a bit s actually being set Q173DSCPU J1 to J32 Q172DSCPU J1 to J16 OFF Start accept enable ON Start accept disable b1 b15 J16 J32 20FH 527 address 20EH 526 address J2 J1 J18 J17 b0 b14 b2 The following control change can be performed for the command generation axis 1 Current value change a When CHGA instruction of servo program Kn is used CHG...

Page 91: ...g Pr 341 command generation axis type Table 5 3 Command generation axis position units Setting value of Pr 341 command generation axis type Command generation axis position unit Range 0 mm 10 1 μm 214748364 8 to 214748364 7 μm 1 inch 10 5 inch 21474 83648 to 21474 83647 inch 2 degree 10 5 degree 21474 83648 to 21474 83647 degree 3 PLS PLS 2147483648 to 2147483647 PLS Table 5 4 Command generation a...

Page 92: ... address If it is set outside the setting range a servo program setting error n03 occurs and it does not start Positioning address is input at the program start e It is controlled in the fixed position stop acceleration deceleration time set in the servo program at positioning start speed change request CHGVS and fixed position stop command ON The fixed acceleration deceleration time method is use...

Page 93: ...osition check starts When the absolute value of difference between the setting address and feed current value below the Pr 344 Command generation axis command in position range set in the command generation axis parameter the St 342 Command generation axis command in position M9803 20n turns on The St 342 Command generation axis command in position M9803 20n turns on by a positioning start l A pos...

Page 94: ...er setting for degree axis Set whether the positioning control is executed with a value 10 multiplier the speed of a command speed setting when a control unit is degree axis 0 Invalid 1 Valid 0 Pr 346 Command generation axis length per cycle Set the length per cycle of command generation axis 0 Invalid 1 to 2147483647 Command generation axis position units Note 1 0 Pr 347 Command generation axis J...

Page 95: ...e Setting value of Pr 345 Command generation axis speed control 10 multiplier setting for degree axis Command generation axis speed unit Range 0 Invalid 10 3 degree min 2147483 648 to 2147483 647 degree min 1 Valid 10 2 degree min 21474836 48 to 21474836 47 degree min 7 Pr 346 Command generation axis length per cycle Set the length per cycle for the command generation axis current value per cycle ...

Page 96: ...rt command Set the forward rotation JOG start command of command generation axis ON Forward rotation started OFF Forward rotation not started OFF M10962 20n Rq 344 Command generation axis reverse rotation JOG start command Set the reverse rotation JOG start command of command generation axis ON Reverse rotation started OFF Reverse rotation not started OFF M10963 20n Rq 345 Command generation axis ...

Page 97: ...3 Command generation axis forward rotation JOG start command M10962 20n JOG operation to the address increase direction is executed while Rq 343 Command generation axis forward rotation JOG start command M10962 20n is turning on When M10962 20n is turned off a deceleration stop is executed in the deceleration time set in the parameter block The operation at forward rotation JOG start command input...

Page 98: ...signal has turn on M9807 20n ON and reset the St 344 Command generation axis error detection signal M9807 20n 7 Rq 347 Feed current value update request command M10972 20n This signal is used to set whether the feed current value will be updated or not at the speed control of command generation axis ON OFF state is loaded at speed control start ON The feed current value is updated OFF The feed cur...

Page 99: ...generation axis is stored 0 to 32767 D12605 20n Md 345 Command generation axis accumulative current value The accumulative current value for the command generation axis is stored 2147483648 to 2147483647 Command generation axis position units Note 1 Operation cycle D12606 20n D12607 20n Md 346 Command generation axis data set pointer for constant speed control The data set pointer for constant spe...

Page 100: ... of command generation axis at the servo program starting 5 Md 344 Command generation axis M code D12605 20n This register stores the M code set to the executed servo program of command generation axis at the positioning start If M code is not set in the servo program the value 0 is stored 6 Md 345 Command generation axis accumulative current value D12606 20n D12607 20n The accumulative current va...

Page 101: ...ion axis is stored in the range from 0 to Pr 346 Command generation axis length per cycle 1 The unit is command generation axis position units Refer to Section 5 2 1 9 Md 348 Command generation axis command speed D12612 20n D12613 20n The command speed for a command generation axis is stored in command generation axis speed units Refer to Section 5 2 1 ...

Page 102: ...ot started M9810 20n St 346 Command generation axis speed change accepting flag The speed change accepting flag for the command generation axis is stored ON Speed change accepting OFF Speed change not accepting M9811 20n St 347 Command generation axis speed change 0 accepting flag The speed change 0 accepting flag flag for the command generation axis is stored ON Speed change 0 accepting OFF Speed...

Page 103: ...command in position range This signal turns off in the following cases Positioning control start Speed control JOG operation 4 St 343 Command generation axis speed controlling M9804 20n a This signal turns on during speed control of command generation axis and it is used as judgement of during the speed control or position control b This signal turns off at the power supply on and during position ...

Page 104: ...xis is accepting a speed change request to speed 0 or negative speed change request The details operation is the same as the data set pointer for speed change 0 accepting flag M2240 n of each axis Refer to the Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE for details of speed change 0 accepting flag M2240 n 9 St 348 Command generation axis automatic decelerating ...

Page 105: ...Md 322 Synchronous encoder axis speed D13244 20n D13245 20n Unit conversion Counter disable Counter enable Md 324 Synchronous encoder axis rotation direction restriction amount D13248 20n D13249 20n Phase compensation processing Rotation direction restriction Current value of synchronous encoder axis Pr 324 Synchronous encoder axis length per cycle Pr 321 Synchronous encoder axis unit setting Pr 3...

Page 106: ...onous encoder axis current value D13240 20n D13241 20n and Md 321 Synchronous encoder axis current value per cycle D13242 20n D13243 20n are changed based on the setting of Cd 322 Synchronous encoder axis current value setting address D14824 10n D14825 10n 1 Counter disable Input from the synchronous encoder is disabled 2 Counter enable Input from the synchronous encoder is enabled 3 Units for the...

Page 107: ...in 0 inch s 2147483648 to 2147483647 inch s 0 sec 9 10 9 inch s 2 147483648 to 2 147483647 inch s 0 inch min 2147483648 to 2147483647 inch min 1 inch 1 min 9 10 9 inch min 2 147483648 to 2 147483647 inch min 0 degree s 2147483648 to 2147483647 degree s 0 sec 9 10 9 degree s 2 147483648 to 2 147483647 degree s 0 degree min 2147483648 to 2147483647 degree min 2 degree 1 min 9 10 9 degree min 2 14748...

Page 108: ...bling status will be as follows Connection method Md 320 Synchronous encoder axis current value D13240 20n D13241 20n Md 321 Synchronous encoder axis current value per cycle D13242 20n D13243 20n Counter enable Counter disable Built in interface in Motion CPU 0 0 Q172DEX The current value is restored based on the synchronous encoder current value at the last synchronous encoder disconnection The c...

Page 109: ... 2 Axis 1 Axis 2 Axis 3 Incremental synchronous encoder Synchronous encoder axis 2 Incremental synchronous encoder Q172DEX P1 P2 Q173DPX P3 to P5 Q173DSCPU P6 Set the following in Pr 320 Synchronous encoder axis type for the synchronous encoder axis 2 on the synchronous encoder axis parameter screen of MT Developer2 Type 1 Synchronous encoder Pn Synchronous encoder axis No 3 ...

Page 110: ...turns OFF 3 When a communication error occurs because Q172DEX and the encoder are not connected at Multiple CPU system power s ON in the serial absolute synchronous encoder connected to Q172DEX the major error error code 1820 will occur and St 321 Synchronous encoder axis connecting valid flag M10441 10n does not turn ON Remove the error factor and turn the Multiple CPU system s power again Be sur...

Page 111: ...sed on Cd 325 Input value for synchronous encoder via device D14826 10n D14827 10n Therefore connection becomes valid and will be on the counter enabling status The synchronous encoder axis is controlled based on the amount of change of Cd 325 Input value for synchronous encoder via device D14826 10n D14827 10n while it is connecting b Setting example The following shows an example for setting a s...

Page 112: ...connection Setting value of Pr 329 Resolution of synchronous encoder via device Range of restored synchronous encoder current value 1 or more Resolution of synchronous encoder via device 2 to Resolution of synchronous encoder via device 2 1 PLS Note If the resolution of a synchronous encoder via device is an odd number round down a negative value after the decimal point round up a positive value a...

Page 113: ...3 Synchronous encoder axis unit conversion Denominator Set the denominator to convert the unit from the encoder pulse of the synchronous encoder axis into the synchronous encoder axis unit 1 to 2147483647 PLS 1 PLS Pr 324 Synchronous encoder axis length per cycle Set the length per cycle of the synchronous encoder axis 1 to 2147483647 Synchronous encoder axis position units Note 1 4000 Pr 325 Sync...

Page 114: ...ynchronous encoder axis unit conversion Numerator Pr 323 Synchronous encoder axis unit conversion Denominator The input travel value of synchronous encoder is configured in encoder pulse units The units can be arbitrarily converted through unit conversation with setting Pr 322 Synchronous encoder axis unit conversion Numerator and Pr 323 Synchronous encoder axis unit conversion Denominator Set Pr ...

Page 115: ...it 0 001 degree min Length per cycle 360 0 degree 1 cycle of the rotation table Setting item Setting details Setting value Control unit 2 degree Number of decimal places for position 1 Speed time unit 1 min Pr 321 Synchronous encoder axis unit setting Number of decimal places for speed 3 3112h Pr 322 Synchronous encoder axis unit conversion Numerator 360 0 degree 1 3600 0 1degree Pr 323 Synchronou...

Page 116: ...ing time constant 6 Pr 326 Synchronous encoder axis phase compensation advance time D14820 10n D14821 10n Set the time to advance or delay the phase input response of the synchronous encoder axis Refer to Section 8 1 Phase compensation function for the peculiar time delay of the system using the synchronous encoder axis 1 to 2147483647 μs Advance the phase input response according to the setting t...

Page 117: ...7 20n Synchronous encoder axis current value Speed after phase compensation Speed before phase compensation 63 Pr 327 Synchronous encoder axis phase compensation time constant Pr 327 Synchronous encoder axis phase compensation time constant Pr 326 Synchronous encoder axis phase compensation advance time D14820 10n D14821 10n Current value before phase compensation Current value after phase compens...

Page 118: ...e when the reverse operation is repeated The rotation direction restricted amount is set to 0 at the synchronous encoder axis connection and current value change For 1 Enable only for current value increase direction is set in Pr 328 Synchronous encoder axis rotation direction restriction t t t The input travel value is accumulated as a rotation direction restricted amount and will be reflected wh...

Page 119: ...isable 2 Counter enable 0 D14823 10n Cd 322 Synchronous encoder axis current value setting address Set a new current value for changing the current value 2147483648 to 2147483647 Synchronous encoder axis position units Note 1 At synchronous encoder axis control start 0 D14824 10n D14825 10n Cd 325 Input value for synchronous encoder via device Set a value to be used every time as the input value f...

Page 120: ...ation processing and rotation direction restriction processing are continued While these processes are valid the input axis speed may not stop immediately when the counter disable is selected 2 Counter enable Input from the synchronous encoder is valid 3 Cd 322 Synchronous encoder axis current value setting address D14824 20n D14825 20n Set a new current value in synchronous encoder axis position ...

Page 121: ...cle OFF M11601 4n Rq 324 Connection command of synchronous encoder via device If turns ON the synchronous encoder via device is connected If turns OFF the synchronous encoder via device is disconnected ON Connect synchronous encoder via device OFF Disconnect synchronous encoder via device Main cycle Note 1 OFF M11602 4n Note 1 With the exception of positioning control main cycle processing is exec...

Page 122: ...10n the synchronous encoder axis control starts based on the corresponding high speed input request signal 0 Current value change 100 OFF ON OFF ON t Md 320 Synchronous encoder axis current value D13240 20n D13241 20n 100 Cd 320 Synchronous encoder axis control start condition D14822 10n Cd 321 Synchronous encoder axis control method D14823 10n Cd 322 Synchronous encoder axis current value setting...

Page 123: ...ia device is set in Pr 320 Synchronous encoder axis type If turns ON the synchronous encoder axis is connected Once connected the synchronous encoder current value is restored based on the Cd 325 Input value for synchronous encoder via device D14826 10n D14827 10n If turns OFF the synchronous encoder axis is disconnected ...

Page 124: ... travel value in the opposite direction of the enable direction is stored 2147483648 to 2147483647 Synchronous encoder axis position units Note 1 Operation cycle D13248 20n D13249 20n Md 327 Synchronous encoder axis minor error code The minor error code for the synchronous encoder axis is stored Refer to APPENDIX 1 2 for details of minor error code D13250 20n Md 326 Synchronous encoder axis major ...

Page 125: ...he accumulation for input travel in the opposite direction of the enabled direction is stored in synchronous encoder axis position units Refer to Section 5 3 1 as follows Setting value of Pr 328 Synchronous encoder axis rotation direction restriction Storage details 1 Enable only for current value increase direction A negative accumulation is stored during rotation direction restriction 0 is store...

Page 126: ...corresponding error code Refer to APPENDIX 1 3 at the major error occurrence of synchronous encoder axis If another major error occurs after error code storing the previous error code is overwritten by the new error code b Major error codes can be cleared by an Rq 323 Synchronous encoder axis error reset M11600 4n ...

Page 127: ... 10n St 325 Synchronous encoder axis control complete flag This flag turns ON at the completion of synchronous encoder axis control ON Control completed OFF Control not completed Immediate M10446 10n 1 St 320 Synchronous encoder axis setting valid flag M10440 10n At Multiple CPU system power supply ON this flag turns ON when the setting of the synchronous encoder axis is valid It is turned OFF whe...

Page 128: ...rror detection flag M10444 10n a This signal turns ON with detection of a minor error or major error of synchronous encoder axis and it is used as judgement of the error available not available The applicable error code Note 1 is stored in the Md 327 Synchronous encoder axis minor error code M13250 20n with detection of a minor error Refer to Section 3 2 1 The applicable error code Note 1 is store...

Page 129: ...5 50 5 INPUT AXIS MODULE MEMO ...

Page 130: ... converted from the input value cam axis current value per cycle by cam data Cam axis current value per cycle Current feed value Cam conversion processing Cam data User created cam t t t t t t Cam reference position At 3rd cycle Cam reference position At 2nd cycle Cam reference position At 1st cycle Cam data Two way operation User created cam Feed operation Linear operation Cam reference position ...

Page 131: ...ion 6 2 for setting methods for cam data Setting item Setting details Setting range Default value MT Developer2 Cam No Set the cam No 1 to 256 User created cam 1 Cam resolution Set the number of divisions for one cam cycle 256 512 1024 2048 4096 8192 16384 32768 256 Cam data starting point Set the cam data point corresponding to Cam axis current value per cycle 0 0 to Cam resolution 1 0 Stroke rat...

Page 132: ...f output axis parameter is ignored and output value of the coordinate data becomes cam stroke position Refer to Section 6 2 for setting methods of cam data Setting item Setting details Setting range Default value MT Developer2 Cam No Set the cam No 1 to 256 User created cam 1 Coordinate number Set the number of coordinate points in one cam cycle The coordinates are included at the 0th point 2 to 1...

Page 133: ...ength per cycle Cam axis cycle unit 2147483647 2147483648 0 Cam reference position Output value Y Output axis position unit Input value X Generated line segment from X9 Y9 and X10 Y10 Generated line segment from X0 Y0 and X1 Y1 CAUTION If the cam data is set incorrectly such as simply setting a target value and command speed similar to positioning control the position and speed command to the serv...

Page 134: ...lculate the middle value from the nearest cam data 3 Cam reference position The cam reference position is calculated as shown below a Stroke ratio data format Cam reference position The preceding cam reference position Cam stroke amount Stroke ratio at the last point b Coordinate data format Cam reference position The preceding cam reference position Output value corresponding to Input value Cam a...

Page 135: ...m data using the stroke ratio data format The cam data point corresponding to Cam axis current value per cycle 0 can be set as the cam data starting point The default value of the cam data starting point is 0 The cam axis is controlled with cam data starting from the 0th point stroke ratio 0 When a value other than 0 is set for the cam data starting point cam control is started from the point wher...

Page 136: ...e passes through the 0th point of cam data or is on the 0th point The cam reference position is updated when the cam axis current value per cycle passes through the 0th point of cam data b Coordinate data format If Pr 440 Cam No D15062 150n is changed during synchronous control the new value is accepted and applied when the cam axis current value per cycle passes through 0 or is on 0 The cam refer...

Page 137: ...y writing data in the cam storage area Cam data should be written in the cam storage area for normal use It is possible to write the cam data to the cam open area via the device specified by Motion SFC program when registering cam data that exceeds the memory capacity in the cam storage area etc Writing must be executed to the cam open area due to transmitting from the cam storage area when turnin...

Page 138: ...at Coordinate number 8 bytes Coordinate number 8 bytes Stroke ratio data format Cam resolution 4 bytes Create in cam open area with Motion SFC program Coordinate data format 0 byte Coordinate number 8 bytes Create with cam auto generation in Motion SFC program For a rotary cutter 36 bytes Cam resolution 4 bytes When writing with the Motion SFC program or when the cam auto generation function is ex...

Page 139: ... format and 2048 points 4 words are used per point with the coordinate data format If the write is not completed in one time the operation should be separated in multiple times CAMWR2 Cam data write Cam open area This is used to write cam data to cam open area The upper amount of data for each operation is 4096 points 2 words are used per point with the stroke ratio data format and 2048 points 4 w...

Page 140: ... 2 and Section 7 1 3 for details on setting for the main shaft module Pr 400 Main input axis No D15000 150n Pr 403 Main shaft gear Numerator D15004 150n D15005 150n Pr 404 Main shaft gear Denominator D15006 150n D15007 150n Pr 402 Composite main shaft gear D15002 150n Pr 401 Sub input axis No D15001 150n Main shaft sub input axis Md 400 Current value after composite main shaft gear D13600 30n D136...

Page 141: ...1 to 812 Synchronous encoder axis At start of synchronous control 0 D15001 150n Pr 402 Composite main shaft gear Select the composite method for input values from the main input axis and sub input axis Set in hexadecimal Sub input method 0 No input 1 Input 2 Input H Main input method 0 No input 1 Input 2 Input Operation cycle 0001h D15002 150n Pr 403 Main shaft gear Numerator Set the numerator for...

Page 142: ...nd generation axis is used only for command generation it is possible to set the same number as the output axis Note The range from 201 to 216 is valid in the Q172DSCPU 801 to 812 Synchronous encoder axis Set the synchronous encoder axis axis 1 to 12 When synchronous encoder axis is invalid the input value is always 0 2 Pr 402 Composite main shaft gear D15002 150n Set the composite method for inpu...

Page 143: ...ft gear Numerator Main shaft gear Denominator The input value direction can be reversed by setting a negative value in the numerator of the main shaft gear Set the denominator of the main shaft gear to a value within the range from 1 to 2147483647 Example Convert the cam axis per cycle to be controlled in intervals of 0 1 mm 0 00394 inch The cam axis synchronizes with a conveyer that moves 100 mm ...

Page 144: ...in shaft gear 1 Current value per cycle after main shaft gear At start of synchronous control 0 D15009 150n Pr 407 Main shaft clutch ON address Set the clutch ON address for address mode This setting is invalid except during address mode If the address is out of the range from 0 to Cam axis length per cycle 1 the address is converted to a value within range 2147483648 to 2147483647 Main input axis...

Page 145: ...t completing clutch OFF condition 0 D15016 150n D15017 150n Pr 411 Main shaft clutch smoothing method Set the clutch smoothing method 0 Direct 1 Time constant method Exponent 2 Time constant method Linear 3 Slippage method Exponent 4 Slippage method Linear 0 D15018 150n Pr 412 Main shaft clutch smoothing time constant For smoothing with a time constant method set the smoothing time constant 0 to 5...

Page 146: ... clutch command M11680 10n passes the leading edge from OFF to ON 3 Clutch command trailing edge The clutch is turned ON when Rq 400 Main shaft clutch command M11680 10n passes the trailing edge from ON to OFF 4 Address mode The clutch is turned ON when the reference address the current value after composite main shaft gear or the current value per cycle after main shaft gear reaches Pr 407 Main s...

Page 147: ...F when Rq 400 Main shaft clutch command M11680 10n passes the leading edge from OFF to ON 3 Clutch command trailing edge The clutch is turned OFF when Rq 400 Main shaft clutch command M11680 10n passes the trailing edge from ON to OFF 4 Address mode The clutch is turned OFF when the reference address the current value after composite main shaft gear or the current value per cycle after main shaft ...

Page 148: ...posite main shaft gear The clutch is controlled by using the current value after composite main shaft gear Output after the clutch control is a converted travel value through the main shaft gear 1 Current value per cycle after main shaft gear The clutch is controlled by using the current value per cycle after main shaft gear Output after the clutch control is a travel value without conversion The ...

Page 149: ...mediately turned ON with the clutch ON condition completing 2147483648 to 1 Negative value Used when the reference address is decreasing in direction St 420 Main shaft clutch ON OFF status M10560 10n Travel value after clutch Clutch ON condition is completed Example Rq 400 Main shaft clutch command M11680 10n ON t t OFF ON OFF ON Md 400 Current value after composite main shaft gear D13600 30n D136...

Page 150: ...1 Current value per cycle after main shaft gear D13602 30n D13603 30n Pr 410 Travel value before main shaft clutch OFF D15016 150n D15017 150n Positive value OFF ON t t 7 Pr 411 Main shaft clutch smoothing method D15018 150n Set the smoothing method for clutch ON OFF Refer to Section 7 3 3 for details 0 Direct No smoothing 1 Time constant method Exponent Smoothing with an exponential curve based o...

Page 151: ...address setting D15009 150n If the set amount is negative slippage amount at clutch ON is controlled as 0 direct 10 Pr 414 Slippage amount at main shaft clutch OFF D15022 150n D15023 150n Set the slippage amount at clutch OFF when the slippage method is set in Pr 411 Main shaft clutch smoothing method D15018 150n The slippage amount is set in units based on the current value selected in Pr 406 Mai...

Page 152: ...ther 2 Clutch command leading edge or 3 Clutch command trailing edge Status is considered as clutch command OFF just before starting synchronous control If synchronous control is started while the clutch command is ON the condition is established just after starting synchronous control by setting 2 Clutch command leading edge The condition is not established just after starting by setting 3 Clutch...

Page 153: ... Section 7 2 3 for details on setting for the auxiliary shaft module Note Refer to Section 7 3 Auxiliary shaft clutch Note Main shaft input Speed change gear Auxiliary shaft gear Auxiliary shaft axis Md 402 Current value per cycle after auxiliary shaft gear D13604 30n D13605 30n Speed change gear Output axis Composite auxiliary shaft gear Pr 420 Auxiliary shaft gear Numerator D15026 150n D15027 15...

Page 154: ...te method for input values from the main shaft and the auxiliary shaft Set in hexadecimal Auxiliary shaft input method 0 No input 1 Input 2 Input H Main shaft input method 0 No input 1 Input 2 Input Operation cycle 0001h D15025 150n Pr 420 Auxiliary shaft gear Numerator Set the numerator for the auxiliary shaft gear 2147483648 to 2147483647 1 D15026 150n D15027 150n Pr 421 Auxiliary shaft gear Den...

Page 155: ...and generation it is possible to set the same number as the output axis Note The range from 201 to 216 is valid in the Q172DSCPU 801 to 812 Synchronous encoder axis Set the synchronous encoder axis axis 1 to 12 When synchronous encoder axis is invalid the input value is always 0 2 Pr 419 Composite auxiliary shaft gear D15025 150n Set the composite method for input values from the main and auxiliar...

Page 156: ...aft gear to convert the input value The input value is converted as follows Input value after conversion Input value before conversion Auxiliary shaft gear Numerator Auxiliary shaft gear Denominator The input value direction can be reversed by setting a negative value in the numerator of the auxiliary shaft gear Set the denominator of the auxiliary shaft gear to a value within the range from 1 to ...

Page 157: ...liary shaft gear 1 Current value per cycle after auxiliary shaft gear At start of synchronous control 0 D15031 150n Pr 424 Auxiliary shaft clutch ON address Set the clutch ON address for address mode This setting is invalid except during address mode If the address is out of the range from 0 to Cam axis length per cycle 1 the address is converted to a value within range 2147483648 to 2147483647 Au...

Page 158: ...leting clutch OFF condition 0 D15038 150n D15039 150n Pr 428 Auxiliary shaft clutch smoothing method Set the clutch smoothing method 0 Direct 1 Time constant method Exponent 2 Time constant method Linear 3 Slippage method Exponent 4 Slippage method Linear 0 D15040 150n Pr 429 Auxiliary shaft clutch smoothing time constant For smoothing with a time constant method set the smoothing time constant 0 ...

Page 159: ... shaft clutch command M11684 10n passes the leading edge from OFF to ON 3 Clutch command trailing edge The clutch is turned ON when Rq 403 Auxiliary shaft clutch command M11684 10n passes the trailing edge from ON to OFF 4 Address mode The clutch is turned ON when the reference address the auxiliary shaft current value or the current value per cycle after auxiliary shaft gear reaches Pr 424 Auxili...

Page 160: ...ned OFF when Rq 403 Auxiliary shaft clutch command M11684 10n passes the leading edge from OFF to ON 3 Clutch command trailing edge The clutch is turned OFF when Rq 403 Auxiliary shaft clutch command M11684 10n passes the trailing edge from ON to OFF 4 Address mode The clutch is turned OFF when the reference address the auxiliary shaft current value or the current value per cycle after auxiliary s...

Page 161: ...nt value for the servo input axis command generation axis synchronous encoder axis that is set for the auxiliary shaft Output after the clutch control is a converted travel value through the auxiliary shaft gear 1 Current value per cycle after auxiliary shaft gear The clutch is controlled by using the current value per cycle after auxiliary shaft gear Output after the clutch control is a travel va...

Page 162: ...The clutch is immediately turned ON with the clutch ON condition completing 2147483648 to 1 Negative value Used when the reference address is decreasing in direction St 423 Auxiliary shaft clutch ON OFF status M10562 10n Travel value after clutch Clutch ON condition is completed Example Rq 403 Auxiliary shaft clutch command M11684 10n ON t t OFF ON OFF ON Auxiliary shaft current value or Md 402 Cu...

Page 163: ...shaft clutch ON OFF status M10562 10n Auxiliary shaft current value or Md 402 Current value per cycle after auxiliary shaft gear D13604 30n D13605 30n 7 Pr 428 Auxiliary shaft clutch smoothing method D15040 150n Set the smoothing method for clutch ON OFF Refer to Section 7 3 3 for details 0 Direct No smoothing 1 Time constant method Exponent Smoothing with an exponential curve based on the time co...

Page 164: ...ess setting D15031 150n If the set amount is negative the slippage amount at clutch ON is controlled as 0 direct 10 Pr 431 Slippage amount at auxiliary shaft clutch OFF D15044 150n D15045 150n Set the slippage amount at clutch OFF when the slippage method is set in Pr 428 Auxiliary shaft clutch smoothing method D15040 150n The slippage amount is set in units based on the current value selected in ...

Page 165: ... command trailing edge Status is considered as clutch command OFF just before starting synchronous control If synchronous control is started while the clutch command is ON the condition is established just after starting synchronous control by setting 2 Clutch command leading edge The condition is not established just after starting by setting 3 Clutch command trailing edge 2 Rq 404 Auxiliary shaf...

Page 166: ...ls Setting value Clutch control setting Pr 405 Main shaft clutch control setting D15008 150n Pr 422 Auxiliary shaft clutch control setting D15030 150n Set the clutch control method Set in hexadecimal H ON control mode 0 No clutch 1 Clutch command ON OFF 2 Clutch command leading edge 3 Clutch command trailing edge 4 Address mode 5 High speed input request OFF control mode 0 OFF control invalid 1 On...

Page 167: ...trol mode are not applicable in the clutch command ON OFF mode t Travel value after clutch Current value before clutch Clutch ON OFF status Clutch command OFF ON OFF ON t Item Main shaft clutch Auxiliary shaft clutch Clutch command Rq 400 Main shaft clutch command M11680 10n Rq 403 Auxiliary shaft clutch command M11684 10n Clutch ON OFF status St 420 Main shaft clutch ON OFF status M10560 10n St 4...

Page 168: ...ss setting t OFF ON Item Main shaft clutch Auxiliary shaft clutch Reference address The current value specified in Pr 406 Main shaft clutch reference address setting D15009 150n Md 400 Current value after composite main shaft gear D13600 30n D13601 30n or Md 401 Current value per cycle after main shaft gear D13602 30n D13603 30n The current value specified in Pr 423 Auxiliary shaft clutch referenc...

Page 169: ...actions are required when using the high speed input request Set the signal No for the High speed input request signal clutch control setting Set the input signal to be used by high speed input request of system setting t Travel value after clutch Current value before clutch Clutch ON OFF status High speed input request DI DOG TREN OFF OFF ON ON t ...

Page 170: ...el value before clutch OFF OFF OFF ON ON t Item Main shaft clutch Auxiliary shaft clutch Clutch command Rq 400 Main shaft clutch command M11680 10n Rq 403 Auxiliary shaft clutch command M11684 10n Clutch ON OFF status St 420 Main shaft clutch ON OFF status M10560 10n St 423 Auxiliary shaft clutch ON OFF status M10562 10n Travel value before clutch OFF Pr 410 Travel value before main shaft clutch O...

Page 171: ...ess setting ON OFF t Item Main shaft clutch Auxiliary shaft clutch Reference address The current value specified in Pr 406 Main shaft clutch reference address setting D15009 150n Md 400 Current value after composite main shaft gear D13600 30n D13601 30n or Md 401 Current value per cycle after main shaft gear D13602 30n D13603 30n The current value specified in Pr 423 Auxiliary shaft clutch referen...

Page 172: ...actions are required when using the high speed input request Set the signal No for the High speed input request signal clutch control setting Set the input signal to be used by high speed input request of system setting t Travel value after clutch Current value before clutch Clutch ON OFF status High speed input request DI DOG TREN OFF ON ON OFF t ...

Page 173: ...me constant method Linear 3 Slippage method Exponent 4 Slippage method Linear The operation of each smoothing method is shown below 1 Time constant method smoothing Smoothing is processed with the time constant setting value in the smoothing time constant at clutch ON OFF After clutch ON smoothing is complete smoothing is processed with the time constant setting value when the speed of the input v...

Page 174: ...utch Clutch ON OFF status St 420 Main shaft clutch ON OFF status M10560 10n St 423 Auxiliary shaft clutch ON OFF status M10562 10n Clutch smoothing status St 421 Main shaft clutch smoothing status M10561 10n St 424 Auxiliary shaft clutch smoothing status M10563 10n b Time constant method linear acceleration deceleration smoothing Set 2 Time constant method Linear in the clutch smoothing method t C...

Page 175: ...od set the slippage amount at clutch ON Slippage amount at clutch OFF Pr 414 Slippage amount at main shaft clutch OFF D15022 150n D15023 150n Pr 431 Slippage amount at auxiliary shaft clutch OFF D15044 150n D15045 150n For smoothing with a slippage method set the slippage amount at clutch OFF 0 to 2147483647 Main input axis position units Note 1 auxiliary shaft position units Note 2 or cam axis cy...

Page 176: ...ntrolled without exceeding the speed before clutch processing If slippage amount remains when the speed before clutch processing becomes 0 the smoothing process will be continued And when the speed before clutch processing gets faster than the speed after clutch smoothing clutch smoothing takes place for the remainder slippage amount Slippage amount at clutch ON Slippage amount at clutch OFF Speed...

Page 177: ...13 150n 0 mm 0 inch Pr 410 Travel value before main shaft clutch OFF D15016 150n D15017 150n 380 mm 14 96 inch Pr 411 Main shaft clutch smoothing method D15018 150n 4 Slippage method Linear Pr 413 Slippage amount at main shaft clutch ON D15020 150n D15021 150n 100 mm 3 94 inch Distance between the sensor and the waiting position Pr 414 Slippage amount at main shaft clutch OFF D15022 150n D15023 15...

Page 178: ...ar Auxiliary shaft clutch Output value Input value Speed change gear Arrangement the speed change gear Arranged on one of Main shaft side Auxiliary shaft side or After composite auxiliary shaft gear Cam Output axis Speed change gear Composite auxiliary shaft gear Speed change gear Main shaft clutch Pr 490 Speed change gear 2 D15052 150n Pr 491 Speed change gear 2 smoothing time constant D15053 150...

Page 179: ...ime constant for the speed change gear 2 0 to 5000 ms At start of synchronous control 0 ms D15053 150n Pr 492 Speed change ratio 2 Numerator Set the numerator for the speed change ratio 2 2147483648 to 2147483647 1 D15054 150n D15055 150n Pr 493 Speed change ratio 2 Denominator Set the denominator for the speed change ratio 2 1 to 2147483647 Operation cycle 1 D15056 150n D15057 150n 1 Pr 434 Speed...

Page 180: ...ed change ratio 1 Denominator D15050 150n D15051 150n Pr 492 Speed change ratio 2 Numerator D15054 150n D15055 150n Pr 493 Speed change ratio 2 Denominator D15056 150n D15057 150n Set the numerator and the denominator for the speed change ratio Speed change ratio Numerator and Speed change ratio Denominator can be changed during synchronous control Input values for speed change are processed as fo...

Page 181: ...sation amount D13610 30n D13611 30n Pr 447 Output axis smoothing time constant D15070 150n Current feed value D0 20n D1 20n Cam axis phase compensation processing Input value Md 410 Execute cam No D13618 30n Md 411 Execute cam stroke amount D13620 30n D13621 30n Cam conversion processing Output axis smoothing processing Cam data Pr 438 Cam axis cycle unit setting D15058 150n No influence on contro...

Page 182: ...e 7 2 Cam axis cycle units Setting value of Pr 438 Cam axis cycle unit setting D15058 150n Unit setting selection Control unit Number of decimal places Cam axis cycle unit Range 0 Use units of main input axis Servo input axis position unit Refer to Section 5 1 1 Command generation axis position unit Refer to Section 5 2 1 Synchronous encoder axis position unit Refer to Section 5 3 1 0 mm 214748364...

Page 183: ...m stroke amount corresponding to the stroke ratio 100 for cam with stroke ratio data format This is ignored for cams using the coordinate data format 2147483648 to 2147483647 Output axis position units Note 2 At start of synchronous control At passing through the 0th point of cam data 4194304 D15064 150n D15065 150n Pr 444 Cam axis phase compensation advance time Set the time to advance or delay t...

Page 184: ...ugh the 0th point of cam data or is on the 0th point 4 Pr 441 Cam stroke amount D15064 150n D15065 150n Set the cam stroke amount corresponding to a 100 stroke ratio in output axis position units Refer to Section 7 5 1 for cam control using the stroke ratio data format The cam stroke amount can be changed during synchronous control The value set in Pr 441 Cam stroke amount D15064 150n D15065 150n ...

Page 185: ...Pr 445 Cam axis phase compensation time constant D15068 150n Cam axis current value per cycle Cam axis current feed value Input speed before phase compensation Input speed after phase compensation Md 406 Cam axis phase compensation amount D13610 30n D13611 30n Current value per cycle before phase compensation Current value per cycle after phase compensation Pr 444 Cam axis phase compensation advan...

Page 186: ... S curve is valid Acceleration section 1 ratio Acceleration section 2 ratio Deceleration section 1 ratio Advanced S curve acceleration deceleration Deceleration section 2 ratio Valid Invalid Note 1 The output axis during synchronous control synchronizes with the input axis Therefore the output axis depends on the input axis operation and synchronous control parameter and the setting value is inval...

Page 187: ...xis smoothing time constant D15070 150n Set the averaging time to execute a smoothing process for the travel value of the output axis after cam data conversion The smoothing process can moderate sudden speed fluctuation for cams using the coordinate data format etc The input response is delayed depending on the time corresponding to the setting by smoothing process setting t Md 407 Cam axis curren...

Page 188: ...liary shaft gear None Cam axis current value per cycle movement Adjust the phase of the cam axis by travel value Operated 7 6 2 Synchronous control change control data Bit device Symbol Setting item Setting details Setting value Refresh cycle Fetch cycle Default value Device No Rq 406 Control change request command Set the control change command request command OFF Control change not requested ON ...

Page 189: ...sition movement a 1 Change cam axis current value per cycle b 2 Change current value per cycle after main shaft gear c 3 Change current value per cycle after auxiliary shaft gear d 4 Cam axis current value per cycle movement e a Cam reference position movement This command is executed to move the cam reference position through adding the setting travel value of Cd 408 Synchronous control change va...

Page 190: ...nt value per cycle This operation is completed within one operation cycle Md 408 Cam reference position D13614 30n D13615 30n Rq 406 Control change request command M11688 10n Cd 407 Synchronous control change command D15130 150n Md 407 Cam axis current value per cycle D13612 30n D13613 30n Md 409 Cam axis current feed value D13616 30n D13617 30n Current feed value St 426 Control change complete M1...

Page 191: ...oves with the travel value Rq 406 Control change request command M11688 10n Cd 407 Synchronous control change command D15130 150n Md 407 Cam axis current value per cycle D13612 30n D13613 30n Md 408 Cam reference position D13614 30n D13615 30n Md 409 Cam axis current feed value D13616 30n D13617 30n Current feed value St 426 Control change complete M10566 10n 4 Cam axis current value per cycle mov...

Page 192: ...in the range from 0 to Cam axis length per cycle 1 4 Cam axis current value per cycle movement 2147483648 to 2147483647 Cam axis cycle unit Set the travel value of the cam axis current value per cycle It moves within the range from 2147483648 to 2147483647 3 Cd 409 Synchronous control reflection time D15131 150n Set the reflection time for synchronous control change processing as follows Cd 407 Sy...

Page 193: ...n shaft gear The current value after combining the main input and sub input values from the main shaft is stored Value is stored even after Multiple CPU system power supply OFF 2147483648 to 2147483647 Main input axis position units Note 1 D13600 30n D13601 30n Md 401 Current value per cycle after main shaft gear The current value per cycle after the main shaft gear is stored One cycle is consider...

Page 194: ...d 2147483648 to 2147483647 Output axis position units Note 3 D13620 30n D13621 30n Md 422 Main shaft clutch slippage accumulative The accumulative slippage of the main shaft clutch smoothing with slippage method is stored as a signed value 2147483648 to 2147483647 Main input axis position units Note 1 or Cam axis cycle units Note 2 D13606 30n D13607 30n Md 425 Auxiliary shaft clutch slippage accum...

Page 195: ...h feed control Change method 1 Restoration method 1 Speed position switching control Note 2 Change method 1 Connection to servo amplifier Change method 2 Change method 1 Connection to synchronous encoder Change method 1 Change method 2 Note 1 When it starts by turning OFF the feed current value update command M3212 20n or Rq 347 Feed current value update request command M10972 20n Note 2 When it s...

Page 196: ...ith cam axis cycle units Refer to Section 7 5 1 The phase compensation amount after smoothing processing with Pr 445 Cam axis phase compensation time constant D15068 150n is stored 5 Md 407 Cam axis current value per cycle D13612 30n D13613 30n The cam axis current value per cycle is stored within the range from 0 to Cam axis length per cycle 1 The current value after cam axis phase compensation p...

Page 197: ...trol this is updated when the controlling cam stroke amount switches 10 Md 422 Main shaft clutch slippage accumulative D13606 30n D13607 30n Md 425 Auxiliary shaft clutch slippage accumulative D13608 30n D13609 30n The accumulative slippage amount with the slippage method is stored as a signed value The absolute value of the accumulative slippage increases to reach the slippage at clutch ON during...

Page 198: ...0 10n St 423 Auxiliary shaft clutch ON OFF status M10562 10n The clutch ON OFF status is stored 2 St 421 Main shaft clutch smoothing status M10561 10n St 424 Auxiliary shaft clutch smoothing status M10563 10n The smoothing status of the clutch is stored The status is updated by the clutch smoothing method as follows Time constant method The status is always 1 On clutch smoothing during the clutch ...

Page 199: ...7 60 7 SYNCHRONOUS CONTROL MEMO ...

Page 200: ...nchronous encoder axis phase compensation advance time D14820 10n D14821 10n The command generation axis does not have the phase compensation function since the delay time specific to the system is 0 The delay time peculiar to the system is shown below a Delay time peculiar to the system for a servo input axis Pr 300 Servo input axis type Operation cycle ms Current feed value Real current value Co...

Page 201: ... auto tuning mode 1 or 2 The model loop gain must not be changed on the axis executing phase compensation through preventing change with the manual mode or interpolation mode setting 3 Setting example When axis 1 is synchronized with an incremental synchronous encoder axis the phase compensation advance time is set as follows If the operation cycle is as 1 77 ms and model loop gain of axis 1 is as...

Page 202: ...can be changed by torque limit value change request instruction D P CHGT CHGT and torque limit value individual change request instruction D P CHGT2 CHGT2 Hardware stroke limit Controlled the same as positioning control Forced stop The same control as other methods Current value change Speed change Control change Target position change Ignored Absolute position system The same control as other met...

Page 203: ...Continuous operation to torque control 1 Control mode switching request device 2 Control mode setting device 3 Speed limit value at speed torque control 4 Torque limit value at speed torque control 5 Speed command device 6 Command speed acceleration time 7 Command speed deceleration time 8 Torque command device 9 Command torque time constant positive direction 10 Command torque time constant negat...

Page 204: ...torque control mode in the control mode setting device to switch the control mode The following shows the switching condition of each control mode Speed control Torque control 1 Position control mode Speed control mode Torque control mode 2 3 4 5 6 Switching operation Switching condition 1 Position control mode Speed control mode 2 Seed control mode Position control mode 3 Position control mode To...

Page 205: ...rol mode can be changed without checking the switching condition of during motor stop in Motion CPU by setting 1 Condition during zero speed at control mode switching invalid in Invalid selection during zero speed at control mode switching Set 1 Condition during zero speed at control mode switching invalid to switch the control mode without waiting for stop of servo motor c The command speed at sp...

Page 206: ...ntrol mode torque control mode or continuous operation to torque control mode during synchronous control is not reflected on the scroll monitor h During synchronous control start analysis or during the synchronous control stop due to Rq 380 Synchronous control start M12000 n ON to OFF or stop factor occurrence the control mode switching request is ignored Take Rq 380 Synchronous control start M120...

Page 207: ...rates to speed 0 by setting value of parameter block set in Pr 448 Synchronous control parameter block No D15069 150n Note 4 The mode is switched to position control when Zero speed b3 of servo status2 8011 20n turns ON and the operation stops The main shaft gear auxiliary shaft gear speed change gear 1 speed change gear 2 operation overflow error occurred Note 3 The motor decelerates to speed 0 b...

Page 208: ...e limit The PLC ready flag M2000 turned OFF The minor error error code 200 207 and major error error code 1101 1102 will occur The mode is switched to position control mode at current position and the operation immediately stops Deceleration processing is not executed When the operation immediately stops the motor will start hunting depending on the motor speed Therefore be sure not to reach to li...

Page 209: ... to hardware stroke limit The PLC ready flag M2000 turned OFF The minor error error code 200 207 and major error error code 1101 1102 will occur The mode is switched to position control mode at current position and the operation immediately stops Deceleration processing is not executed When the operation immediately stops the motor will start hunting depending on the motor speed Therefore be sure ...

Page 210: ...9 Cam axis current feed value D13616 30n D13617 30n Restored according to Pr 462 Cam axis position restoration object D15102 150n Md 409 Cam axis current feed value D13616 30n D13617 30n Md 408 Cam reference position D13614 30n D13615 30n Md 407 Cam axis current value per cycle D13612 30n D13613 30n Md 402 Current value per cycle after auxiliary shaft gear D13604 30n D13605 30n Composite main shaf...

Page 211: ...tion method 2 Restoration method 2 Note 1 When it starts by turning OFF the feed current value update command M3212 20n or Rq 347 Feed current value update request command M10972 20n Note 2 When it starts by turning OFF the feed current value update command M3212 20n a Restoration method 1 The new current value after composite main shaft gear is calculated based on the current value of the main in...

Page 212: ...oder via device Home position return Restoration method 1 Current value change Restoration method 1 Restoration method 1 Restoration method 1 Speed control Note 1 Restoration method 1 Restoration method 1 Fixed pitch feed control Restoration method 1 Restoration method 1 Speed position switching control Note 2 Restoration method 1 Connection to servo amplifier Restoration method 2 Restoration meth...

Page 213: ...ast synchronous control session Auxiliary shaft Current value per cycle after auxiliary shaft gear Current value per cycle after auxiliary shaft gear at the last synchronous control session Auxiliary shaft gear ratio Amount of change of auxiliary shaft current value from the last synchronous control session The current value per cycle after main shaft gear current value per cycle after auxiliary s...

Page 214: ...able 8 2 Refer to Section 8 5 for the setting details Table 8 2 Setting list for cam axis position restoration parameters Pr 462 Cam axis position restoration object D15102 150n Pr 463 Setting method of cam reference position D15103 150n Pr 467 Cam reference position Initial setting D15110 150n D15111 150n Pr 464 Setting method of cam axis current value per cycle D15104 150n Pr 468 Cam axis curren...

Page 215: ...of cam axis current value per cycle Select the setting method for the cam axis current value per cycle Set for the cam reference position restoration or the cam axis current feed value restoration 0 Previous value 1 Initial setting value of cam axis current value per cycle 2 Current value per cycle after main shaft gear 3 Current value per cycle after auxiliary shaft gear 0 D15104 150n Pr 465 Curr...

Page 216: ...synchronous control 0 Previous value The current value per cycle after auxiliary shaft gear from the last synchronous control session is stored 1 Initial setting value of current value per cycle after auxiliary shaft gear The value set in Pr 466 Current value per cycle after auxiliary shaft gear Initial setting D15108 150n D15109 150n is stored 2 Calculate from input axis The value calculated base...

Page 217: ...n Pr 462 Cam axis position restoration object D15102 150n is set to 1 Cam reference position restoration or 2 Cam axis current feed value restoration 0 Previous value The cam axis current value per cycle from the last synchronous control session is stored as is 1 Initial setting value of cam axis current value per cycle The value set in Pr 468 Cam axis current value per cycle Initial setting D1511...

Page 218: ...t to 1 Cam reference position Initial setting 9 Pr 468 Cam axis current value per cycle Initial setting D15112 150n D15113 150n Set a value according to the setting for Pr 462 Cam axis position restoration object D15102 150n The unit settings are in cam axis cycle units Refer to Section 7 5 1 Set within the range from 0 to Cam axis length per cycle 1 Pr 462 Cam axis position restoration object D15...

Page 219: ...position and cam axis current feed value Md 407 Cam axis current value per cycle D13612 30n D13613 30n Md 409 Cam axis current feed value D13616 30n D13617 30n Current feed value D0 20n D1 20n At synchronous control start 0 Previous value 1 Initial setting value of cam reference position 2 Current feed value Pr 463 Setting method of cam reference position D15103 150n Cam axis current feed value Ca...

Page 220: ...he middle of the cam axis current value per cycle Cam data starting point 0 Cam axis current value per cycle Cam axis current feed value Current feed value Cam reference position Restore to the first current value that matches The restoration is done on the second Pr 468 Cam axis current value per cycle Initial setting D15112 150n D15113 150n Search from the value in the middle Preceding values ar...

Page 221: ...per cycle Cam axis current feed value Current feed value Cam reference position Restore to the first current feed value that matches Other values are not restored 2 Search from a value in the middle of the cam axis current value per cycle Cam data starting point 0 Cam axis current value per cycle Pr 468 Cam axis current value per cycle Initial setting D15112 150n D15113 150n Cam axis current feed ...

Page 222: ...h begins for the second time Once the restoration fails in the first search the new cam reference position is automatically updated to the one within the feed stroke amount which is equal to Current feed value New cam reference position and the search process starts again Restore to the first current feed value that is found in the second search Cam axis current value per cycle Cam axis current fe...

Page 223: ...rent value per cycle after main shaft gear 3 Current value per cycle after auxiliary shaft gear Md 407 Cam axis current value per cycle D13612 30n D13613 30n Md 409 Cam axis current feed value D13616 30n D13617 30n Md 408 Cam reference position D13614 30n D13615 30n Pr 464 Setting method of cam axis current value per cycle D15104 150n Current feed value D0 20n D1 20n At synchronous control start C...

Page 224: ... position D13614 30n D13615 30n Md 409 Cam axis current feed value D13616 30n D13617 30n The cam axis current feed value is restored based on the cam axis current value per cycle and the cam reference position Cam axis current value per cycle Cam reference position Cam axis current feed value 1 Restrictions The cam axis current feed value moves to its restored value just after starting synchronous...

Page 225: ...ronous control analysis mode The last monitor value Monitor value at synchronous control start Rq 380 Synchronous control start M12000 n St 380 Synchronous control M10880 n Rq 381 Synchronous analysis request M12032 n St 381 Synchronous analysis complete M10912 n Start accept flag M2001 n Servo program start Synchronous control monitor data OFF ON OFF OFF OFF OFF ON ON ON ON Analyzing Analyzing Mo...

Page 226: ... cam reference position D15103 150n 0 Previous value Pr 464 Setting method of cam axis current value per cycle D15104 150n 2 Current value per cycle after main shaft gear 2 Turn ON the target axis bit of Rq 381 Synchronous analysis request M12032 n and then turn from OFF to ON in Rq 380 Synchronous control start M12000 n to start the synchronous control analysis mode 3 Verify that St 381 Synchrono...

Page 227: ...cycle of axis 1 1 Calculate the cam axis current value per cycle using this function based on the current feed value and the cam reference position of axis 1 2 Calculate the cam axis current feed value of axis 2 with this function based on the cam axis current value per cycle that was calculated in 1 3 Calculate the cam axis current feed value of axis 3 with this function based on the cam axis cur...

Page 228: ...ss conveyance device Main shaft gear Axis 3 Axis 1 Axis 2 Axis 1 Pressing position Axis 1 X axis of workpiece conveyance Axis 2 Y axis of workpiece conveyance Axis 3 Main shaft gear a Procedure for synchronous control first time 1 Execute home position return for axis 1 2 and 3 and position to the synchronization starting point 2 Set the synchronous control initial position parameters for axis 2 a...

Page 229: ...rrent value per cycle after main shaft gear 2 Turn ON the bit device for axes 2 and 3 in Rq 381 Synchronous analysis request M12032 n and then turn ON the bit device for axes 2 and 3 in Rq 380 Synchronous control start M12000 n to execute the synchronous control analysis The analyzed result is updated in Synchronous control monitor data Md 400 to Md 402 Md 406 to Md 411 Md 422 Md 425 St 420 St 421...

Page 230: ...ror flag SM516 turns on The erroneous servo program is stored in the error program No storage register SD516 The error code is stored in the error item information register SD517 2 Positioning error a Positioning errors occurs at the positioning start or during positioning control There are minor errors major errors and servo errors 1 Minor errors These errors occur in the Motion SFC program or se...

Page 231: ...D12802 D12822 D12842 D12862 D12882 D12902 Command generation axis Note 1 Major error D12763 D12783 D12803 D12823 D12843 D12863 D12883 D12903 M9807 20n M10967 20n Minor error D13410 D13430 D13450 D13470 Synchronous encoder axis Major error D13411 D13431 D13451 D13471 M10444 10n M11600 4n Error code storage register Device Error class Axis 17 Axis 18 Axis 19 Axis 20 Axis 21 Axis 22 Axis 23 Axis 24 E...

Page 232: ... the error reset command M3207 20n servo error reset command M3208 20n Rq 346 Command generation axis error reset command M10967 20n or Rq 323 Synchronous encoder axis error reset command M11600 4n turns on POINTS 1 Even if the servo error reset M3208 20n turns on at the servo error occurrence the same error code might be stored again 2 Reset the servo error after removing the error cause of the s...

Page 233: ...d during the speed switching control or constant speed control a deceleration stop is made 3 If an error occurs in one servo program all servo programs do not execute during the simultaneous start 2 Set the travel value within the range of 0 to 231 1 1 The command speed is outside the range of 1 to the speed limit value 2 The command speed is outside the setting range Unit Speed setting range mm 1...

Page 234: ... range degree 0 to 35999999 10 5 degree 1 If the control unit is degree set the central point address within the range of 0 to 35999999 n10 Note Central point setting error At the central point specified circular interpolation At the central point specified helical interpolation 2 The central point is set to 2147483648 H80000000 at the positioning start for incremental data method Positioning cont...

Page 235: ...starting axis of the specified servo program overlap 3 Do not overlap the starting axis 4 The real mode program and virtual mode program are mixed 4 Do not allow mixture of the real mode program and virtual mode program 19 START instruction setting error 5 The real axis program and command generation axis program are mixed 5 Do not allow mixture of the real axis program and command generation axis...

Page 236: ...ng control does not start Review the devices of home position return data for indirect setting 45 The acceleration section 1 ratio is outside the range of 0 0 to 100 0 46 The acceleration section 2 ratio is outside the range of 0 0 to 100 0 47 The deceleration section 1 ratio is outside the range of 0 0 to 100 0 48 The deceleration section 2 ratio is outside the range of 0 0 to 100 0 49 Accelerati...

Page 237: ...was started Use the D P CHGA instruction of Motion dedicated instruction 1 Unused axis of the system setting is set in the servo program start 2 It was started by setting the real mode axis in the virtual servo program 3 It was started in the condition that the real mode axis had been mixed with virtual axis in the interpolation axis 906 Axis No setting error 4 It was started by setting the virtua...

Page 238: ...ombined and scale home position signal detection type The creep speed is outside the range of 1 to home position return speed Set the creep speed below to the home position return speed or less using MT Developer2 24 Home position return start of the count type The travel value after the proximity dog ON is outside the range of 0 to 231 1 unit Set the travel value after the proximity dog ON within...

Page 239: ...trol unit of parameter block is different from the control unit of fixed parameters an error code may not be stored with the combination of units Refer to the Q173D S CPU Q172D S CPU Motion controller SV13 SV22 Programming Manual REAL MODE for details ...

Page 240: ... interlock in the program not to start the starting axis Use the start accept flag OFF of the applicable axis as the starting condition The stop command M3200 20n for applicable axis is ON Turn the stop command M3200 20n off and start 103 The command generation axis stop command M10960 20n for applicable axis is ON Turn the command generation axis stop command M10960 20n off and start The rapid st...

Page 241: ...t R radius specified circular interpolation or R radius specified helical interpolation Relationship between the start point radius and end point Correct the addresses of the servo program 108 Note The radius specified circular interpolation or radius specified helical interpolation was started in the axis which is stroke limit invalid Make the stroke limit valid for the axis starts the radius spe...

Page 242: ...hen Not execute servo program is selected in the operation setting for incompletion of home position return the home position return request signal M2409 20n turns on Execute servo program after home position return In the system which enables execution of servo program even if the home position return request signal M2409 20n turns on set Execute servo program as operation setting for incompletio...

Page 243: ... flag M2000 off to on after all axes have stopped Turn the PLC ready flag M2000 off to on during deceleration is no operation 207 The feed current value exceeded the stroke limit range during positioning control Only the axis exceed the stroke limit range is stored at the circular helical interpolation All interpolation axes are stored in the linear interpolation Deceleration stop Immediate stop d...

Page 244: ... 35999999 222 During the speed control with fixed position stop the fixed position acceleration deceleration time is 0 at the fixed position acceleration deceleration time input Control with the default value 1000 Set the acceleration deceleration time within the range of 1 to 65535 The speed at the pass point exceeded the speed limit value during constant speed control Control with the speed limi...

Page 245: ... to M2032 OFF for applicable axis 2 The servo READY signal M2415 20n ON 300 The current value was changed during positioning control of the applicable command generation axis Current value is not changed Use the following devices as interlocks not to change the current value for the applicable axis 1 The command generation axis accept flag M9810 20n OFF for applicable axis The speed after speed ch...

Page 246: ... axis that had not been started Torque limit value is not changed Request the change for the starting axis Request the torque limit change or the torque limit value individual change for the starting axis 315 During speed torque control the absolute value of the command speed is outside the range of 0 to the speed limit value in speed torque control Control with the speed limit value at speed torq...

Page 247: ...que limit value change request D P CHGT CHGT or torque limit value individual change request D P CHGT2 CHGT2 exceeds the torque limit value in speed torque control Torque limit value is not changed Request changing within the range of torque limit value in speed torque control 330 The target position change request CHGP was executed for the axis which was executing a servo instruction which was no...

Page 248: ...ol Synchronous control continues by the previous main shaft clutch control setting 724 The synchronous parameter Pr 422 Auxiliary shaft clutch control setting D15030 150n was set to outside the setting range during the synchronous control The synchronous parameter Pr 422 Auxiliary shaft clutch control setting D15030 150n was set from a setting other than No Clutch to No Clutch during the synchrono...

Page 249: ...cam axis phase compensation advance time Decrease the cam axis input value speed The synchronous parameter Pr 440 Cam No D15062 150n switch the control mode to speed torque continuous operation to torque control for the output axis except 0 in synchronous control Set the output axis to linear cam cam No 0 when executes the speed torque control during advanced synchronous control 756 Switch the con...

Page 250: ...al or lower than the minimum value 2147483648 or exceeding the maximum value 2147483647 Confirm the enabled direction of the rotation direction restriction setting The setting may be reversed Check if the input axis moves to the reverse direction of the enabled direction 882 Monitor speed display of input axis is equal or lower than the minimum value 2147483648 or exceeding the maximum value 21474...

Page 251: ...sitioning Fixed pitch feed Speed Constant speed JOG Position follow up control Speed control with fixed position stop Synchronous encoder Servo input axis Error cause Error processing Corrective action 901 The motor travel value while the power is off exceeded the System setting mode allowable travel value during power off set in the system settings at the turning on of the servo amplifier Further...

Page 252: ...control with fixed position stop Synchronous encoder Servo input axis Error cause Error processing Corrective action 1000 The external STOP signal of the applicable axis turned on Turn the STOP signal off 1001 The external signal FLS upper limit LS turned off at the forward direction address increase direction start Move in the reverse direction by the JOG operation etc and set within the external...

Page 253: ...ase direction Travel in the reverse direction by the JOG operation etc and set within the external limit range 1102 The external signal RLS lower limit LS turned off during the reverse direction address decrease direction Deceleration stop by Stop processing on STOP input of the parameter block Deceleration stop during speed control immediate stop during continuous operation to torque control mode...

Page 254: ...ive action Q172DEX or encoder hardware error Check replace the Q172DEX or encoder Disconnected encoder cable Immediate input stop Check the encoder cable 1151 A synchronous encoder set in the system setting differs from a synchronous encoder actually connected Input from synchronous encoder does not accept Set a synchronous encoder actually connected in the system setting 1152 Low voltage at Q172D...

Page 255: ...tion CPU is erased due to causes such as a battery error 4 Servo error 2025 or 2143 occurred 5 Major error 1201 1202 1203 or 1204 occurred 6 Rotation direction selection of the servo parameter is changed Home position return request ON Execute the home position return after checking the batteries of the Motion CPU module and servo amplifier 1202 A communication error between the servo amplifier an...

Page 256: ... mode Command generation axis Error code Synchronous control Positioning Fixed pitch feed Speed Constant speed JOG Position follow up control Speed control with fixed position stop Synchronous encoder Servo input axis Error cause Error processing Corrective action 1310 Initial communication with the Multiple CPU system did not complete normally Motion CPU fault Positioning control does not start R...

Page 257: ...ub input axis No D15001 150n is outside the setting range The same servo input axis No as the output axis is set in the synchronous parameter Pr 401 Sub input axis No D15001 150n Set a value within the range Do not set up the same servo input axis number as the output axis 1702 The synchronous parameter Pr 404 Main shaft gear Denominator D15006 150n D15007 150n is set to less than 0 or lower Synch...

Page 258: ...liary shaft No D15024 150n is outside the setting range The same servo input axis No as the output axis is set in the synchronous parameter Pr 418 Auxiliary shaft No D15024 150n Set a value within the range Do not set the same servo input axis number of the output axis 1722 The synchronous parameter Pr 421 Auxiliary shaft gear Denominator D15028 150n D15029 150n is set to 0 or lower Synchronous co...

Page 259: ...peed change gear 1 D15046 150n is outside the setting range Set a value within the range 1741 The synchronous parameter Pr 437 Speed change ratio 1 Denominator D15050 150n D15051 150n is set to 0 or lower Set a value within the range of 1 to 2147483647 1742 The synchronous parameter Pr 435 Speed change gear 1 smoothing time constant D15047 150n is set other than 0 to 5000 Synchronous control does ...

Page 260: ... the synchronous parameter Pr 492 Speed change ratio 2 Numerator D15054 150n D15055 150n Set a larger the synchronous parameter Pr 493 Speed change ratio 2 Denominator D15056 150n D15057 150n Decrease the input axis speed 1748 The setting value of synchronous parameter Pr 434 Speed change gear 1 D15046 150n and Pr 490 Speed change gear 2 D15052 150n is overlapping Set the synchronous parameter Pr ...

Page 261: ...rameter Pr 465 Current value per cycle after main shaft gear Initial setting D15106 150n D15107 150n is other than 0 to Cam axis length per cycle 1 Set within the range of 0 to Cam axis length per cycle 1 1762 The synchronous parameter Pr 461 Setting method of current value per cycle after auxiliary shaft gear D15101 150n is set to other than 0 to 2 Set a value within the range of 0 to 2 1763 The ...

Page 262: ...rrent value per cycle corresponding to the current feed value at synchronous control start could not be restored when the synchronous parameter Pr 462 Cam axis position restoration object D15102 150n was 0 Cam axis current value per cycle restoration Occurs in reciprocated cam pattern Start synchronous control after moving the current feed value as to fit within the stroke of two way operation cam...

Page 263: ... Pr 300 Servo input axis type is feed current value or real current value the speed position switching control is started with the feed current value update command M3212 20n is OFF The speed position switching control does not start Set Pr 300 Servo input axis type to servo command value or feedback value Start the speed position switching control after set the feed current value update command M...

Page 264: ...on follow up control Speed control with fixed position stop Synchronous encoder Servo input axis Error cause Error processing Corrective action 1830 Start speed control when input axis parameter Pr 300 Servo input axis type is valid Speed control does not start Set the Pr 300 Servo input axis type invalid Make use of the speed torque control function when operates the speed control that does not i...

Page 265: ...load 1 or 2 error codes 2050 2051 the state at the operation is held also for after the protection circuit operation in the servo amplifier The memory contents are cleared with the external power supply off but are not cleared by the reset signal Note 2 If resetting by turning off the external power supply is repeated at the occurrence of error code 2030 2050 or 2051 it may cause devices to be des...

Page 266: ...section 1 ratio 1 Acceleration section 2 ratio 1 Deceleration section 1 ratio 1 Advanced S curve acceleration deceleration Deceleration section 2 ratio 1 Torque limit value 1 STOP input deceleration processing 1 Parameter block Circular interpolation error allowance range 2 Command speed Constant speed 2 FIN acceleration deceleration 1 Fixed position stop acceleration deceleration time 1 Repetitio...

Page 267: ...g to device and start completion The procedures by start method for setting data to devices and cautions are shown below Start method Setting method Notes Start by the servo program Set data in indirect setting devices Start the servo program Do not change the indirect setting device before the positioning start complete signal of the starting axis turns on Set the loop FOR NEXT point data for CPS...

Page 268: ... 0 8 0 to 15 1 Speed change response time Dedicated instruction D P CHGV from the PLC CPU 1 4 to 2 3 1 7 to 2 6 2 6 to 3 5 3 5 to 4 4 5 3 to 6 2 8 9 to 9 8 Instruction CHGVS from the Motion SFC 0 4 to 0 9 0 8 to 1 3 1 7 to 2 6 2 6 to 4 4 4 4 to 8 0 8 0 to 15 1 Command generation axis speed change response time Dedicated instruction D P CHGVS from the PLC CPU 1 4 to 2 3 1 7 to 2 6 2 6 to 3 5 3 5 to...

Page 269: ...onous control on the axis 1 with the axis 4 as an input axis 1 Set MR J4 W B on the axis 1 in the system setting 2 Set the axis 4 in the command generation axis parameter of synchronous control parameter Item Axis 4 Valid setting 1 Valid Unit setting 2 degree Command generation axis JOG speed limit value 72000 000degree min ...

Page 270: ...00000 270 00000 60 0000000 Constant speed 3 270 00000 0 00000 50 0000000 Constant speed 4 Set the synchronous parameter of the axis 1 Item Setting value Type 201 Command generation axis Main shaft Main input axis Axis No 4 Cam axis length per cycle 360 00000degree Cam stroke amount 100000PLS Synchronous control module setting Output axis Cam axis cycle unit Cam No 1 ...

Page 271: ...22 Command generation axis 4 forward rotation JOG ON G2 M100 M100 OFF Synchronous control stop F3 RST M11022 Command generation axis 4 forward rotation JOG OFF G3 M9870 Command generation axis 4 start accept flag OFF END sync_ax1 F0 SET M2042 All axes servo ON F1 SET M12000 Axis 1 Synchronous control start F4 RST M12000 Axis 1 synchronous control stop G0 M2415 M2001 Axis 1 servo ready ON start acc...

Page 272: ...nd auxiliary input 1 axis Virtual servo motor axis Command generation axis Virtual servo motor axis Q173DSCPU 32 axes Q172DSCPU 16 axes Command unit PLS Command generation axis Q173DSCPU 32 axes Q172DSCPU 16 axes Command unit mm inch degree PLS Servo input axis None Use the servo amplifier as the drive module input axis Command units mm inch degree PLS Drive module Synchronous encoder axis Increme...

Page 273: ...input Main shaft side Auxiliary shaft side Use composite main shaft gear and composite auxiliary shaft gear Select a composite method for each inputs from Input Input No input 0 Type Roller shaft Ball screw shaft Rotary table shaft Cam shaft Cam shaft only The linear cam can be controlled as same as the ball screw shaft etc Phase compensation Advance time 2147483648 to 2147483647 μs Time constant ...

Page 274: ...calculated before starting synchronous control Mixed function of virtual mode real mode Provided None Synchronous control can be started and stopped for each axis Operation status at servo error occurrence It is possible to select to continue the virtual mode at a servo error occurrence All relevant systems stop even if a continuance is selected No effect on axis operations except the axes that ar...

Page 275: ...te Operation cycle 15 M2680 to M2699 11 FLS 16 M2700 to M2719 12 RLS 17 M2720 to M2739 13 STOP 18 M2740 to M2759 14 External signals DOG CHANGE Main cycle 19 M2760 to M2779 15 Servo ready 20 M2780 to M2799 16 Torque limiting Operation cycle Status signal 21 M2800 to M2819 17 22 M2820 to M2839 18 Unusable 23 M2840 to M2859 19 M code outputting Operation cycle 24 M2860 to M2879 25 M2880 to M2899 26 ...

Page 276: ...M3520 to M3539 11 Unusable 18 M3540 to M3559 19 M3560 to M3579 12 Feed current value update command At start Command signal 20 M3580 to M3599 13 21 M3600 to M3619 14 Unusable 22 M3620 to M3639 15 Servo OFF command Operation cycle 23 M3640 to M3659 16 Gain changing command 24 M3660 to M3679 17 PI PID switching command Operation cycle Note 1 25 M3680 to M3699 18 Control loop changing command 26 M370...

Page 277: ... to M10139 8 18 M10140 to M10159 9 Unusable 19 M10160 to M10179 20 M10180 to M10199 10 St 345 Command generation axis start accept flag 21 M10200 to M10219 22 M10220 to M10239 11 St 346 Command generation axis speed change accepting flag 23 M10240 to M10259 24 M10260 to M10279 12 St 347 Command generation axis speed change 0 accepting flag 25 M10280 to M10299 26 M10300 to M10319 13 St 348 Command ...

Page 278: ...240 to M11259 6 Unusable 16 M11260 to M11279 17 M11280 to M11299 7 Rq 346 Command generation axis error reset command Main cycle Command signal 18 M11300 to M11319 8 19 M11320 to M11339 9 20 M11340 to M11359 10 21 M11360 to M11379 11 Unusable 22 M11380 to M11399 23 M11400 to M11419 12 Rq 347 Feed current value update request command At start Command signal 24 M11420 to M11439 13 25 M11440 to M1145...

Page 279: ...on flag Immediate Status signal 5 Unusable 6 St 325 Synchronous encoder axis control complete flag Immediate Status signal 7 8 9 Unusable POINT Refer to Section 5 3 5 for details of synchronous encoder axis status 6 Synchronous encoder axis command signal list Axis No Device No Signal name 1 M11600 to M11603 2 M11604 to M11607 3 M11608 to M11611 Symbol Signal name Refresh cycle Fetch cycle Signal ...

Page 280: ...80 to M10689 6 St 426 Control change complete Operation cycle Status signal 14 M10690 to M10699 7 15 M10700 to M10709 8 16 M10710 to M10719 9 Unusable 17 M10720 to M10729 18 M10730 to M10739 19 M10740 to M10749 20 M10750 to M10759 21 M10760 to M10769 22 M10770 to M10779 23 M10780 to M10789 24 M10790 to M10799 25 M10800 to M10809 26 M10810 to M10819 27 M10820 to M10829 28 M10830 to M10839 29 M10840...

Page 281: ...6 Rq 405 Auxiliary shaft clutch forced OFF command Operation cycle Command signal 15 M11820 to M11829 7 Unusable 16 M11830 to M11839 17 M11840 to M11849 8 Rq 406 Control change request command Operation cycle Command signal 18 M11850 to M11859 9 Unusable 19 M11860 to M11869 20 M11870 to M11879 21 M11880 to M11889 22 M11890 to M11899 23 M11900 to M11909 24 M11910 to M11919 25 M11920 to M11929 26 M1...

Page 282: ...0898 20 M10899 21 M10900 22 M10901 23 M10902 24 M10903 25 M10904 26 M10905 27 M10906 28 M10907 29 M10908 30 M10909 31 M10910 32 M10911 St 380 Synchronous control Operation cycle Status signal POINT 1 The range of axis No 1 to 16 is valid in the Q172DSCPU 2 The device area more than 17 axes in the Q172DSCPU can be used as an user device However when the project of Q172DSCPU is replaced with Q173DSC...

Page 283: ...20 M10931 21 M10932 22 M10933 23 M10934 24 M10935 25 M10936 26 M10937 27 M10938 28 M10939 29 M10940 30 M10941 31 M10942 32 M10943 St 381 Synchronous analysis complete Operation cycle Status signal POINT 1 The range of axis No 1 to 16 is valid in the Q172DSCPU 2 The device area more than 17 axes in the Q172DSCPU can be used as an user device However when the project of Q172DSCPU is replaced with Q1...

Page 284: ...8 20 M12019 21 M12020 22 M12021 23 M12022 24 M12023 25 M12024 26 M12025 27 M12026 28 M12027 29 M12028 30 M12029 31 M12030 32 M12031 Rq 380 Synchronous control start Operation cycle Command signal POINT 1 The range of axis No 1 to 16 is valid in the Q172DSCPU 2 The device area more than 17 axes in the Q172DSCPU can be used as an user device However when the project of Q172DSCPU is replaced with Q17...

Page 285: ...1 21 M12052 22 M12053 23 M12054 24 M12055 25 M12056 26 M12057 27 M12058 28 M12059 29 M12060 30 M12061 31 M12062 32 M12063 Rq 381 Synchronous analysis request At start of synchronous control Command signal POINT 1 The range of axis No 1 to 16 is valid in the Q172DSCPU 2 The device area more than 17 axes in the Q172DSCPU can be used as an user device However when the project of Q172DSCPU is replaced...

Page 286: ... flag Operation cycle Status signal Note 1 Note 2 M2032 Axis 32 Start accept flag Operation cycle Status signal Note 1 Note 2 M2093 M2033 M2094 M2034 Unusable 2 points M2095 M2035 Motion error history clear request flag Main cycle Command signal M3080 M2096 M2036 M2097 M2037 Unusable 2 points M2098 M2038 Motion SFC debugging flag At debugging mode transition M2099 M2039 Motion error detection flag...

Page 287: ...24 M2223 M2152 Axis 25 M2224 M2153 Axis 26 M2225 M2154 Axis 27 M2226 M2155 Axis 28 M2227 M2156 Axis 29 M2228 M2157 Axis 30 M2229 M2158 Axis 31 M2230 M2159 Axis 32 Automatic decelerating flag Operation cycle Status signal Note 1 Note 2 M2231 M2160 M2232 M2161 M2233 M2162 M2234 M2163 M2235 M2164 M2236 M2165 M2237 M2166 M2238 M2167 M2239 Unusable 46 points M2168 M2240 Axis 1 M2169 M2241 Axis 2 M2170 ...

Page 288: ...Operation cycle Status signal Note 1 Note 2 M2277 Axis 6 M2304 M2278 Axis 7 M2305 M2279 Axis 8 M2306 M2280 Axis 9 M2307 M2281 Axis 10 M2308 M2282 Axis 11 M2309 M2283 Axis 12 M2310 M2284 Axis 13 M2311 M2285 Axis 14 M2312 M2286 Axis 15 M2313 M2287 Axis 16 M2314 M2288 Axis 17 M2315 M2289 Axis 18 M2316 M2290 Axis 19 M2317 M2291 Axis 20 M2318 M2292 Axis 21 Control loop monitor status Operation cycle St...

Page 289: ... the device of a remark column is turned ON OFF directly In addition when the request from a data register and the request from the above device are performed simultaneously the request from the above device becomes effective Note 2 It can also be ordered the device of a remark column Note 3 Do not use it as an user device It can be used as a device that performs automatic refresh because of area ...

Page 290: ...nter for constant speed control At start during start Monitor device 21 D400 to D419 16 22 D420 to D439 17 Unusable Note 1 23 D440 to D459 18 24 D460 to D479 19 Real current value at stop input Operation cycle Monitor device 25 D480 to D499 26 D500 to D519 27 D520 to D539 28 D540 to D559 29 D560 to D579 30 D580 to D599 31 D600 to D619 32 D620 to D639 Note 1 It can be used as the travel value chang...

Page 291: ... D673 18 D674 D675 19 D676 D677 20 D678 D679 21 D680 D681 22 D682 D683 23 D684 D685 24 D686 D687 25 D688 D689 26 D690 D691 27 D692 D693 28 D694 D695 29 D696 D697 30 D698 D699 31 D700 D701 32 D702 D703 POINT 1 The range of axis No 1 to 16 is valid in the Q172DSCPU 2 The device area more than 17 axes in the Q172DSCPU can be used as an user device However when the project of Q172DSCPU is replaced wit...

Page 292: ... Monitor device 12 D12390 to D12399 8 13 D12400 to D12409 9 Unusable 14 D12410 to D12419 15 D12420 to D12429 16 D12430 to D12439 17 D12440 to D12449 18 D12450 to D12459 19 D12460 to D12469 20 D12470 to D12479 21 D12480 to D12489 22 D12490 to D12499 23 D12500 to D12509 24 D12510 to D12519 25 D12520 to D12529 26 D12530 to D12539 27 D12540 to D12549 28 D12550 to D12559 29 D12560 to D12569 30 D12570 t...

Page 293: ...25 14 D14626 D14627 15 D14628 D14629 16 D14630 D14631 17 D14632 D14633 18 D14634 D14635 19 D14636 D14637 20 D14638 D14639 21 D14640 D14641 22 D14642 D14643 23 D14644 D14645 24 D14646 D14647 25 D14648 D14649 26 D14650 D14651 27 D14652 D14653 28 D14654 D14655 29 D14656 D14657 30 D14658 D14659 31 D14660 D14661 32 D14662 D14663 POINT 1 The range of axis No 1 to 16 is valid in the Q172DSCPU 2 The devic...

Page 294: ... Monitor device 15 D12880 to D12899 8 Unusable 16 D12900 to D12919 17 D12920 to D12939 9 Md 346 Command generation axis data set pointer for constant speed control At start during start 18 D12940 to D12959 10 19 D12960 to D12979 11 Md 347 Command generation axis current value per cycle 20 D12980 to D12999 12 21 D13000 to D13019 13 Md 348 Command generation axis command speed Operation cycle Monito...

Page 295: ... D14727 13 D14728 to D14731 14 D14732 to D14735 15 D14736 to D14739 16 D14740 to D14743 17 D14744 to D14747 18 D14748 to D14751 19 D14752 to D14755 20 D14756 to D14759 21 D14760 to D14763 22 D14764 to D14767 23 D14768 to D14771 24 D14772 to D14775 25 D14776 to D14779 26 D14780 to D14783 27 D14784 to D14787 28 D14788 to D14791 29 D14792 to D14795 30 D14796 to D14799 31 D14800 to D14803 32 D14804 to...

Page 296: ...der axis current value per cycle 8 D13380 to D13399 4 9 D13400 to D13419 5 Md 322 Synchronous encoder axis speed 10 D13420 to D13439 6 11 D13440 to D13459 7 Md 323 Synchronous encoder axis phase compensation amount 12 D13460 to D13479 8 9 Md 324 Synchronous encoder axis rotation direction restriction amount Operation cycle 10 Md 327 Synchronous encoder axis minor error code 11 Md 326 Synchronous e...

Page 297: ... to D14879 7 D14880 to D14889 2 Cd 320 Synchronous encoder axis control start condition 8 D14890 to D14899 9 D14900 to D14909 3 Cd 321 Synchronous encoder axis control method 10 D14910 to D14919 4 11 D14920 to D14929 5 Cd 322 Synchronous encoder axis current value setting address At synchronous encoder axis control start 12 D14930 to D14939 6 7 Cd 325 Input value for synchronous encoder via device...

Page 298: ... amount 16 D14050 to D14079 12 17 D14080 to D14109 13 Md 407 Cam axis current value per cycle 18 D14110 to D14139 14 19 D14140 to D14169 15 Md 408 Cam reference position 20 D14170 to D14199 16 21 D14200 to D14229 17 Md 409 Cam axis current feed value 22 D14230 to D14259 18 Md 410 Execute cam No Operation cycle Monitor device 23 D14260 to D14289 19 Unusable 24 D14290 to D14319 20 25 D14320 to D1434...

Page 299: ...ion cycle 21 D18000 to D18149 16 22 D18150 to D18299 17 Pr 410 Travel value before main shaft clutch OFF At completing clutch OFF condition 23 D18300 to D18449 18 Pr 411 Main shaft clutch smoothing method 24 D18450 to D18599 25 D18600 to D18749 19 Pr 412 Main shaft clutch smoothing time constant At start of synchronous control 26 D18750 to D18899 20 27 D18900 to D19049 21 Pr 413 Slippage amount at...

Page 300: ...o 1 Denominator Operation cycle 19 D17700 to D17849 52 Pr 490 Speed change gear 2 20 D17850 to D17999 21 D18000 to D18149 53 Pr 491 Speed change gear 2 smoothing time constant At start of synchronous control 22 D18150 to D18299 54 23 D18300 to D18449 55 Pr 492 Speed change ratio 2 Numerator 24 D18450 to D18599 56 25 D18600 to D18749 57 Pr 493 Speed change ratio 2 Denominator Operation cycle 26 D18...

Page 301: ...49 90 24 D18450 to D18599 91 25 D18600 to D18749 92 26 D18750 to D18899 93 27 D18900 to D19049 94 28 D19050 to D19199 95 29 D19200 to D19349 96 30 D19350 to D19499 97 31 D19500 to D19649 98 32 D19650 to D19799 99 Unusable 100 Pr 460 Setting method of current value per cycle after main shaft gear 101 Pr 461 Setting method of current value per cycle after auxiliary shaft gear 102 Pr 462 Cam axis pos...

Page 302: ... 120 13 D16800 to D16949 121 14 D16950 to D17099 122 15 D17100 to D17249 123 16 D17250 to D17399 124 17 D17400 to D17549 125 18 D17550 to D17699 126 19 D17700 to D17849 127 20 D17850 to D17999 128 21 D18000 to D18149 129 Unusable 22 D18150 to D18299 23 D18300 to D18449 130 Cd 407 Synchronous control change command 24 D18450 to D18599 131 Cd 409 Synchronous control reflection time 25 D18600 to D187...

Page 303: ...is valid in the Q172DSCPU 2 The device area more than 17 axes in the Q172DSCPU can be used as an user device 3 Refer to Section 7 1 2 Section 7 1 3 Section7 2 3 Section7 4 2 Section7 5 2 Section7 6 2 and Section8 5 for details of output axis control device ...

Page 304: ...anual pulse generator axis 1 No setting register D763 D716 D764 D717 Manual pulse generator axis 2 No setting register D765 D718 D766 D719 Manual pulse generator axis 3 No setting register D767 D720 Axis 1 D768 D721 Axis 2 D769 D722 Axis 3 D770 D723 Axis 4 D771 D724 Axis 5 D772 D725 Axis 6 D773 D726 Axis 7 D774 D727 Axis 8 D775 D728 Axis 9 D776 D729 Axis 10 D777 D730 Axis 11 D778 D731 Axis 12 D779...

Page 305: ...ition return re travel 12 8220 to 8239 13 8240 to 8259 8 Servo amplifier display servo error code 14 8260 to 8279 9 Parameter error No Main cycle 15 8280 to 8299 10 Servo status1 16 8300 to 8319 11 Servo status2 17 8320 to 8339 12 Servo status3 Operation cycle 1 7 ms or less Operation cycle Operation cycle 3 5 ms or more 3 5 ms Monitor device 18 8340 to 8359 13 19 8360 to 8379 14 20 8380 to 8399 1...

Page 306: ...t Device No Signal name Refresh cycle Fetch cycle Signal type SM500 PCPU REDAY complete flag SM501 TEST mode ON flag Main cycle SM502 External forced stop input flag Operation cycle SM503 Digital oscilloscope executing flag Main cycle SM506 External forced stop input ON latch flag Ver Operation cycle SM508 Amplifier less operation status flag SM510 TEST mode request error flag SM512 Motion CPU WDT...

Page 307: ...SD514 SD515 Manual pulse generator axis setting error information At the manual pulse generator enable flag SD516 Error program No SD517 Error item information At start SD522 Motion operation cycle Operation cycle SD523 Operation cycle of the Motion CPU setting At power supply on SD524 Maximum Motion operation cycle Operation cycle SD550 SD551 System setting error information At System setting err...

Page 308: ...ncorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry 4 A failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced 5 Any replacement of consumable parts battery fan etc 6 A failure caused by e...

Page 309: ...nies and also which require a special quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service inc...

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Mitsubishi Electric Q172DSCPU, Programming Manual

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