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Mitsubishi Electric RD77MS16, User Manual

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48

3  MAJOR POSITIONING CONTROL
3.1  Outline of Major Positioning Controls

3

MAJOR POSITIONING CONTROL

The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this 

chapter.

The major positioning controls include such controls as "positioning control" in which positioning is carried out to a designated 

position using the address information, "speed control" in which a rotating object is controlled at a constant speed, "speed-

position switching control" in which the operation is shifted from "speed control" to "position control" and "position-speed 

switching control" in which the operation is shifted from "position control" to "speed control".

Execute the required settings to match each control.

3.1

Outline of Major Positioning Controls

"Major positioning controls" are carried out using the "positioning data" stored in the Simple Motion module.

The basic controls such as position control and speed control are executed by setting the required items in this "positioning 

data", and then starting that positioning data.

The control method for the "major positioning controls" is set in setting item "[Da.2] Control method" of the positioning data.

Control defined as a "major positioning control" carries out the following types of control according to the "[Da.2] Control 

method" setting. However, the position loop is included for commanding to servo amplifier in the speed control set in "[Da.2] 

Control method". Use the "speed-torque control" to execute the speed control not including position loop. (

Page 193 

Speed-torque Control)

Major positioning control

[Da.2] Control method

Details

Position 

control

Linear control

1-axis linear 

control

ABS Linear 1

INC Linear 1

Positioning of the designated 1 axis is carried out from the start address (current 

stop position) to the designated position.

2-axis linear 
interpolation 

control

*1

ABS Linear 2
INC Linear 2

Using the designated 2 axes, linear interpolation control is carried out from the 
start address (current stop position) to the designated position.

3-axis linear 

interpolation 
control

*1

ABS Linear 3

INC Linear 3

Using the designated 3 axes, linear interpolation control is carried out from the 

start address (current stop position) to the designated position.

4-axis linear 

interpolation 
control

*1

ABS Linear 4

INC Linear 4

Using the designated 4 axes, linear interpolation control is carried out from the 

start address (current stop position) to the designated position.

Fixed-feed 
control

1-axis fixed-
feed control

Fixed-feed 1

Positioning of the designated 1 axis is carried out for a designated movement 
amount from the start address (current stop position).
(The "[Md.20] Current feed value" is set to "0" at the start.)

2-axis fixed-
feed control

*1

Fixed-feed 2

Using the designated 2 axes, linear interpolation control is carried out for a 
designated movement amount from the start address (current stop position).
(The "[Md.20] Current feed value" is set to "0" at the start.)

3-axis fixed-
feed control

*1

Fixed-feed 3

Using the designated 3 axes, linear interpolation control is carried out for a 
designated movement amount from the start address (current stop position).

(The "[Md.20] Current feed value" is set to "0" at the start.)

4-axis fixed-
feed control

*1

Fixed-feed 4

Using the designated 4 axes, linear interpolation control is carried out for a 
designated movement amount from the start address (current stop position).

(The "[Md.20] Current feed value" is set to "0" at the start.)

2-axis circular 

interpolation 
control

*1

Sub point 

designation

ABS Circular sub

INC Circular sub

Using the designated 2 axes, positioning is carried out in an arc path to a 

position designated from the start point address (current stop position).

Center point 

designation

ABS Circular right

ABS Circular left
INC Circular right
INC Circular left

3-axis helical 
interpolation 
control

*1

Sub point 
designation

ABS helical sub
INC helical sub

Using two axes of the three axes, the circular interpolation control is carried out. 
The remaining axis is used for the positioning of the helical, tangent line, or 
normal line control to follow the circular interpolation control.

Center point 
designation

ABS helical right
ABS helical left
INC helical right

INC helical left

Summary of Contents for RD77MS16

Page 1: ...MELSEC iQ R Simple Motion Module User s Manual Application RD77MS2 RD77MS4 RD77MS8 RD77MS16 ...

Page 2: ......

Page 3: ...nt or overvoltage protection of the power supply module is activated Held or turned off according to the parameter setting if the self diagnostic function of the CPU module detects an error such as a watchdog timer error 3 Also all outputs may be turned on if an error occurs in a part such as an I O control part where the CPU module cannot detect any error To ensure safety operation in such a case...

Page 4: ...ng a firewall Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller Failure to do so may result in an accident due to an incorrect output or malfunction 1 Machine home position return is controlled by two kinds of data a home position return direction an...

Page 5: ...stem will always operate safely regardless of the time Do not power off the programmable controller or do not reset the CPU module during the setting registration Doing so will make the data in the flash ROM undefined The data need to be set in the buffer memory and to be written to the flash ROM again Doing so may cause malfunction or failure of the module Reset the CPU module after changing the ...

Page 6: ...ort circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction When using an extension cable connect it to the extension cable connector of the base unit securely Check the connection for looseness Poor contact may cause incorrect input or output When using an SD memory card fully insert it into the memory card slot Check that it is inse...

Page 7: ...connecting the cable to an incorrect interface may cause failure of the module and external device Tighten the terminal screws or connector screws within the specified torque range Undertightening can cause drop of the screw short circuit fire or malfunction Overtightening can damage the screw and or module resulting in drop short circuit fire or malfunction When disconnecting the cable from the m...

Page 8: ...ons to be taken between the external device and CPU module in case of a communication failure Do not disassemble or modify the modules Doing so may cause failure malfunction injury or a fire Use any radio communication device such as a cellular phone or PHS Personal Handyphone System more than 25 cm away in all directions from the programmable controller Failure to do so may cause malfunction Shut...

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

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

Page 11: ...NSIBILITY OR LIABILITY INCLUDING BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT WARRANTY TORT PRODUCT LIABILITY FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS PRECAUTIONS OR WARNING CONTAINED IN MITSUBISHI S USER INSTRUCTION AND OR SAFETY MANUALS T...

Page 12: ...ne of the following manuals MELSEC iQ R Module Configuration Manual Safety Guidelines This manual is included with the base unit The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives Additional measures To ensure that this product maintains EMC and Low Voltage Directives please refer to one of the following manuals MELSEC iQ R Module Config...

Page 13: ...lection of the Home Position Return Setting Condition 47 Outline of the home position return setting condition 47 CHAPTER 3 MAJOR POSITIONING CONTROL 48 3 1 Outline of Major Positioning Controls 48 Data required for major positioning control 50 Operation patterns of major positioning controls 51 Designating the positioning address 58 Confirming the current value 59 Control unit degree handling 61 ...

Page 14: ...rious controls and the condition data 156 Condition data setting examples 158 4 5 Start Program for High level Positioning Control 159 Starting high level positioning control 159 Example of a start program for high level positioning control 160 CHAPTER 5 MANUAL CONTROL 163 5 1 Outline of Manual Control 163 Three manual control methods 163 5 2 JOG Operation 165 Outline of JOG operation 165 JOG oper...

Page 15: ... Functions to Limit the Control 233 Speed limit function 233 Torque limit function 235 Software stroke limit function 238 Hardware stroke limit function 243 Forced stop function 246 8 5 Functions to Change the Control Details 248 Speed change function 248 Override function 254 Acceleration deceleration time change function 256 Torque change function 259 Target position change function 263 8 6 Func...

Page 16: ... 352 10 3 Simple Motion Module Setting 356 CHAPTER 11 SPECIFICATIONS OF I O SIGNALS WITH CPU MODULES 357 11 1 List of Input Output Signals with CPU Modules 357 11 2 Details of Input Signals 359 11 3 Details of Output Signals 360 CHAPTER 12 DATA USED FOR POSITIONING CONTROL 361 12 1 Types of Data 361 Parameters and data required for control 361 Setting items for servo network composition parameters...

Page 17: ...APTER 13 PROGRAMMING 556 13 1 Precautions for Creating Program 556 13 2 List of Labels Used 558 13 3 Creating a Program 561 General configuration of program 561 13 4 Positioning Program Examples 562 CHAPTER 14 TROUBLESHOOTING 574 14 1 Troubleshooting Procedure 574 Troubleshooting using the LEDs 574 Troubleshooting using the module status 576 14 2 Troubleshooting by Symptom 577 14 3 Error and Warni...

Page 18: ...sses 620 Appendix 3 Compatible Devices with SSCNETIII H 624 Servo driver VCII series manufactured by Nikki Denso Co Ltd 624 Inverter FR A700 series 628 Connection with MR JE B 633 Appendix 4 Restrictions by the version 634 INDEX 635 REVISIONS 638 WARRANTY 639 TRADEMARKS 640 ...

Page 19: ...rowse can be bookmarked Manual name manual number Description Available form MELSEC iQ R Simple Motion Module User s Manual Application IB 0300247 This manual Functions input output signals buffer memories parameter settings programming and troubleshooting of the Simple Motion module Print book e Manual EPUB PDF MELSEC iQ R Simple Motion Module User s Manual Advanced Synchronous Control IB 0300249...

Page 20: ...l Generic term for GX Works3 and MR Configurator2 GX Works3 Product name of the software package for the MELSEC programmable controllers MR Configurator2 Product name of the setup software for the servo amplifier Version 1 27D or later Intelligent function module A MELSEC iQ R series module that has functions other than input or output such as A D converter module and D A converter module Manual p...

Page 21: ...d at the control The data that can be used varies by the start method Servo ON conditions Setting of servo parameter PLC READY signal Y0 ON All axis servo ON Y1 ON Starting conditions To start the control the following conditions must be satisfied The necessary start conditions must be incorporated in the program so that the control is not started when the conditions are not satisfied Operation st...

Page 22: ...o ON ON All axis servo ON Y1 Synchronization flag 1 ON The RD77MS buffer memory can be accessed X1 Axis stop signal OFF Axis stop signal is OFF Cd 180 Axis stop M code ON signal OFF M code ON signal is OFF Md 31 Status b12 Error detection signal OFF There is no error Md 31 Status b13 BUSY signal OFF BUSY signal is OFF X10 to X1F Start complete signal OFF Start complete signal is OFF Md 31 Status b...

Page 23: ...is executed However since the ON time is short the ON status may not be detected in the program The ON status of the start complete signal Md 31 Status b14 positioning complete signal Md 31 Status b15 and M code ON signal Md 31 Status b12 can be detected in the program Whether the next positioning control is executed Processing details Do not execute the positioning If a dwell time is set the syst...

Page 24: ...the followings for the setting details Page 407 Basic Setting Page 504 Control Data Restriction When starting by inputting the external command signal DI the start complete signal Md 31 Status b14 will not turn ON Starting time chart RD77MS4 operation example Setting item Setting value Setting details Buffer memory address Pr 42 External command function selection 0 Set to 0 External positioning s...

Page 25: ...91H will occur and all simultaneously started axes will not start if the simultaneously started axis start data No is not set to the axis control data on the start axis or set outside the setting range The error Error before simultaneous start error code 1990H 1991H will occur and all simultaneously started axes will not start if either of the simultaneously started axes is BUSY The error Error be...

Page 26: ...imultaneous start control start No 9004 4300 100n Cd 43 Simultaneous starting axis Set the number of simultaneous starting axes and target axis 4368 100n 4369 100n Cd 30 Simultaneous starting own axis start data No Set the simultaneously started axis start data No Set a 0 for the axis other than the simultaneously started axes 4340 100n Cd 31 Simultaneous starting axis start data No 1 4341 100n Cd...

Page 27: ...or code 1A13H 1A14H Outside linear movement amount range error code 1A15H 1A16H Large arc error deviation error code 1A17H Software stroke limit error code 1A18H 1A19H Software stroke limit error code 1A1AH 1A1BH Sub point setting error error code 1A27H 1A28H 1A29H 1A2AH 1A37H End point setting error error code 1A2BH 1A2CH Center point setting error error code 1A2DH 1A2EH 1A2FH Outside radius rang...

Page 28: ...r code 19A4H 19A5H Stop cause Stop process Home position return control Major positioning control High level positioning control Manual control Machine home position return control Fast home position return control JOG Inching operation Manual pulse generator operation Forced stop Forced stop input signal OFF from an external device Servo OFF or free run The operation stops with dynamic brake Serv...

Page 29: ...ecelerate The Simple Motion module immediately stops the command For the stop method of the servo amplifier refer to each servo amplifier instruction manual Deceleration stop and sudden stop are selected with the detailed parameter 2 stop group 1 to 3 sudden stop selection The default setting is deceleration stop Pr 36 Sudden stop deceleration time Pr 8 Speed limit value Pr 8 Speed limit value Act...

Page 30: ...ration speed If input at the creep speed the operation will stop immediately If a stop cause designated for sudden stop occurs during deceleration the sudden stop process will start from that point The sudden stop process during deceleration is carried out only when the sudden stop time is shorter than the deceleration stop time Positioning control during deceleration Setting value of Cd 42 Proces...

Page 31: ... is ON However make sure that the positioning start signal does not change from OFF to ON while stopped If the positioning start signal is changed from OFF to ON while Md 26 Axis operation status is stopped the normal positioning the positioning data set in Cd 3 Positioning start No is started If positioning is ended with the continuous operation interrupt request the operation cannot be restarted...

Page 32: ...start Page 571 Restart program Positioning start signal Y10 PLC READY signal Y0 READY signal X0 Start complete signal Md 31 Status b14 BUSY signal X10 Positioning complete signal Md 31 Status b15 0 V t Error detection signal Md 31 Status b13 1 Dwell time Cd 180 Axis stop 8 1 8 0 0 0 All axis servo ON Y1 Md 26 Axis operation status Cd 6 Restart command ...

Page 33: ...n request flag Md 31 Status b3 must be turned ON in the Simple Motion module and a machine home position return must be executed in the following cases When not using an absolute position system This flag turns on in the following cases This flag turns off by the completion of machine home position return Home position return method Home position return method operation details Machine home positi...

Page 34: ...n Combination possible Restricted Combination not possible When a home position return is not required Control can be carried out ignoring the home position return request flag Md 31 Status b3 in systems that do not require a home position return In this case the home position return parameters Pr 43 to Pr 57 must all be set to their initial values or a value at which an error does not occur When ...

Page 35: ...turn is regarded as the home position to be the starting point for positioning control The method for establishing a home position by a machine home position return differs according to the method set in Pr 43 Home position return method The following shows the operation when starting a machine home position return 1 The machine home position return is started 2 The operation starts according to t...

Page 36: ...deceleration starts by the OFF ON of the near point dog and the machine moves at the Pr 47 Creep speed The machine stops once after moving the distance set in the Pr 50 Setting for the movement amount after near point dog ON from the OFF ON position Later the operation restarts and then stops at the first zero point to complete the machine home position return Count method 2 The deceleration start...

Page 37: ... b4 turns from OFF to ON and the home position return request flag Md 31 Status b3 turns from ON to OFF Pr 46 Home position return speed Home position return complete flag Md 31 Status b4 t Machine home position return start Positioning start signal ON OFF Deceleration at the near point dog ON ON OFF OFF ON Standby Home position return Standby Inconsistent 0 Inconsistent Value of the machine moved...

Page 38: ...de 1946H will occur After the home position return has been started the zero point of the encoder must be passed at least once before point A is reached However if selecting 1 Not need to pass servo motor Z phase after power on with Function selection C 4 PC17 it is possible to carry out the home position return without passing the zero point The workpiece will continue decelerating and stop if th...

Page 39: ...return request flag Md 31 Status b3 turns from ON to OFF First zero signal after moving a set to Pr 50 Setting for the movement amount after near point dog ON Home position return complete flag Md 31 Status b4 Home position return request flag Md 31 Status b3 Md 34 Movement amount after near point dog ON 1 t Machine home position return start Positioning start signal ON OFF ON OFF OFF ON Standby H...

Page 40: ...ed on detection of the first zero signal after the travel of the movement amount set to Pr 50 Setting for the movement amount after near point dog ON on detection of the near point dog signal ON Turn OFF the near point dog at a sufficient distance from the Home position Although there is no harm in operation if the near point dog is turned OFF during a machine home position return it is recommende...

Page 41: ...ing for the movement amount after near point dog ON from the near point dog ON position Restrictions When this method is used a deviation will occur in the stop position home position compared to other home position return methods because an error occurs in taking in the near point dog ON The error varies by the input type of Pr 118 DOG signal selection The taking error by the input type is shown ...

Page 42: ...on processing is carried out when the near point dog OFF is detected 4 After the machine stops a machine home position return is carried out in the home position return direction 5 The machine home position return is completed after moving the movement amount set in the Pr 50 Setting for the movement amount after near point dog ON Turn OFF the near point dog at a sufficient distance from the home ...

Page 43: ...or code 197AH occurs perform the JOG or similar operation so that the servomotor makes more than one revolution after an error reset before carrying out the machine home position return again However if selecting 1 Not need to pass servo motor Z phase after power on with Function selection C 4 PC17 it is possible to carry out the home position return without passing the zero point The home positio...

Page 44: ...ion return speed when the acceleration is completed 2 The machine begins decelerating when the near point dog ON is detected 3 After deceleration stop the machine moves in the opposite direction against of home position return at the Pr 46 Home position return speed 4 During movement the machine begins decelerating when the first zero signal is detected 5 After deceleration stop the operation move...

Page 45: ...e near point dog OFF When the stop signal stops the machine home position return carry out the machine home position return again When restart command is turned ON after the stop signal stops the home position return the error Home position return restart not possible error code 1946H will occur The home position return retry will not be performed regardless of setting set in Pr 48 Home position r...

Page 46: ...o complete the home position return Do not use the scale origin signal detection method home position return for the machine with the backlash When using the direct drive motor make it passed the Z phase once before reaching 3 in the previous operation chart Page 42 Scale origin signal detection method Zero signal Near point dog OFF ON 4 3 6 5 1 2 Pr 46 Home position return speed Pr 47 Creep speed...

Page 47: ...hine home position return begins at speed set in the home position return parameters Pr 43 to Pr 57 3 The fast home position return is completed Operation timing and processing time The following shows details about the operation timing and time during fast home position return Pr 46 Home position return speed Machine home position Home position Fast home position return start Positioning start si...

Page 48: ...ared to zero using current value changing or fixed feed control execute the fast home position return and an error will occur by a cleared amount When unlimited length feed is executed by speed control and the machine feed value overflows or underflows once the fast home position return cannot be executed normally The home position return complete flag Md 31 Status b4 is not turned ON The axis ope...

Page 49: ...out passing the zero point n Axis No 1 Data setting To select the home position return setting condition set the servo amplifier shown in the following table Servo parameters are set for each axis The home position return setting condition is stored into the following buffer memory addresses n Axis No 1 1 Refer to the following for information on the storage details Page 444 Servo parameters Preca...

Page 50: ...position to the designated position 3 axis linear interpolation control 1 ABS Linear 3 INC Linear 3 Using the designated 3 axes linear interpolation control is carried out from the start address current stop position to the designated position 4 axis linear interpolation control 1 ABS Linear 4 INC Linear 4 Using the designated 4 axes linear interpolation control is carried out from the start addre...

Page 51: ...ontinued as position control positioning for the designated address or movement amount by turning ON the speed position switching signal after first carrying out speed control Position speed switching control Forward run position speed Reverse run position speed The control is continued as speed control by turning ON the position speed switching signal after first carrying out position control Oth...

Page 52: ...cceleration time Da 4 Deceleration time No Select and set the deceleration time at control stop Select one of the four values set in Pr 10 Pr 28 Pr 29 and Pr 30 for the deceleration time Da 6 Positioning address movement amount Set the target value during position control Page 58 Designating the positioning address Da 7 Arc address Set the sub point or center point address during circular interpol...

Page 53: ...ll time is designated the positioning completes after the designated time elapses This data operation pattern 00 data becomes the end of block data when carrying out block positioning The positioning stops after this data is executed Positioning control Operation pattern Positioning complete Independent positioning control operation pattern 00 Positioning continue Continuous positioning control op...

Page 54: ...t positioning data to complete the positioning If the operation pattern is set to positioning continue 01 or 11 the operation will continue until operation pattern 00 is found If the operation pattern 00 cannot be found the operation may be carried out until the positioning data No 600 If the operation pattern of the positioning data No 600 is not completed the operation will be started again from...

Page 55: ...g speed switching mode in which the speed is changed at the end of the current positioning side and the standard speed switching mode in which the speed is at the start of the next positioning side Page 421 Pr 19 Speed switching mode In the continuous path control the positioning may be completed before the set address movement amount and the current data may be switched to the positioning data th...

Page 56: ...rection To avoid this sudden direction reversal in the interpolation axis set the pass point to continuous positioning control 01 instead of setting it to continuous path control 11 When a 0 is set in the Da 6 Positioning address movement amount of the continuous path control positioning data the command speed is reduced to 0 in an operation cycle When a 0 is set in the Da 6 Positioning address mo...

Page 57: ... started if 1 is set in the command speed of the first positioning data at start Relation between the command speed and current speed In the continuous path control a speed variation will not occur using the near pass function when the positioning data is switched Page 231 Near pass function The Simple Motion module holds the command speed set with the positioning data and the latest value of the ...

Page 58: ...vement amount is small in regard to the target speed the current speed may not reach the target speed even if acceleration deceleration is carried out In this case the machine is accelerated decelerated so that it nears the target speed If the movement amount will be exceeded when automatic deceleration is required Ex Operation patterns 00 01 etc the machine will immediately stop at the designated...

Page 59: ...n regard to the target speed the current speed may not reach the target speed even if acceleration deceleration is carried out In this case the machine is accelerated decelerated so that it nears the target speed If the movement amount will be exceeded when automatic deceleration is required Ex Operation patterns 00 01 etc the machine will immediately stop at the designated positioning address and...

Page 60: ...remental system The position where the machine is currently stopped is regarded as the start point and positioning is carried out for a designated movement amount in a designated movement direction Address 100 Address 150 Address 300 Address 100 Address 150 Start point End point Address 100 100 150 300 Within the stroke limit range Address 150 A point B point C point Home position Reference point ...

Page 61: ...ed value are used in the control Current feed value Machine feed value This is the value stored in Md 20 Current feed value This value has an address established with a machine home position return as a reference but the address can be changed by changing the current value to a new value This is the value stored in Md 21 Machine feed value This value always has an address established with a machin...

Page 62: ...he axis 1 in the specified device when X40 is turned ON Monitor item Buffer memory addresses Md 20 Current feed value 2400 100n 2401 100n Md 21 Machine feed value 2402 100n 2403 100n Classification Label name Description Module label RD77_1 stnAxMntr_D 0 dCommandPosition_D dCurrentFeedValue Axis 1 Current feed value Global label local label Defines the global label or the local label as follows Th...

Page 63: ...te the software stroke limit set the software stroke limit lower limit value and the upper limit value in a clockwise direction To set the movement range A set as follows To set the movement range B set as follows Setting to invalidate software stroke limit To invalidate the software stroke limit set the software stroke limit lower limit value equal to the software stroke limit upper limit value T...

Page 64: ...grees of the buffer memory initial value 0 The value written to the Cd 40 ABS direction in degrees becomes valid only when the positioning control is started In the continuous positioning control and continuous path control the operation is continued with the setting set at the time of start even if the setting is changed during the operation n Axis No 1 Absolute system When the software stroke li...

Page 65: ...ovement direction is determined by the sign of the movement amount Positioning of 360 or more can be carried out with the incremental system At this time set as shown below to invalidate the software stroke limit Software stroke limit upper limit value Software stroke limit lower limit value Set the value within the setting range 0 to 359 99999 For a positive movement direction Clockwise For a neg...

Page 66: ...near interpolation control 3 axis fixed feed control and 3 axis speed control The following table shows the combinations of the reference axis circular interpolation axis and linear interpolation axis for the 3 axis helical interpolation control Interpolation control set in Da 2 Control method RD77MS2 RD77MS4 RD77MS8 RD77MS16 Reference axis Interpolation axis Reference axis Interpolation axis 2 ax...

Page 67: ...tart if both reference axis and the interpolation axis are started Reference axis Interpolation while interpolation axis BUSY error code 1998H Interpolation axis Control method setting error error code 199CH start during operation warning code 0900H Setting item Reference axis setting item Interpolation axis setting item Same positioning data Nos Da 1 Operation pattern Da 2 Control method Linear 2...

Page 68: ...is controlled with the speed limit value The speeds of the other axes being interpolated suppressed by the command speed ratio If the reference axis exceeds Pr 8 Speed limit value during 2 axis circular interpolation control the reference axis is controlled with the speed limit value The speed limit does not function on the interpolation axis side If any axis exceeds Pr 8 Speed limit value during ...

Page 69: ...oning control does not start if circular interpolation control and 3 axis helical interpolation control is set when the unit is degree The machine will carry out a deceleration stop if degree is set during positioning control 3 The unit set in the reference axis will be used for the speed unit during control if the units differ or if mm and inch are combined 4 Only linear interpolation axis can us...

Page 70: ...nterpolation control 1 axis fixed feed control 2 3 4 axis fixed feed control 2 axis circular interpolation control 3 axis helical interpolation control Da 1 Operation pattern Independent positioning control Positioning complete Continuous positioning control Continuous path control Da 2 Control method Linear 1 Linear 2 Linear 3 Linear 4 1 Fixed feed 1 Fixed feed 2 Fixed feed 3 Fixed feed 4 Circula...

Page 71: ...on pattern Independent positioning control Positioning complete Continuous positioning control Continuous path control Da 2 Control method Forward run speed position Reverse run speed position 1 Forward run position speed Reverse run position speed Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP d...

Page 72: ...nging JUMP instruction LOOP LEND Da 1 Operation pattern Independent positioning control Positioning complete Continuous positioning control Continuous path control Da 2 Control method NOP Current value changing JUMP instruction LOOP LEND Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address movement amount New address Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP ...

Page 73: ...near control ABS linear 1 set the following positioning data Always set Set as required Setting restricted Setting not required 1 Refer to the following for information on the setting details Page 445 Positioning Data Setting item Setting required not required Da 1 Operation pattern Da 2 Control method Set ABS linear 1 Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address mo...

Page 74: ...ositioning Data Setting item Setting required not required Da 1 Operation pattern Da 2 Control method Set INC linear 1 Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP destination positioning data No Da 10 M code Condition data No Number of LOOP to LEND repetitions Number of pitches Da 20 Axis to b...

Page 75: ... 4000 positioning is carried out as follows Restrictions An error will occur and the positioning will not start in the following cases The machine will immediately stop if the error is detected during a positioning control If the movement amount of each axis exceeds 1073741824 230 when 0 Composite speed is set in Pr 20 Interpolation speed designation method the error Outside linear movement amount...

Page 76: ...he major axis side speed may exceed the Pr 8 Speed limit value Setting item Setting required not required for the reference axis Setting required not required for the interpolation axis Da 1 Operation pattern Da 2 Control method Set ABS linear 2 Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP dest...

Page 77: ... Restrictions An error will occur and the positioning will not start in the following cases The machine will immediately stop if the error is detected during a positioning operation If the movement amount of each axis exceeds 1073741824 230 when 0 Composite speed is set in Pr 20 Interpolation speed designation method the error Outside linear movement amount range error code 1A15H 1A16H occurs at a...

Page 78: ...he major axis side speed may exceed the Pr 8 Speed limit value Setting item Setting required not required for the reference axis Setting required not required for the interpolation axis Da 1 Operation pattern Da 2 Control method Set INC linear 2 Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP dest...

Page 79: ...rictions An error will occur and the positioning will not start in the following cases The machine will immediately stop if the error is detected during a positioning control If the movement amount of each axis exceeds 1073741824 230 when 0 Composite speed is set in Pr 20 Interpolation speed designation method the error Outside linear movement amount range error code 1A15H 1A16H occurs at a positi...

Page 80: ...d limit value Refer to Page 64 Interpolation control for the reference axis and interpolation axis combinations Setting item Setting required not required for the reference axis Setting required not required for the interpolation axis Da 1 Operation pattern Da 2 Control method Set ABS linear 3 Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address movement amount Da 7 Arc add...

Page 81: ...tions An error will occur and the positioning will not start in the following cases The machine will immediately stop if the error is detected during a positioning operation If the movement amount of each axis exceeds 1073741824 230 when 0 Composite speed is set in Pr 20 Interpolation speed designation method the error Outside linear movement amount range error code 1A15H 1A16H occurs at a positio...

Page 82: ...d limit value Refer to Page 64 Interpolation control for the reference axis and interpolation axis combinations Setting item Setting required not required for the reference axis Setting required not required for the interpolation axis Da 1 Operation pattern Da 2 Control method Set INC linear 3 Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address movement amount Da 7 Arc add...

Page 83: ...uired 1 Refer to the following for information on the setting details Page 445 Positioning Data When the reference axis speed is set during 4 axis linear interpolation control set so the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis side speed may exceed the Pr 8 Speed limit value Refer to Page 64 Interpolation control for the referen...

Page 84: ...ear 4 set the following positioning data Always set Set as required Setting restricted Setting not required 1 Refer to the following for information on the setting details Page 445 Positioning Data When the reference axis speed is set during 4 axis linear interpolation control set so the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis s...

Page 85: ...t to a position at the end of the movement amount set in Da 6 Positioning address movement amount The movement direction is determined by the movement amount sign Positive movement amount Positioning control to forward direction Address increase direction Negative movement amount Positioning control to reverse direction Address decrease direction Ex 1 axis fixed feed control Ex 2 axis fixed feed c...

Page 86: ...amount that can be set in Da 6 Positioning address movement amount is 1073741824 230 In 4 axis fixed feed control set 1 Reference axis speed in Pr 20 Interpolation speed designation method If 0 Composite speed is set the error Interpolation mode error error code 199AH occurs and the positioning cannot be started Setting positioning data When using fixed feed control fixed feed 1 set the following ...

Page 87: ...ses When movement amount per pulse is 1 0 m and movement for 2 5 m is executed two times Conversion to command pulses 2 5 m 1 0 2 5 pulse When the reference axis speed is set in 2 to 4 axis fixed feed control set so the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis side speed may exceed the Pr 8 Speed limit value Refer to the followin...

Page 88: ... 1 Unit setting are different for the reference axis and interpolation axis mm and inch combinations are possible When reference axis speed is set in Pr 20 Interpolation speed designation method An error will occur and the positioning start will not be possible in the following cases The machine will immediately stop if the error is detected during positioning control When the radius exceeds 53687...

Page 89: ...lculated by the Simple Motion module during interpolation control Setting item Setting required not required for the reference axis Setting required not required for the interpolation axis Da 1 Operation pattern Da 2 Control method Set ABS circular sub Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JU...

Page 90: ...he machine will immediately stop if the error is detected during positioning control When the radius exceeds 536870912 229 the maximum radius for which circular interpolation control is possible is 536870912 229 The error Outside radius range error code 1A32H will occur at positioning start When the sub point address is outside the range of 2147483648 231 to 2147483647 231 1 The error Sub point se...

Page 91: ...lculated by the Simple Motion module during interpolation control Setting item Setting required not required for the reference axis Setting required not required for the interpolation axis Da 1 Operation pattern Da 2 Control method Set INC circular sub Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JU...

Page 92: ...ed out at a command speed on the arc using the radius calculated from the start point address and center point address and the radius is compensated in proportion to the angular velocity deviated from that at the start point Thus when there is a difference error between a radius calculated from the start point address and center point address start point radius and a radius calculated from the end...

Page 93: ...culated from the start point address and center point address and the radius is compensated in proportion to the angular velocity deviated from that at the start point Thus when there is a difference error between a radius calculated from the start point address and center point address start point radius and a radius calculated from the end point address and center point address end point radius ...

Page 94: ...1 to 2147483647 231 1 The error Center point setting error error code 1A2DH to 1A2FH will occur Setting positioning data When using 2 axis circular interpolation control with center point designation ABS circular right ABS circular left set the following positioning data Always set Set as required Setting restricted Setting not required 1 Refer to the following for information on the setting detai...

Page 95: ...alculated from the start point address and center point address and the radius is compensated in proportion to the angular velocity deviated from that at the start point Thus when there is a difference error between a radius calculated from the start point address and center point address start point radius and a radius calculated from the end point address and center point address end point radiu...

Page 96: ...ill occur When the center point address is outside the range of 2147483648 231 to 2147483647 231 1 The error Center point setting error error code 1A2DH to 1A2FH will occur Setting positioning data When using 2 axis circular interpolation control with center point designation INC circular right INC circular left set the following positioning data Always set Set as required Setting restricted Setti...

Page 97: ...is linear control to the circular interpolation control Unit setting Reference axis mm inch pulse Circular interpolation axis The same as the reference axis Linear interpolation axis mm inch pulse Tangent control Normal line control Keeps the direction of the workpiece against the center point of the circular interpolation control by following the value of the linear interpolation axis degree to t...

Page 98: ...is Y axis The rotation angle of the circular interpolation axis in the 3 axis helical interpolation control is as follows When degree is set to Pr 1 Unit setting the positioning range of the absolute system is 0 to 359 99999 If the rotation angle is 360 or larger in the circular interpolation axis X axis Y axis the tangent control and normal line control cannot be performed because 360 or larger a...

Page 99: ...d circular interpolation axis The combination of mm and inch is possible When reference axis speed is set in Pr 20 Interpolation speed designation method When the value out of the range of 0 to 999 is set in the number of pitches Da 10 M code Condition data No Number of LOOP to LEND repetitions Number of pitches In the following case an error occurs and the positioning will not start During the po...

Page 100: ...not exceed the value in Pr 8 Speed limit value The speed limit does not function for the speed calculated by the Simple Motion module Setting item Setting requirement of reference axis Setting requirement of circular interpolation axis 1 Setting requirement of linear interpolation axis 2 Da 1 Operation pattern Da 2 Control method Set ABS helical sub Da 3 Acceleration time No Da 4 Deceleration time...

Page 101: ...e out of the range of 0 to 999 is set in the number of pitches Da 10 M code Condition data No Number of LOOP to LEND repetitions Number of pitches In the following case an error occurs and the positioning will not start During the positioning control the operation stops immediately at the detection of the error Operation chart Top view of the circular interpolation Error cause Error code When the ...

Page 102: ...s not exceed the value in Pr 8 Speed limit value The speed limit does not function for the speed calculated by the Simple Motion module Setting item Setting requirement of reference axis Setting requirement of circular interpolation axis 1 Setting requirement of linear interpolation axis 2 Da 1 Operation pattern Da 2 Control method Set INC helical sub Da 3 Acceleration time No Da 4 Deceleration ti...

Page 103: ...near interpolation axis linear control to the circular interpolation control Unit setting Reference axis mm inch pulse Circular interpolation axis The same as the reference axis Linear interpolation axis mm inch pulse Tangent control Normal line control Keeps the direction of the workpiece against the center point of the circular interpolation control by following the value of the linear interpola...

Page 104: ...kpiece Rotation angle of circular interpolation axis X axis Y axis The rotation angle of the circular interpolation axis in the 3 axis helical interpolation control is as follows The setting of the true circle is available only when Start point End point is set for the 3 axis helical interpolation ABS INC center point When degree is set to Pr 1 Unit setting the positioning range of the absolute sy...

Page 105: ...s the path of the circular interpolation control X axis Y axis becomes spiral as shown below Rotation direction when the linear interpolation axis Z axis is set in degrees When degree is set to Pr 1 Unit setting for the linear interpolation axis the rotation direction is determined depending on the axis control data in Cd 40 ABS direction in degrees of the reference axis To set a rotation directio...

Page 106: ... 20 Interpolation speed designation method When the value out of the range of 0 to 999 is set in the number of pitches Da 10 M code Condition data No Number of LOOP to LEND repetitions Number of pitches In the following case an error occurs and the positioning will not start During the positioning control the operation stops immediately at the detection of the error Operation chart Top view of the...

Page 107: ...es not exceed the value in Pr 8 Speed limit value The speed limit does not function for the speed calculated by the Simple Motion module Setting item Setting requirement of reference axis Setting requirement of circular interpolation axis 1 Setting requirement of linear interpolation axis 2 Da 1 Operation pattern Da 2 Control method Set ABS helical right or ABS helical left Da 3 Acceleration time ...

Page 108: ...tions Number of pitches In the following case an error occurs and the positioning will not start During the positioning control the operation stops immediately at the detection of the error Operation chart Top view of the circular interpolation Operation chart Top view of the circular interpolation Error cause Error code When the radius exceeds 536870912 229 The maximum radius for which the circul...

Page 109: ...es not exceed the value in Pr 8 Speed limit value The speed limit does not function for the speed calculated by the Simple Motion module Setting item Setting requirement of reference axis Setting requirement of circular interpolation axis 1 Setting requirement of linear interpolation axis 2 Da 1 Operation pattern Da 2 Control method Set INC helical right or INC helical left Da 3 Acceleration time ...

Page 110: ...rse run direction Refer to the following for the combination of the reference axis and the interpolation axis Page 64 Interpolation control Operation chart The following charts show the operation timing for 1 axis speed control with axis 1 and 2 axis speed control with axis 2 when the axis 1 is set as the reference axis The in speed control flag Md 31 Status b0 is turned ON during speed control Th...

Page 111: ...ignal X10 X11 OFF ON Positioning start signal Y10 OFF ON Positioning complete signal Md 31 Status b15 OFF OFF ON Da 8 Command speed Does not turn ON even when control is stopped by stop command OFF ON Cd 180 Axis stop Da 8 Command speed Reference axis axis 1 Interpolation axis axis 2 t V In speed control flag Md 31 Status b0 ...

Page 112: ...nit is set to degree Restriction for the speed limit value When either of control axes 1 to 4 axes exceeds the speed limit that axis is controlled with the speed limit value The speeds of the other axes are limited at the ratios of Da 8 Command speed Ex When the axis 1 and the axis 2 are used With the settings shown above the operation speed in speed control is as follows Axis 1 4000 00 mm min Spe...

Page 113: ...g Data Setting item Setting required not required for the reference axis Setting required not required for the interpolation axis Da 1 Operation pattern Da 2 Control method Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP destination positioning data No Da 10 M code Condition data No Number of LOOP...

Page 114: ...ed ON to switch over from speed control to position control If the Cd 24 Speed position switching enable flag turns ON after the speed position switching signal turns ON the control will continue as speed control without switching over to position control The control will be switched over from position control to speed control when the speed position switching signal turns from OFF to ON again Onl...

Page 115: ...Unit setting of 2 degree and Pr 21 Current feed value during speed control setting of 1 Update current feed value The value set in Da 6 Positioning address movement amount is 270 00000 degree t V Positioning start signal Y10 Y11 Y12 Y13 OFF ON Da 8 Command speed BUSY signal X10 X11 X12 X13 OFF ON Positioning complete signal Md 31 Status b15 OFF ON Speed position switching signal External command s...

Page 116: ... Follows parameters 3 555 0 316 to 1 366 0 000 to 3 555 0 000 to 3 555 5 630 to 7 984 0 000 to 3 555 0 348 Follows parameters RD77MS4 operation example Positioning start signal Y10 Y11 Y12 Y13 BUSY signal X10 X11 X12 X13 Standby Speed control Standby Md 26 Axis operation status Cd 7 M code OFF request Start complete signal Md 31 Status b14 Positioning operation Positioning complete signal Md 31 St...

Page 117: ...nt feed value The current feed value at control start is maintained during speed control and updated from the switching to position control 1 Update current feed value The current feed value is updated during speed control and position control 2 Zero clear current feed value The current feed value is cleared set to 0 at control start and updated from the switching to position control Updated from ...

Page 118: ... as speed position switching signals n Axis No 1 3 The setting is not required for Pr 42 External command function selection and Cd 8 External command valid Refer to the following for information on the setting details Page 504 Control Data Setting item Setting value Setting details Buffer memory address Pr 42 External command function selection 2 2 Speed position position speed switching request ...

Page 119: ...movement amount of the axis monitor area from the point where the control changes to position control by the input of a speed position switching signal from an external device The machine recognizes the presence of a movement amount change request when the data is written to Cd 23 Speed position switching control movement amount change register with the program The new movement amount is validated...

Page 120: ...servo motor the movement amount is Da 6 Positioning address movement amount from the assumed motor position based on Md 101 Real current value at switching of speed control to position control Therefore if the signal is turned ON during acceleration deceleration the stop position will vary due to large variation of the droop pulse amount Even though Md 29 Speed position switching control positioni...

Page 121: ...2 is set n Axis No 1 Cd 24 Speed position switching enable flag must be turned ON to switch over from speed control to position control If the Cd 24 Speed position switching enable flag turns ON after the speed position switching signal turns ON the control will continue as speed control without switching over to position control The control will be switched over from speed control to position con...

Page 122: ...ion at Pr 1 Unit setting of 2 degree and Pr 21 Current feed value during speed control setting of 1 Update current feed value The value set in Da 6 Positioning address movement amount is 270 00000 degree t V OFF ON Da 8 Command speed OFF ON OFF ON OFF ON Speed control Position control Dwell time OFF ON OFF ON Address set in Da 6 Positioning address movement amount Positioning start signal Y10 Y11 ...

Page 123: ...0 888 0 346 Follows parameters 1 777 0 316 to 1 366 0 000 to 1 777 0 000 to 1 777 3 798 to 4 459 0 000 to 1 777 0 348 Follows parameters 3 555 0 316 to 1 366 0 000 to 3 555 0 000 to 3 555 5 630 to 7 984 0 000 to 3 555 0 348 Follows parameters BUSY signal X10 X11 X12 X13 M code ON signal Md 31 Status b12 WITH mode Standby Speed control Standby Md 26 Axis operation status Cd 7 M code OFF request Sta...

Page 124: ...rror error code 1AAEH will occur if the Pr 21 Current feed value during speed control setting is other than 1 Switching time from speed control to position control It takes 1 ms from the time the speed position switching signal is turned ON to the time the speed position switching latch flag Md 31 Status b1 turns ON Pr 21 Current feed value during speed control setting Md 20 Current feed value 1 U...

Page 125: ...d as speed position switching signals n Axis No 1 3 The setting is not required for Pr 42 External command function selection and Cd 8 External command valid Refer to the following for information on the setting details Page 504 Control Data Setting item Setting value Setting details Buffer memory address Pr 42 External command function selection 2 2 Speed position position speed switching request...

Page 126: ... ignored To exercise speed position switching control ABS mode the following conditions must be satisfied If any of the conditions in 1 to 3 is not satisfied in the case of 5 the error Speed position function selection error error code 1AAEH will occur when the PLC READY signal Y0 turns from OFF to ON If the axis reaches the positioning address midway through deceleration after automatic decelerat...

Page 127: ...on pattern Da 2 Control method Set Forward run speed position or Reverse run speed position Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP destination positioning data No Da 10 M code Condition data No Number of LOOP to LEND repetitions Number of pitches Da 20 Axis to be interpolated No 1 Da 21 A...

Page 128: ...osition control to speed control If the Cd 26 Position speed switching enable flag turns ON after the position speed switching signal turns ON the control will continue as position control without switching over to speed control The control will be switched over from position control to speed control when the position speed switching signal turns from OFF to ON again Only speed control will be car...

Page 129: ...on speed switching signal t V Da 8 Command speed Position control Speed control Positioning start signal Y10 Y11 Y12 Y13 OFF BUSY signal X10 X11 X12 X13 OFF ON Positioning complete signal Md 31 Status b15 OFF Position speed switching signal External command signal DI OFF ON OFF ON OFF ON OFF ON Does not turn ON even when control is stopped by stop command Cd 180 Axis stop Cd 26 Position speed swit...

Page 130: ...0 000 to 1 777 3 777 to 4 406 0 347 3 555 0 286 to 1 382 0 000 to 3 555 0 000 to 3 555 5 552 to 7 960 0 349 Positioning start signal Y10 Y11 Y12 Y13 BUSY signal X10 X11 X12 X13 M code ON signal Md 31 Status b12 WITH mode Standby Position control Stopped Md 26 Axis operation status Cd 7 M code OFF request Start complete signal Md 31 Status b14 Positioning operation t1 t2 t3 t4 Positioning complete ...

Page 131: ...ng position control and the current feed value at the time of switching is maintained as soon as position control is switched to speed control 1 Update current feed value The current feed value is updated during position control and speed control 2 Zero clear current feed value The current feed value is updated during position control and the current feed value is cleared to 0 as soon as position ...

Page 132: ... as position speed switching signals n Axis No 1 3 The setting is not required for Pr 42 External command function selection and Cd 8 External command valid Refer to the following for information on the setting details Page 504 Control Data Setting item Setting value Setting details Buffer memory address Pr 42 External command function selection 2 2 Speed position position speed switching request ...

Page 133: ...achine recognizes the presence of a command speed change request when the data is written to Cd 25 Position speed switching control speed change register with the program The new command speed is validated after execution of the position speed switching control before the input of the position speed switching signal The command speed change can be enabled disabled with the interlock function in sp...

Page 134: ...automatic deceleration by positioning control acceleration is carried out again to the command speed to continue speed control When the position speed switching signal is input during deceleration to a stop with the stop signal the control is switched to the speed control to stop the machine Restart is carried out by speed control using the restart command The warning Speed limit value over warnin...

Page 135: ...h control has been set in Da 1 Operation pattern of the immediately prior positioning data For example if the operation pattern of positioning data No 1 is continuous path control current value changing cannot be set in positioning data No 2 The error New current value not possible error code 1A1CH 1A1DH will occur and the machine will carry out a deceleration stop if this type of setting is carri...

Page 136: ...Da 2 Control method Set the current value changing Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address movement amount Set the address to be changed Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP destination positioning data No Da 10 M code Condition data No Number of LOOP to LEND repetitions Number of pitches Da 20 Axis to be interpolated No 1 Da 21 Axis to be i...

Page 137: ...ke limit error code 1995H will occur if the designated value is outside the software stroke limit range The current value cannot be changed during stop commands and while the M code ON signal is ON The M code output function is made invalid The new current value can be changed using the current value changing start No No 9003 if 0 Positioning control is not executed is set in Pr 55 Operation setti...

Page 138: ... Data The following shows a start time chart RD77MS4 operation example Setting item Setting value Setting details Buffer memory address Cd 3 Positioning start No 9003 Set the start No 9003 for the new current value 4300 100n Cd 9 New current value 50000 Set the new Md 20 Current feed value 4306 100n 4307 100n Positioning start signal Y10 PLC READY signal Y0 READY signal X0 Start complete signal Md...

Page 139: ...ning complete RD77_1 stnAxCtrl1_D 0 dNewPosition_D Axis 1 New current value RD77_1 stnAxCtrl1_D 0 uPositioningStartNo_D Axis 1 Positioning start No RD77_1 stnAxMntr_D 0 uStatus_D D Axis 1 Start complete RD77_1 bnBusy 0 Axis 1 BUSY signal Global label local label Defines the global label or the local label as follows The settings of Assign Device Label are not required for the label that the assign...

Page 140: ...ta No 600 Use example of NOP instruction If there is a possibility of speed switching or temporary stop automatic deceleration at a point between two points during positioning that data can be reserved with the NOP instruction to change the data merely by the replacement of the identifier Setting item Setting required not required Da 1 Operation pattern Da 2 Control method Set the NOP instruction ...

Page 141: ...red and the next positioning data No is executed Restrictions When using a conditional JUMP instruction establish the JUMP instruction execution conditions by the 4th positioning data No before the JUMP instruction positioning data No If the JUMP instruction execution conditions are not established by the time the 4th positioning control is carried out before the JUMP instruction positioning data ...

Page 142: ...a 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP destination positioning data No Set the positioning data No 1 to 600 for the JUMP destination Da 10 M code Condition data No Number of LOOP to LEND repetitions Number of pitches Set the JUMP instruction execution conditions with the condition data No 0 Unconditional JUMP 1 to 10 Condition data No Simul...

Page 143: ...ata and positioning data For control method Positioning data For the special start FOR to NEXT the positioning data is required for each of FOR and NEXT points For the control method loop can be executed even only by one data Also nesting is enabled by using the control method LOOP to LEND in combination with the special start FOR to NEXT However LOOP to LEND cannot be set across block Always set ...

Page 144: ...ern Positioning complete has been set between LOOP and LEND the positioning control is completed after the positioning data is executed and the LOOP control is not executed Positioning data No Operation pattern Control method Conditions Operation 1 Continuous control ABS2 Executed in the order of the positioning data No 1 2 3 4 5 2 3 4 5 6 The operation patterns of the positioning data Nos 2 and 5...

Page 145: ...aneous start High level positioning control sub functions High level positioning control uses the positioning data set with the major positioning control Refer to the following for details on sub functions that can be combined with the major positioning control MELSEC iQ R Simple Motion Module User s Manual Startup Note that the pre reading start function cannot be used together with high level po...

Page 146: ...d the control after executing only the block start data of the shape itself or continue executing the block start data set in the next point Da 12 Start data No Set the positioning data No to be executed Da 13 Special start instruction Set the method by which the positioning data set in Da 12 will be started Da 14 Parameter Set the conditions by which the start will be executed according to the co...

Page 147: ...ith the program or the engineering tool Block No 7000 2nd point Setting item Buffer memory address 22001 400n 22051 400n Setting item No 2 22112 400n 22113 400n 22114 400n 22115 400n 22116 400n 22117 400n 22118 400n 22119 400n 22110 400n Buffer memory address b0 Da 11 Shape Da 12 Start data No b7 b8 b15 1st point Setting item Buffer memory address 22000 400n 22050 400n b0 Da 13 Special start instr...

Page 148: ...or designation with the block start data Up to 10 condition data items can be set STEP 3 STEP 4 STEP 5 Write the program created in STEP 4 to the CPU module using the engineering tool Same procedure as for the major positioning control start STEP 6 Monitor using the engineering tool STEP 7 Create a program in which the positioning start signal is turned ON by a positioning start command Use the en...

Page 149: ... setting items must be set Set as required Set to when not used Setting not possible Setting not required The setting value is invalid Set the initial value or a value within the setting range 1 The NEXT start instruction is used in combination with repeated start FOR loop and repeated start FOR condition Control using only the NEXT start will not be carried out It is recommended that the block st...

Page 150: ...us positioning control or continuous path control is set in the Da 1 Operation pattern to the positioning data in which independent positioning control Positioning complete is set Axis 1 block start data Da 11 Shape Da 12 Start data No Da 13 Special start instruction Da 14 Parameter 1st point 1 Continue 1 0 Block start 2nd point 1 Continue 2 0 Block start 3rd point 1 Continue 5 0 Block start 4th p...

Page 151: ... Positioning start signal Y10 Y11 Y12 Y13 1 00 Start complete signal Md 31 Status b14 BUSY signal X10 X11 X12 X13 Positioning complete signal Md 31 Status b15 t 1 2 11 3 01 1 4 00 5 11 6 00 1 15 00 1 1 Positioning according to the 2nd point settings Positioning according to the 3rd point settings Positioning according to the 4th point settings Positioning according to the 5th point settings 1 Addr...

Page 152: ... the setting examples and started 1 The conditional judgment set in condition data No 1 is carried out before execution of the axis 1 positioning data No 1 Conditions established Execute positioning data No 1 2 and 3 Go to the next 2 Conditions not established Go to the next 2 2 The conditional judgment set in condition data No 2 is carried out before execution of the axis 1 positioning data No 10...

Page 153: ...ck start data of the 1st point of axis 1 is set as shown in the setting examples and started 1 The conditional judgment set in condition data No 3 is carried out before execution of the axis 1 positioning data No 1 Conditions established Execute positioning data No 1 2 and 3 Go to the next 2 Conditions not established Control stops waits until conditions are established Go to the above 1 2 Execute...

Page 154: ...ion status of axis 2 which is regarded as the simultaneously started axis Axis 2 is standing by Go to the next 2 Axis 2 is carrying out positioning An error occurs and simultaneous start will not be carried out 2 Simultaneously start the axis 1 positioning data No 1 and axis 2 positioning data set in condition data No 4 Precautions Positioning data No executed by simultaneously started axes is set...

Page 155: ... data Nos have been set in Da 14 Parameter Positioning data setting example Control examples The following shows the control executed when the block start data of the 1st point of axis 1 is set as shown in the setting examples and started 1 Execute the axis 1 positioning data No 1 2 3 10 11 50 and 51 2 Return to the axis 1 1st point block start data Again execute the axis 1 positioning data No 1 2...

Page 156: ...14 Parameter Positioning data setting example Control examples The following shows the control executed when the block start data of the 1st point of axis 1 is set as shown in the setting examples and started 1 Execute the axis 1 positioning data No 1 2 3 10 and 11 2 Carry out the conditional judgment set in axis 1 condition data No 5 1 Conditions not established Execute Positioning data No 50 51 ...

Page 157: ...ossible between 4 FOR loop and 6 NEXT start or between 5 FOR condition and 6 NEXT start The warning FOR to NEXT nest construction warning code 09F1H will occur if nesting is attempted Operating examples without nesting structure Operating examples with nesting structure A warning will occur when starting the 4th point FOR The JUMP destination of the 7th point NEXT is the 4th point The 9th point NE...

Page 158: ...e condition data Da 15 Condition target corresponding to the different types of control The condition data settings in this chapter are assumed to be carried out using the engineering tool One of the setting items must be set Setting not possible 1 Refer to devices X Y which belongs to Simple Motion module It is recommended that the condition data be set whenever possible with the engineering tool...

Page 159: ... data such as current feed value which varies continuously the operator may not be detected If this occurs use a range operator The PLC CPU memo area can be designated as the buffer memory address to be designated in Da 17 Da 15 Condition target Da 16 Condition operator Da 23 Number of simultaneously starting axes Da 17 Address Da 18 Parameter 1 Da 19 Parameter 2 01H Device X 07H DEV ON 08H DEV OF...

Page 160: ...Address Da 18 Parameter 1 Da 19 Parameter 2 Da 23 Number of simultaneously starting axes Da 24 Simultaneously starting axis No 1 Da 25 Simultaneously starting axis No 2 Da 26 Simultaneously starting axis No 3 01H Device X 08H DEV OFF 10H Da 15 Condition target Da 16 Condition operator Da 17 Address Da 18 Parameter 1 Da 19 Parameter 2 Da 23 Number of simultaneously starting axes Da 24 Simultaneousl...

Page 161: ...ositioning operation is completed turn the Y10 signal OFF and input the start complete signal Md 31 Status b14 as an interlock condition to start after the start complete signal Md 31 Status b14 is turned OFF 1 Set 7000 in Cd 3 Positioning start No This establishes that the control as high level positioning control using block start data 2 Set the point No of the block start data to be started In ...

Page 162: ...d Setting item Setting value Setting details Buffer memory address Cd 3 Positioning start No 7000 Set 7000 to indicate control using block start data 4300 100n Cd 4 Positioning starting point No 1 Set the point No of the block start data to be started 4301 100n Signal name Signal state Device Interface signal PLC READY signal ON CPU module preparation completed Y0 READY signal ON RD77MS preparatio...

Page 163: ...d point 0 End 10 0 Block start Axis 1 positioning data No Da 1 Operation pattern 1 11 Continuous path control 2 00 Positioning complete 10 11 Continuous path control 11 11 Continuous path control 12 00 Positioning complete Positioning start signal Y10 All axis servo ON Y1 READY signal X0 Start complete signal Md 31 Status b14 BUSY signal X10 Positioning complete signal Md 31 Status b15 Cd 3 Positi...

Page 164: ...Ctrl1_D 0 uPositioningStartNo_D Axis 1 Positioning start No RD77_1 stnAxCtrl1_D 0 uPositioningStartingPointNo_D Axis 1 Positioning starting point No RD77_1 bnPositioningStart 0 Axis 1 Positioning start Global label local label Defines the global label or the local label as follows The settings of Assign Device Label are not required for the label that the assignment device is not set because the u...

Page 165: ... which the machine is moved by only a movement amount commands are continuously output while the JOG START signal is ON This operation is used to move the workpiece in the direction in which the limit signal is ON when the operation is stopped by turning the limit signal OFF to confirm the positioning system connection and obtain the positioning data address Page 285 Teaching function Inching oper...

Page 166: ...functions Refer to the following for details on sub functions that can be combined with manual control MELSEC iQ R Simple Motion Module User s Manual Startup Also refer to the following for details on each sub function Page 215 CONTROL SUB FUNCTIONS Monitoring manual control Refer to the following for directly monitoring the buffer memory using an engineering tool Page 468 Monitor Data Also refer ...

Page 167: ...continues at this speed The constant speed movement takes place at 2 and 3 3 When the START signal is turned OFF deceleration begins from the speed set in Cd 17 JOG speed and continues for the deceleration time designated in Pr 33 JOG operation deceleration time selection 4 The operation stops when the speed becomes 0 At this time the BUSY signal changes from ON to OFF Use the hardware stroke limi...

Page 168: ...G operation can be continued even if an Axis warning has occurred Set a 0 in Cd 16 Inching movement amount If a value other than 0 is set the operation will become an inching operation Page 174 Inching Operation Operations when stroke limit error occurs When the operation is stopped by hardware stroke limit error or software stroke limit error the JOG operation can execute in an opposite way direc...

Page 169: ...peration status of other axes Operation cycle t1 1 t2 t3 t4 0 444 0 267 to 2 584 0 000 to 0 444 1 128 to 1 699 0 000 to 0 444 0 888 0 267 to 2 584 0 000 to 0 888 2 328 to 3 036 0 000 to 0 888 1 777 0 267 to 2 584 0 000 to 1 777 4 520 to 4 590 0 000 to 1 777 3 555 0 267 to 2 584 0 000 to 3 555 8 064 to 8 120 0 000 to 3 555 ...

Page 170: ...te the parameters in the Simple Motion module using the engineering tool Method 2 Set write the parameters from the CPU module to the Simple Motion module using the program STEP 5 Create a program in which the JOG start signal is turned ON by a JOG operation start command Write the program created in STEP1 and STEP2 to the CPU module Turn ON the JOG start signal of the axis to be started JOG opera...

Page 171: ... Unit setting Pr 2 Number of pulses per rotation AP Unit pulse Pr 3 Movement amount per rotation AL Unit pulse Pr 4 Unit magnification AM Pr 7 Bias speed at start Unit pulse s Pr 8 Speed limit value Unit pulse s Pr 9 Acceleration time 0 Unit ms Pr 10 Deceleration time 0 Unit ms Pr 11 Backlash compensation amount Unit pulse Pr 12 Software stroke limit upper limit value Unit pulse Pr 13 Software str...

Page 172: ...is accessed after Synchronization flag X1 turns on When no interlock is provided an unexpected value may be read or written Setting item Setting value Setting details Buffer memory address Cd 16 Inching movement amount 0 Set 0 4317 100n Cd 17 JOG speed 10000 Set a value equal to or below the Pr 31 JOG speed limit value 4318 100n 4319 100n Signal name Signal state Device Interface signal PLC READY ...

Page 173: ... operation Page 567 JOG operation setting program Page 568 JOG operation inching operation execution program t Cd 181 Forward run JOG start Forward JOG run OFF OFF OFF OFF OFF ON ON ON ON OFF ON OFF ON Cd 182 Reverse run JOG start PLC READY signal Y0 All axis servo ON Y1 READY signal X0 BUSY signal X10 Error detection signal Md 31 Status b13 Reverse JOG run ...

Page 174: ...or Stop signal ON at start error code 1908H will occur The inching operation can be re started when the stop signal is turned OFF and the JOG start signal is turned ON from OFF RD77MS4 operation example BUSY signal X10 X11 X12 X13 OFF ON OFF ON OFF ON OFF ON OFF ON OFF PLC READY signal All axis servo ON Y1 READY signal X0 Cd 181 Forward run JOG start Cd 180 Axis stop Ignores that the JOG start sig...

Page 175: ...G operation will not be executed even if the reverse run JOG start signal turns ON RD77MS4 operation example Example 3 When the JOG start signal is turned ON again during deceleration caused by the ON OFF of the JOG start signal the JOG operation will be carried out from the time the JOG start signal is turned ON RD77MS4 operation example Cd 181 Forward run JOG start OFF ON Cd 182 Reverse run JOG ...

Page 176: ... stops when the speed becomes 0 In this case BUSY signal is turned from ON to OFF The positioning complete signal is turned from OFF to ON 4 The positioning complete signal is turned from ON to OFF after a time set in Pr 40 Positioning complete signal output time has been elapsed RD77MS4 operation example When the inching operation is carried out near the upper or lower limit use the hardware stro...

Page 177: ... However A is as follows Set a value other than a 0 in Cd 16 Inching movement amount If a 0 is set the operation will become JOG operation Page 165 JOG Operation Operations when stroke limit error occurs When the operation is stopped by hardware stroke limit error or software stroke limit error the inching operation can be performed in an opposite way direction within normal limits after an error ...

Page 178: ...tion cycle t1 1 t2 t3 t4 0 444 0 211 to 0 545 1 218 to 1 684 0 000 to 0 444 Follows parameters 0 888 0 412 to 1 141 2 331 to 2 359 0 000 to 0 888 Follows parameters 1 777 0 767 to 1 976 4 524 to 5 706 0 000 to 1 777 Follows parameters 3 555 1 058 to 3 916 8 070 to 8 146 0 000 to 3 555 Follows parameters Cd 182 Reverse run JOG start BUSY signal X10 X11 X12 X13 Cd 181 Forward run JOG start Md 26 Axi...

Page 179: ... operation start Monitoring of the inching operation End of control Set the parameters Pr 1 to Pr 31 STEP 2 STEP 3 Turn ON the JOG start signal STEP 4 Monitor using the engineering tool STEP 5 Create a program in which the JOG start signal is turned ON by an inching operation start command Write the program created in STEP1 and STEP2 to the CPU module Turn ON the JOG start signal of the axis to be...

Page 180: ...g Positioning parameter settings work in common for all controls using the Simple Motion module When carrying out other controls major positioning control high level positioning control and home position return control set the respective setting items as well Parameters are set for each axis Setting item Setting requirement Positioning parameters Pr 1 Unit setting Pr 2 Number of pulses per rotatio...

Page 181: ...sed after Synchronization flag X1 turns on When no interlock is provided an unexpected value may be read or written Setting item Setting value Setting details Buffer memory address Cd 16 Inching movement amount 100 Set the setting value so that the JOG speed limit value is not increased larger than the maximum output pulse 4317 100n Signal name Signal state Device Interface signal PLC READY signal...

Page 182: ...tting program Page 568 JOG operation inching operation execution program Cd 181 Forward run JOG start All axis servo ON Y1 READY signal t Cd 182 Reverse run JOG start Reverse run inching operation Forward run inching operation BUSY signal Error detection signal Md 31 Status b13 OFF OFF OFF OFF OFF ON ON ON ON ON OFF Positioning complete signal Md 31 Status b15 OFF ON PLC READY signal OFF ON V Y0 X...

Page 183: ...ur The inching operation can be re started when the stop signal is turned OFF and the JOG start signal is turned ON from OFF RD77MS4 operation example PLC READY signal OFF ON BUSY signal X10 X11 X12 X13 OFF ON Ignores that the JOG start signal is turned ON from OFF while the stop signal is ON Cd 180 Axis stop OFF ON All axis servo ON Y1 ON OFF Cd 181 Forward run JOG start OFF ON READY signal X0 ON...

Page 184: ...erator enable flag is set to 0 the BUSY signal turns OFF and the manual pulse generator operation is disabled RD77MS4 operation example 1 If the input from the manual pulse generator stops or 0 is set in Cd 21 Manual pulse generator enable flag during manual pulse generator operation the machine will decelerate to a stop within 25 ms 2 The start complete signal does not turn ON in manual pulse gen...

Page 185: ...enerator enable flag ON OFF ON Note that this excludes hardware software stroke limit error Command will not be output if an error occurs when the manual pulse generator operation starts The speed command is issued according to the input from the manual pulse generator irrelevant of the speed limit setting When the speed command is larger than 62914560 pulse s the servo alarm Command frequency err...

Page 186: ...e generator speed limit value warning code 0989H occurs at exceeding Pr 123 Manual pulse generator speed limit value Setting value Operation 0 The speed limit by Pr 123 Manual pulse generator speed limit value is not executed 1 The pulses which exceed Pr 123 Manual pulse generator speed limit value are not output 1 2 The pulses which exceed Pr 123 Manual pulse generator speed limit value are outpu...

Page 187: ...ollowing drawing shows details of the manual pulse generator operation timing and processing time RD77MS4 operation example Normal timing time Unit ms 1 Delays may occur in the t1 timing time due to the operation status of other axes Operation cycle t1 1 t2 t3 t4 0 444 0 430 to 0 438 10 065 to 21 810 14 530 to 23 095 7 266 to 15 646 0 888 0 865 to 0 874 10 065 to 21 810 14 530 to 23 095 7 266 to 1...

Page 188: ...tor 1pulse movement amount movement amount per pulse The movement amount per pulse can be calculated using the expression shown below For example when Pr 1 Unit setting is mm and the movement amount per pulse is 1 m 0 1 1 1 10 i e the output to the servo amplifier per pulse from the manual pulse generator is 1 10 pulse Thus the Simple Motion module outputs 1 pulse to the servo amplifier after rece...

Page 189: ... the CPU module Issue a command to enable the manual pulse generator operation and input the signals from the manual pulse generator End the input from the manual pulse generator and issue a command to disable the manual pulse generator operation Manual pulse generator operation stop STEP 6 Monitor the manual pulse generator operation Set the parameters Pr 1 to Pr 24 Pr 89 Pr 151 Create a program ...

Page 190: ...ng the Simple Motion module When carrying out other controls major positioning control high level positioning control home position return control set the respective setting items as well Positioning parameters are set for each axis Setting item Setting requirement Positioning parameters Pr 1 Unit setting Pr 2 Number of pulses per rotation AP Unit pulse Pr 3 Movement amount per rotation AL Unit pu...

Page 191: ...d an unexpected value may be read or written Setting item Setting value Setting details Buffer memory address Cd 20 Manual pulse generator 1 pulse input magnification 1 Set the manual pulse generator 1 pulse input magnification 1 to 10000 times 4322 100n 4323 100n Cd 21 Manual pulse generator enable flag 1 0 Set 1 Enable manual pulse generator operation Set 0 Disable manual pulse generator operati...

Page 192: ...ge 568 Manual pulse generator operation program Pulse input A phase PLC READY signal READY signal Start complete signal Md 31 Status b14 BUSY signal Error detection signal Md 31 Status b13 OFF ON ON OFF OFF OFF Cd 21 Manual pulse generator enable flag 1 t Pulse input B phase OFF 0 0 Cd 20 Manual pulse generator 1 pulse input magnification 1 Forward run Reverse run ON Y0 X0 X10 All axis servo ON ON...

Page 193: ...s start using inter module synchronization Setting method for inter module synchronization The inter module synchronization can be set at Synchronization Setting within the Modules in System parameter of the engineering tool Select Use for Use Inter module Synchronization Function in System at Synchronization Setting within the Modules and set Synchronize in the setting field for the Simple Motion...

Page 194: ...ion flag in the event However the inter module synchronization start is not guaranteed When the inter module synchronous interrupt I44 exceeds the internal operation process time of the Simple Motion module the warning Inter module synchronization cycle time over warning code 0CC0H occurs Even at the time the module where an error has not occurred continues to operate RD77MS16 operation example t ...

Page 195: ...ervomotor can be changed by setting the servo parameter Function selection C B POL reflection selection at torque control PC29 for the servo amplifier that is compatible with the continuous operation to torque control Page 197 Operation of speed torque control For the servo amplifier that is not compatible with the continuous operation to torque control the operation is the same as that of when 0 ...

Page 196: ...parameter settings and common parameters settings work in common for all controls using the Simple Motion module When carrying out other controls major positioning control high level positioning control home position return control set the respective setting items as well Positioning parameters are set for each axis Setting item Setting requirement Positioning parameters Pr 1 Unit setting Pr 2 Num...

Page 197: ...r memory address Cd 138 Control mode switching request 1 Set 1 Switching request after setting Cd 139 Control mode setting 4374 100n Cd 139 Control mode setting Set the control mode to switch 0 Position control mode 10 Speed control mode 20 Torque control mode 30 Continuous operation to torque control mode 4375 100n Setting item Setting value Setting details Buffer memory address Cd 153 Control mo...

Page 198: ...Speed limit value at torque control mode Set the speed limit value at torque control mode 4384 100n 4385 100n Setting item Setting value Setting details Buffer memory address Cd 147 Speed limit value at continuous operation to torque control mode Set the speed limit value at continuous operation to torque control mode 4386 100n 4387 100n Cd 148 Acceleration time at continuous operation to torque c...

Page 199: ... Axis No 1 3 The control mode can be changed without checking the switching condition of during motor stop in Simple Motion module by setting 1 Zero speed ON condition invalid for switching control mode in Condition selection at mode switching b12 to b15 of Pr 90 Operation setting for speed torque control mode Set 1 Zero speed ON condition invalid for switching control mode only when switching the...

Page 200: ...speed immediately after the switching is the speed set in speed initial value selection b8 to b11 of Pr 90 Operation setting for speed torque control mode When the speed control mode is switched to the position control mode the command position immediately after the switching is the current feed value at switching The following chart shows the operation timing for axis 1 RD77MS4 operation example ...

Page 201: ... reflection selection at torque control PC29 When the torque control mode is switched to the position control mode the command position immediately after the switching is the current feed value at switching The following chart shows the operation timing for axis 1 RD77MS4 operation example Torque initial value selection Pr 90 b4 to b7 Command torque to servo amplifier immediately after switching f...

Page 202: ...ection selection at torque control PC29 When the torque control mode is switched to the speed control mode the command speed immediately after the switching is the motor speed at switching The following chart shows the operation timing for axis 1 RD77MS4 operation example Torque initial value selection Pr 90 b4 to b7 Command torque to servo amplifier immediately after switching from speed control ...

Page 203: ...uest of control mode switching Page 468 System monitor data Confirm the status of the continuous operation to torque control mode with b14 Continuous operation to torque control mode of Md 125 Servo status3 When the mode is switched to the continuous operation to torque control mode the value in control mode b2 b3 of Md 108 Servo status1 remains the same as before switching the control mode Page 4...

Page 204: ...etting 1 in Cd 138 Control mode switching request When the switching condition is satisfied at control mode switching request 1 Position control mode continuous operation to torque control mode speed control mode continuous operation to torque control mode switching is set in Md 124 Control mode switching status and the BUSY signal turns ON When the control mode switching request is executed while...

Page 205: ...e control mode Md 26 Axis operation status t V 1000 Position control mode Continuous operation to torque control mode Position control mode Cd 147 Speed limit value at continuous operation to torque control mode 1000 0 0 ON BUSY signal X10 0 0 1 1 0 Md 124 Control mode switching status 0 0 Control mode Md 108 Servo status1 b2 b3 Continuous operation to torque control Md 125 Servo status3 b14 OFF O...

Page 206: ...g is the torque set in Torque initial value selection b4 to b7 of Pr 90 Operation setting for speed torque control mode The following chart shows the operation timing for axis 1 RD77MS4 operation example Torque initial value selection Pr 90 b4 to b7 Command torque to servo amplifier immediately after switching from speed control mode to continuous operation to torque control mode 0 Command torque ...

Page 207: ...tches to the position control and the operation immediately stops Automatic switching is valid only when the control mode is switched from the position control mode to the continuous operation to torque control mode When the mode is switched from speed control mode to continuous operation to torque control mode or from continuous operation to torque control mode to other control modes even if the ...

Page 208: ...on to torque control mode 1000 0 0 0 1 Md 124 Control mode switching status OFF ON Contact with target Depending on the control mode 0 1 Cd 153 Control mode auto shift selection 0 adr Cd 154 Control mode auto shift parameter 300 0 2 Current feed value passes the address adr set in Cd 154 Control mode auto shift parameter 0 0 6 to 11 ms Continuous operation to torque control Md 125 Servo status3 b1...

Page 209: ...he warning Speed limit value over warning code 0991H occurs and the operation is controlled with the speed limit value Confirm the command speed to servo amplifier with Md 122 Speed during command Current feed value during speed control mode Md 20 Current feed value Md 21 Machine feed value and Md 101 Real current value are updated even in the speed control mode If the current feed value exceeds t...

Page 210: ...The current value reached the software stroke limit An error error code 1900H 1904H to 1907H 1993H 1995H occurs The mode switches to the position control mode at the current position and the operation immediately stops Deceleration processing is not executed The position of the motor reached the hardware stroke limit PLC READY Y0 turned OFF The forced stop input to Simple Motion module The mode sw...

Page 211: ...s and the operation is controlled with the torque limit setting value Confirm the command torque to servo amplifier with Md 123 Torque during command Rotation direction selection travel direction selection PA14 Cd 143 Command torque at torque control mode Torque generation direction of servo motor 0 Forward rotation CCW with the increase of the positioning address Positive value Forward direction ...

Page 212: ...m Operation during torque control mode Cd 180 Axis stop turned ON The speed limit value commanded to servo amplifier is 0 regardless of the setting value of Cd 146 Speed limit value at torque control mode The mode switches to the position control mode when Zero speed of Md 119 Servo status2 turns ON and the operation immediately stops Deceleration processing is not executed The value of command to...

Page 213: ... value corresponding to the motor rotation direction in Cd 147 Speed limit value at continuous operation to torque control mode Speed is not limited for reverse torque generation direction Torque command setting method During the continuous operation to torque control mode set time for the command torque to increase from 0 to Pr 17 Torque limit setting value in Cd 151 Torque time constant at conti...

Page 214: ...ed with the speed limit value Confirm the command speed to servo amplifier with Md 122 Speed during command Precautions at continuous operation to torque control mode The following functions of the servo amplifier are not available during the continuous operation to torque control mode Base circuit shut off delay time function Forced stop deceleration function Vertical axis freefall prevention fun...

Page 215: ...me for the position control mode Monitor item Buffer memory address Md 119 Servo status2 b4 2476 100n Item Operation during continuous operation to torque control mode Cd 180 Axis stop turned ON The speed limit value commanded to servo amplifier is 0 regardless of the setting value of Cd 147 Speed limit value at continuous operation to torque control mode The mode switches to the position control ...

Page 216: ...t speed change gear or cam etc Synchronous control synchronizes movement with the input axis servo input axis or synchronous encoder axis by setting the parameters for synchronous control and starting synchronous control on each output axis Refer to the following for details of synchronous control MELSEC iQ R Simple Motion Module User s Manual Advanced Synchronous Control ...

Page 217: ...unt per pulse is set a flexible positioning system that matches the machine system can be structured Near pass function 1 This function suppresses the machine vibration when the speed is changed during continuous path control in the interpolation control Functions that limit control Speed limit function If the command speed exceeds Pr 8 Speed limit value during control this function limits the com...

Page 218: ... data Teaching function This function stores the address positioned with manual control into the positioning address Da 6 Positioning address movement amount having the designated positioning data No Command in position function This function calculates the remaining distance for the Simple Motion module to reach the positioning stop position and when the value is less than the set value sets the ...

Page 219: ...n return retry function a machine home position return can be carried out regardless of the workpiece position Control details The following drawing shows the operation of the home position return retry function Home position return retry point return retry operation when the workpiece is within the range between the upper and lower limits 1 The movement starts in the Pr 44 Home position return di...

Page 220: ...on is set in Pr 44 Home position return direction When the 0 Positive direction is selected in Pr 44 Home position return direction the upper limit switch is set to the limit switch in the home position return direction When the 1 Negative direction is selected in Pr 44 Home position return direction the lower limit switch is set to the limit switch in the home position return direction If inverti...

Page 221: ... system so that the servo amplifier power turns OFF by the upper lower limit switches If the servo amplifier power is turned OFF the home position return retry cannot be carried out The operation decelerates upon detection of the hardware limit signal and the movement starts in the opposite direction In this case however the error Hardware stroke limit error code 1904H 1905H or Hardware stroke lim...

Page 222: ...uring home position return retry according to the user s requirements Refer to the following for the setting details Page 407 Basic Setting Parameters are set for each axis It is recommended that the parameters be set whenever possible with the engineering tool Execution by a program uses many programs and devices The execution becomes complicated and the scan times will increase Setting item Sett...

Page 223: ...he operation of the home position shift function Setting range for the home position shift amount Set the home position shift amount within the range from the detected zero signal to the upper lower limit switches Pr 44 Home position return direction Zero signal Near point dog Pr 47 Creep speed Pr 53 Home position shift amount Speed selected by the Pr 56 Speed designation during home position shif...

Page 224: ...e position shift when a mechanical home position return is carried out by the near point dog method Home position shift operation at the Pr 46 Home position return speed When Pr 56 Speed designation during home position shift is 0 Home position shift operation at the Pr 47 Creep speed When Pr 56 Speed designation during home position shift is 1 Near point dog Zero signal Home position Home positio...

Page 225: ...e position shift function will be added to the machine home position return control The set details are validated at the rising edge OFF ON of the PLC READY signal Y0 Refer to the following for the setting details Page 407 Basic Setting Parameters are set for each axis It is recommended that the parameters be set whenever possible with the engineering tool Execution by a program uses many programs...

Page 226: ...h compensation amount is set The backlash in the mechanical system cannot be correctly compensated if a machine home position return is not carried out Backlash compensation which includes the movement amount and Pr 11 Backlash compensation amount is output the moment at the moving direction changes Backlash compensation cannot be made when the speed control mode torque control mode or continuous ...

Page 227: ...he function compensates the mechanical system error of the command movement amount and actual movement amount by adjusting the electronic gear The movement amount per pulse value is defined by Pr 2 Number of pulses per rotation AP Pr 3 Movement amount per rotation AL and Pr 4 Unit magnification AM The Simple Motion module automatically carries out the processing for A and B Basic concept of the el...

Page 228: ...n pulse is set as the control unit When using pulse as the control unit set the electronic gear as follows AP Number of pulses per rotation AL Movement amount per rotation AM 1 Ex When the motor is the HG KR 4194304 pulses rev Setting value Setting item AP 23068672 Pr 2 AL 11250 0 Pr 3 AM 1 Pr 4 Setting value Setting item AP 23068672 Pr 2 AL 1125 0 Pr 3 AM 10 Pr 4 Setting value Setting item AP 419...

Page 229: ...ree Reduction ratio 360 00000 3 11 Substitute this for the above expression 1 At this time make calculation with the reduction ratio 3 11 remaining as a fraction Thus AP AL and AM to be set are as follows or 1 These two examples of settings are only examples There are settings other than these examples Setting value Setting item AP 2883584 Pr 2 AL 67 50000 Pr 3 AM 1 Pr 4 Setting value Setting item...

Page 230: ...ction ratio 7 53 1 3 remaining as a fraction Here make calculation on the assumption that is equal to 3 141592654 AL has a significant number to first decimal place round down numbers to two decimal places Thus AP AL and AM to be set are as follows This setting will produce an error for the true machine value but it cannot be helped This error is as follows AP Number of pulses per rotation 4194304...

Page 231: ...Movement amount per rotation AL in the actual setting 1 Set the same value as the value set in the fixed parameter to the servo parameter Linear encoder resolution setting Numerator PS02 and Linear encoder resolution setting Denominator PS03 Refer to each servo amplifier instruction manual for details AP AL pulse pulse pulse Feedback pulse Linear servo motor Linear encoder Simple Motion module Com...

Page 232: ... parameters and write them to the Simple Motion module The set details are validated at the rising edge OFF ON of the PLC READY signal Y0 Error compensation amount Command movement amount L Actual movement amount L 2 AP AL AM L L AP AL AM AP AL AM L L pulse Servo amplifier Simple Motion module 1 if there is no error in regular case AP AL AM pulse Servo amplifier Electronic gear taking an error int...

Page 233: ... being continuously executed is carried over to the next positioning data unit Alignment is not carried out and thus the output speed drops are eliminated and the mechanical vibration occurring during speed changes can be suppressed Because alignment is not carried out the operation is controlled on a path that passes near the position set in Da 6 Positioning address movement amount Control detail...

Page 234: ...s See below For this reason the output will suddenly reverse when the reference axis movement direction changes To prevent the sudden output reversal assign not the continuous path control 11 but the continuous positioning control 01 to the positioning data of the passing point Positioning by interpolation Operation of reference axis Operation of partner axis for interpolation Positioning data No ...

Page 235: ...to 4 axis fixed feed control the axis exceeding the speed limit value is controlled with the speed limit value The speeds of the other axes being interpolated are suppressed by the movement amount ratio In the 3 axis helical interpolation control the composite speed of the circular interpolation axis or the speed of the linear interpolation axis is controlled not to exceed Pr 8 Speed limit value H...

Page 236: ...after they are written to the Simple Motion module Refer to the following for the setting details Page 407 Basic Setting Parameters are set for each axis It is recommended that the parameters be set whenever possible with the engineering tool Execution by a program uses many programs and devices The execution becomes complicated and the scan times will increase Setting item Setting value Setting d...

Page 237: ...t to 0 Control type Torque limit function Torque limit value 1 Home position return control Machine home position return control Pr 17 Torque limit setting value or Cd 101 Torque output setting value After the Pr 47 Creep speed is reached this value becomes the Pr 54 Home position return torque limit value Fast home position return control Pr 17 Torque limit setting value or Cd 101 Torque output s...

Page 238: ...ew torque value or Cd 113 Reverse new torque value is set to 0 If this parameter is set to a value besides 0 the setting value will be validated and the torque will be limited at that value Refer to Page 259 Torque change function for details about the new torque value When the Pr 54 Home position return torque limit value exceeds the Pr 17 Torque limit setting value the error Home position return...

Page 239: ...arameters are set for each axis It is recommended that the parameters be set whenever possible with the engineering tool Execution by a program uses many programs and devices The execution becomes complicated and the scan times will increase Use Md 120 Reverse torque limit stored value and Cd 113 Reverse new torque value only when 1 Forward reverse torque limit value individual setting is set in C...

Page 240: ...on the current feed value and machine feed value Page 59 Confirming the current value The upper and lower limits of the moveable range of the workpiece are set in Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value Differences in the moveable range The following drawing shows the moveable range of the workpiece when the software stroke limit function is used...

Page 241: ...ative range from the current feed value Software stroke limit check details 1 Check whether the Md 20 Current feed value or Md 21 Machine feed value is set in Pr 14 Software stroke limit selection 2 Moveable range from the Pr 12 Software stroke limit upper limit value to the Pr 13 Software stroke limit lower limit value Check details Processing when an error occurs 1 An error shall occur if the cu...

Page 242: ... check Processing at check Home position return control Machine home position return control Data set method The current value will not be changed if the home position address is outside the software stroke limit range Other than Data set method Check not carried out Fast home position return control Major positioning control Position control 1 axis linear control Checks 1 and 2 in Page 239 Softwa...

Page 243: ...arameters shown in the following table and write them to the Simple Motion module The set details are validated at the rising edge OFF ON of the PLC READY signal Y0 Refer to the following for the setting details Page 407 Basic Setting Setting item Setting value Setting details Factory set initial value Pr 12 Software stroke limit upper limit value Set the upper limit value of the moveable range 21...

Page 244: ...t the parameters be set whenever possible with the engineering tool Execution by a program uses many programs and devices The execution becomes complicated and the scan times will increase Setting when the control unit is degree Current value address The Md 20 Current feed value address is a ring address between 0 and 359 99999 Setting the software stroke limit The upper limit value lower limit va...

Page 245: ...unction External input signal of Simple Motion module External input signal of servo amplifier WARNING When the hardware stroke limit is required to be wired ensure to wire it in the negative logic using b contact If it is set in positive logic using a contact a serious accident may occur Servo amplifier Simple Motion module Upper limit Lower limit Control range of Simple Motion module Start Start...

Page 246: ...rated properly In addition the servomotor does not stop Refer to each servo amplifier instruction manual for details about the Rotation direction selection travel direction selection PA14 Precautions during control If the machine is stopped outside the Simple Motion module control range outside the upper lower limit switches or if stopped by hardware stroke limit detection the starting for the hom...

Page 247: ...f current can be switched When the logic of FLS and RLS is set to positive logic using Pr 22 Input signal logic selection positioning control can be carried out even if FLS and RLS of the following signals are not wired External input signal of Simple Motion module External input signal of servo amplifier External input signal via CPU buffer memory of Simple Motion module Refer to the following fo...

Page 248: ...ative logic using b contact Provided safety circuit outside the Simple Motion module so that the entire system will operate safety even when the Pr 82 Forced stop valid invalid selection is set 1 Invalid Be sure to use the forced stop signal EMI of the servo amplifier Stop cause Stop axis M code ON signal after stop Axis operation status Md 26 after stopping Stop process Home position return contr...

Page 249: ...utions during control After the Forced stop input is released the servo ON OFF is valid for the status of all axis servo ON Y1 If the setting is other than 0 and 1 the error Forced stop valid invalid setting error error code 1B71H occurs The Md 50 Forced stop input is stored 1 by setting Pr 82 Forced stop valid invalid selection to 1 invalid When the Forced stop input is turned ON during operation...

Page 250: ...ntrol to be executed The new speed is set as a percent of the command speed Speed change function and Override function cannot be used in the manual pulse generator operation and speed torque control Speed change function The speed control function is used to change the speed during control to a newly designated speed at any time The new speed is directly set in the buffer memory and the speed is ...

Page 251: ...hen the speed is changed by setting Cd 14 New speed value to 0 the operation is carried out as follows When Cd 15 Speed change request is turned ON the speed change 0 flag Md 31 Status b10 turns ON During interpolation control the speed change 0 flag on the reference axis side turns ON The axis stops but Md 26 Axis operation status does not change and the BUSY signal remains ON If a stop signal is...

Page 252: ... commands correctly When a speed change is requested simultaneously for multiple axes change the speed one by one Therefore the start timing of speed change is different for each axis Speed change cannot be carried out during the machine home position return A request for speed change is ignored When deceleration is started by the speed change function the deceleration start flag does not turn ON ...

Page 253: ... change time chart RD77MS4 operation example Program example Refer to the following for the program example of the speed change program Page 569 Speed change program Setting item Setting value Setting details Buffer memory address Cd 14 New speed value 2000 Set the new speed 4314 100n 4315 100n Cd 15 Speed change request 1 Set 1 Change the speed 4316 100n PLC READY signal Y0 READY signal X0 BUSY s...

Page 254: ...tting details Page 407 Basic Setting Page 504 Control Data The following shows the speed change time chart RD77MS4 operation example Setting item Setting value Setting details Buffer memory address Pr 42 External command function selection 1 Set 1 External speed change request 62 150n Cd 8 External command valid 1 Set 1 Validate the external command 4305 100n Cd 14 New speed value 1000000 Set the ...

Page 255: ...ionMode_D Axis 1 External command function selection RD77_1 stnAxCtrl1_D 0 uExternalCommandValid_D Axis 1 External command valid RD77_1 stnAxCtrl1_D 0 udNewSpeed_D Axis 1 New speed value Global label local label Defines the global label or the local label as follows The settings of Assign Device Label are not required for the label that the assignment device is not set because the unused internal ...

Page 256: ...uring continuous path control the speed change will be ignored if there is not enough distance remaining to carry out the change The warning Deceleration stop speed change warning code 0990H occurs and the speed cannot be changed by the override function in the following cases The value set in Cd 13 Positioning operation speed override is validated after a deceleration stop When the speed is chang...

Page 257: ...e speed using the override function RD77MS4 operation example Add the following program to the control program and write it to the CPU module Page 569 Override program Setting item Setting value Setting details Buffer memory address Cd 13 Positioning operation speed override 200 Set the new speed as a percentage 4313 100n PLC READY signal Y0 READY signal X0 BUSY signal X10 V t Positioning start si...

Page 258: ...ration time change is enabled the speed will be changed with the new acceleration deceleration time Cd 10 Cd 11 Control details After setting the following two items carry out the speed change to change the acceleration deceleration time during the speed change Set change value of the acceleration deceleration time Cd 10 New acceleration time value Cd 11 New deceleration time value Setting acceler...

Page 259: ...will continue to be controlled with that value The next positioning data will be controlled with the previously set acceleration deceleration time Ex If the new acceleration deceleration time is set to 0 and the speed is changed after the new acceleration deceleration time is validated the operation will be controlled with the previous new acceleration deceleration time Ex The acceleration deceler...

Page 260: ...he data shown in the following table to the Simple Motion module using the program The set details are validated when a speed change is executed after the details are written to the Simple Motion module n Axis No 1 Refer to the following for the setting details Page 504 Control Data Add the following program to the control program and write it to the CPU module Page 569 Acceleration deceleration t...

Page 261: ... torque value reverse new torque value in the axis control data Cd 22 or Cd 113 shown below Torque change function Details Forward reverse torque limit value same setting The forward torque limit value and reverse torque limit value are changed to the same value by the new torque value Use this method when they need not be separately set Forward reverse torque limit value individual setting The fo...

Page 262: ...que value RD77MS4 operation example 1 The torque limit setting value or torque output setting value becomes effective at the PLC READY signal Y0 rising edge however after the servo turned ON If the torque output setting value is 0 or larger than the torque limit setting value the torque limit setting value will be its value 2 The torque limit setting value or torque output setting value becomes ef...

Page 263: ...ng range the warning Outside new torque value range outside forward new torque value range warning code 0907H will occur and the torque will not be changed If the setting value of Cd 113 Reverse new torque value is outside the setting range the warning Outside reverse new torque value range warning code 0932H will occur and the torque will not be changed If the time to hold the new torque value is...

Page 264: ...que limit value Set 0 normally When the forward torque limit value and reverse torque limit value are not divided When a value except 1 is set it operates as forward reverse torque limit value same setting 4363 100n Cd 22 New torque value forward new torque value 0 to Pr 17 Torque limit setting value When 0 is set to Cd 112 Torque change function switching request a new torque limit value is set T...

Page 265: ...ge is executed by Cd 29 Target position change request flag Details of control The following charts show the details of control of the target position change function When the address after change is positioned away from the start point more than the positioning address When the speed is changed simultaneously with changing the address When the direction of the operation is changed Positioning add...

Page 266: ...sition change request is given during automatic deceleration in position control and the movement direction is reversed the positioning control to a new position is performed after the positioning has stopped once If the movement direction is not reversed the speed accelerates to the command speed again and the positioning to the new position is performed If the constant speed status is regained o...

Page 267: ...llowing program to the control program and write it to the CPU module Page 571 Target position change program Setting item Setting value Setting details Buffer memory address Cd 27 Target position change value New address 3000 Set the new address 4334 100n 4335 100n Cd 28 Target position change value New speed 1000000 Set the new speed 4336 100n 4337 100n Cd 29 Target position change request flag ...

Page 268: ...prohibition flag Cd 183 ON However if positioning is started with the execution prohibition flag ON the positioning data is analyzed but servo start is not provided While the execution prohibition flag is ON Md 26 Axis operation status remains unchanged from 5 Analyzing The servo starts within operation cycle after the execution prohibition flag has turned OFF and Md 26 Axis operation status chang...

Page 269: ...ibition flag at the same time or before turning ON the positioning start signal Pre reading may not be started if the execution prohibition flag is turned ON during Ta after the positioning start signal is turned ON The pre reading start function is invalid if the execution prohibition flag is turned ON after positioning start with the execution prohibition flag OFF It is made valid at the next po...

Page 270: ...position system n Axis No 1 Home position return The absolute position system can establish the home position using home position return methods as follows Data set method Near point dog method Count method and Scale origin signal detection method In the Data set method home position return method the location to which the location of the home position is moved by manual operation JOG operation ma...

Page 271: ...op function is explained below Deceleration curve re processing A deceleration curve is re processed starting from the speed at stop cause occurrence until at a stop according to the preset deceleration time If a stop cause occurs during automatic deceleration of position control the deceleration stop processing stops as soon as the target has reached the positioning address specified in the posit...

Page 272: ...y depending on the stop cause occurrence timing and Pr 36 Sudden stop deceleration time setting Setting method To use the stop command processing for deceleration stop function set the following control data in a program The set data are made valid as soon as they are written to the buffer memory The PLC ready signal Y0 is irrelevant Refer to the following for the setting details Page 504 Control ...

Page 273: ...ning data being executed ends To execute continuous operation interruption set 1 Continuous operation interrupt request for Cd 18 Interrupt request during continuous operation Operation during continuous operation interruption When the stop command is ON When 1 is set in Cd 18 Start Positioning data No 10 Positioning data No 11 Positioning data No 12 V t Stop process when stop command turns ON Sto...

Page 274: ...uest during continuous operation is not accepted It is cleared to 0 at a start or restart Control data requiring settings Set the following data to interrupt continuous operation n Axis No 1 Refer to the following for the setting details Page 504 Control Data Positioning data No have sufficient remaining distance Positioning data No for positioning complete pattern 00 Positioning data No for conti...

Page 275: ...ration will be carried out until the positioning data requiring automatic deceleration is found Once found that positioning data will be executed and the operation will then automatically decelerate and stop Data No unit step The operation automatically decelerates and stops for each positioning data Even in continuous path control an automatic deceleration and stop will be forcibly carried out Co...

Page 276: ...top status in the step operation Md 26 Axis operation status Cd 36 Step start information Step start results 1 step of positioning stopped normally Step standby 1 Continues step operation The next positioning data is executed Md 26 Axis operation status Step start results Standby Step not continued by warning Stopped Interpolation JOG operation Manual pulse generator operation Analyzing Special st...

Page 277: ...FF the step valid flag End Set in Cd 34 Step mode Write 1 carry out step operation in Cd 35 Step valid flag Write 0 carry out no step operation in Cd 35 Step valid flag NO YES NO YES NO YES Positioning stopped by an error One step of positioning is completed All positioning is completed Write 1 restart to Cd 6 Restart command and check whether the positioning data operates normally Write 1 step co...

Page 278: ... operation will be carried out from the positioning data set in Cd 3 Positioning start No BUSY signal Positioning Cd 35 Step valid flag Positioning data No Da 1 Operation pattern No 10 11 No 11 01 t OFF ON ON ON OFF V ON OFF OFF ON Positioning start signal Y10 Y11 Y12 Y13 X10 X11 X12 X13 Positioning complete signal Md 31 Status b15 No positioning data No unit so operation pattern becomes one step ...

Page 279: ... The set details are validated after they are written to the Simple Motion module n Axis No 1 Refer to the following for the setting details Page 504 Control Data Setting item Setting value Setting details Buffer memory address Cd 34 Step mode Set 0 Stepping by deceleration units or 1 Stepping by data No units 4344 100n Cd 35 Step valid flag 1 Set 1 Validates step operations 4345 100n Cd 36 Step s...

Page 280: ...ails The following drawing shows the skip function operation RD77MS4 operation example Control type Skip function Skip applicability Home position return control Machine home position return control Skip operation not possible Fast home position return control Major positioning control Position control 1 axis linear control Skip operation possible 2 to 4 axis linear interpolation control 1 axis fi...

Page 281: ...TER mode In this case the M code will not be stored in Md 25 Valid M code The skip cannot be carried out by the speed control and position speed switching control If the skip signal is turned ON with the M code signal turned ON the transition to the next data is not carried out until the M code signal is turned OFF Setting method from the CPU module The following shows the settings and program exa...

Page 282: ... program and write it to the CPU module Program Refer to the following for the program example Setting item Setting value Setting details Buffer memory address Pr 42 External command function selection 3 Set 3 Skip request 62 150n Cd 8 External command valid 1 Set 1 Validate external command 4305 100n Classification Label name Description Module label RD77_1 stnAxPrm_D 0 uExternalCommandSignalMode...

Page 283: ...ut function The M code is stored in Md 25 Valid M code when the M code ON signal is turned ON The following shows the two types of timing for outputting M codes the WITH mode and the AFTER mode WITH mode The M code ON signal is turned ON at the positioning start and the M code is stored in Md 25 Valid M code RD77MS4 operation example 1 m1 and m2 indicate set M codes AFTER mode The M code ON signal...

Page 284: ...data No Number of LOOP to LEND repetitions Number of pitches Setting item Setting value Setting details Buffer memory address Cd 7 M code OFF request 1 Set 1 Turn OFF the M code ON signal 4304 100n Da 1 Operation pattern Processing 00 Independent positioning control Positioning control The next positioning data will not be executed until the M code ON signal is turned OFF 01 Continuous positioning...

Page 285: ...ND repetitions Number of pitches of that section s positioning data to prevent the M code from being output for avoiding the warning occurrence In the AFTER mode during speed control the M code is not output and the M code ON signal does not turn ON If current value changing where 9003 has been set to Cd 3 Positioning start No is performed the M code output function is made invalid Setting method ...

Page 286: ...xample Refer to the following for the program example Monitor item Monitor value Storage details Buffer memory address Md 25 Valid M code The M code No Da 10 M code Condition data No Number of LOOP to LEND repetitions Number of pitches set in the positioning data is stored 2408 100n Classification Label name Description Module label RD77_1 stnAxMntr 0 uStatus C Axis 1 M code ON RD77_1 stnAxMntr 0 ...

Page 287: ...y manual control positions to which the workpiece cannot physically move During center point designation circular interpolation control etc teaching of Da 7 Arc address cannot be carried out if the center point of the arc is not within the moveable range of the workpiece Writing to the flash ROM can be executed up to 100 000 times If writing to the flash ROM exceeds 100 000 times the writing may b...

Page 288: ...n End Confirm the completion of the writing Turn OFF the PLC READY signal Y0 Carry out a writing request to the flash ROM Confirm that Cd 1 Flash ROM write request has become 0 Set 1 in Cd 1 Flash ROM write request Set Writes the current feed value to Da 6 Positioning address movement amount in teaching data selection Set the positioning data No for which the teaching will be carried out Set the p...

Page 289: ...ut Set the positioning data No in Cd 39 Teaching positioning data No Confirm completion of the teaching Confirm that Cd 39 Teaching positioning data No has become 0 1 Using a JOG operation inching operation or manual pulse generator operation Set Writes the current feed value to Da 6 Positioning address movement amount in teaching data selection Set the positioning data No for which the teaching w...

Page 290: ...equest has become 0 Set 1 in Cd 1 Flash ROM write request End teaching NO YES Teaching arc end point address on axis 2 Entering teaching data using Cd 38 Teaching data selection and Cd 39 Teaching positioning data No for axis 2 in the same fashion as for axis 1 1 2 Home position Reverse direction Reverse direction Forward direction Axis 1 Arc center point Movement by circular interpolation Axis 2 ...

Page 291: ...erator operation RD77MS4 operation example Refer to the following for the program example Page 570 Teaching program Confirm the teaching function and teaching procedure before setting the positioning data The positioning addresses that are written are absolute address ABS values The positioning data written by the teaching function overwrites the data of buffer memory only Therefore read from buff...

Page 292: ...6 Command in position width and command in position flag Md 31 Status b2 of the reference axis are used during interpolation control When the Pr 20 Interpolation speed designation method is Composite speed the command in position width check is carried out in the remaining distance on the composite axis line arc connecting the start point address and end point address During speed control During s...

Page 293: ... Refer to the following for information on the storage details Page 468 Monitor Data Parameters are set for each axis It is recommended that the parameters be set whenever possible with the engineering tool Execution by a program uses many programs and devices The execution becomes complicated and the scan times will increase Setting item Setting value Setting details Factory set initial value Pr ...

Page 294: ...ite them to the Simple Motion module The set details are validated when written to the Simple Motion module Refer to the following for the setting details Page 407 Basic Setting Acceleration deceleration method setting control details and setting In the acceleration deceleration method setting the acceleration deceleration processing method is selected and set The set acceleration deceleration pro...

Page 295: ...on module The set details are validated when written to the Simple Motion module Refer to the following for the setting details Page 407 Basic Setting Parameters are set for each axis It is recommended that the parameters be set whenever possible with the engineering tool Execution by a program uses many programs and devices The execution becomes complicated and the scan times will increase Settin...

Page 296: ...lid for only the position control whose operation pattern is Positioning complete at the point whose shape has been set to End Reference to the figure below The following table indicates the operation of the deceleration start flag in the case of the following block start data and positioning data Block start data Da 11 Shape Da 12 Start data No Da 13 Special start instruction 1st point 1 Continue...

Page 297: ...rol of position speed switching control the deceleration start flag is turned ON by automatic deceleration The deceleration start flag remains ON if position control is switched to speed control by the position speed switching signal after the deceleration start flag has turned ON If the condition start of a block start is not made since the condition is not satisfied the deceleration start flag t...

Page 298: ...er memory addresses n Axis No 1 Refer to the following for information on the storage details Page 468 Monitor Data Monitor item Monitor value Storage details Buffer memory address Md 48 Deceleration start flag 0 Status other than below 1 Status from deceleration start to next operation start or manual pulse generator operation enable 2499 100n ...

Page 299: ...on to torque control mode 1 For the speed limit value Pr 83 Speed control 10 multiplier setting for degree axis is evaluated whether it is valid for each axis If valid the positioning control will be performed at decuple speed of setting value max speed Pr 7 Bias speed at start Pr 46 Home position return speed Pr 47 Creep speed Cd 14 New speed value Cd 17 JOG speed Cd 25 Position speed switching c...

Page 300: ... setting Pr 83 Speed control 10 multiplier setting for degree axis to valid To use the Speed control 10 multiplier setting for degree axis function set the parameters shown in the following table n Axis No 1 Refer to the following for the setting details Page 407 Basic Setting Setting item Setting value Setting details Buffer memory address Pr 83 Speed control 10 multiplier setting for degree axis...

Page 301: ...position return request flag Md 31 Status b3 is ON starting Fast home position return will result in the error Home position return request ON error code 1945H despite the setting value of Pr 55 Operation setting for incompletion of home position return and Fast home position return will not be performed Positioning control Pr 55 Operation setting for incompletion of home position return 0 Positio...

Page 302: ... a program n Axis No 1 Refer to the following for the setting details Page 407 Basic Setting Setting item Setting value Setting details Buffer memory address Pr 55 Operation setting for incompletion of home position return Set the operation setting for incompletion of home position return 0 Positioning control is not executed 1 Positioning control is executed 87 150n ...

Page 303: ... 100 Servo OFF command 3 Turn ON All axis servo ON Y1 Now the servo amplifier turns ON the servo servo operation enabled state The servo LED indicates d Servo OFF Servo operation disabled The following shows the procedure for servo OFF 1 Set 1 for Cd 100 Servo OFF command The servo LED indicates c If the Cd 100 Servo OFF command set 0 again after the servo operation enabled 2 Turn OFF All axis ser...

Page 304: ... of droop pulses at switching the servo ON next time so that the positioning can be performed from the stop position Execution of follow up Follow up function is executed continually during the servo OFF status The follow up function performs the process if the Simple Motion module and the servo amplifier is turned ON and servo OFF regardless of the presence of the absolute position system All axi...

Page 305: ...urrent value history of all axes Amplifier less operation function This function executes the positioning control of Simple Motion module without connecting to the servo amplifiers It is used to debug the program at the start up of the device or simulate the positioning operation Virtual servo amplifier function This function executes the operation as the axis virtual servo amplifier axis that ope...

Page 306: ...al Y0 is ON Writing to the flash ROM is up to 100 000 times If writing to the flash ROM exceeds 100 000 times the writing may become impossible and the error Flash ROM write error error code 1931H will occur A CPU module reset or CPU module power restart must be carried out after the parameters are initialized If an error occurs on the parameter set in the Simple Motion module when the PLC READY s...

Page 307: ... parameter is executed at the time point the data is written to the buffer memory of Simple Motion module Refer to the following for the setting details Page 504 Control Data When the initialization is complete 0 will be set in Cd 2 Parameter initialization request by the Simple Motion module automatically Setting item Setting value Setting details Buffer memory address Cd 2 Parameter initializati...

Page 308: ...up to 100 000 times If writing to the flash ROM exceeds 100 000 times the writing may become impossible and the error Flash ROM write error error code 1931H will occur After the power supply is turned ON or the CPU module is reset once writing to the flash ROM using a program is limited to up to 25 times If the 26th writing is executed the error Flash ROM write number error error code 1080H will o...

Page 309: ...imple Motion module The writing to the flash ROM internal memory nonvolatile is executed at the time point the data is written to the buffer memory of Simple Motion module Refer to the following for the setting details Page 504 Control Data When the writing to the flash ROM internal memory nonvolatile is complete 0 will be set in Cd 1 Flash ROM write request by the Simple Motion module automatical...

Page 310: ...external input connection connector of the Simple Motion module DI number is defined to each SIN number in advance When the input type of Pr 116 FLS signal selection to Pr 119 STOP signal selection is set with 0 Simple Motion module the external input connection connector terminal of the Simple Motion module is used in duplicate with the external command signal DI The available range is shown belo...

Page 311: ...setting method for external input signals The signal logic can be switched according to the external input signals upper lower stroke limit signal FLS RLS near point dog signal DOG stop signal STOP and external command signal switching signal DI of the servo amplifier or external device connected with the Simple Motion module For the system that does not use the upper lower limit signal with b con...

Page 312: ...e 407 Basic Setting Input type of Pr 116 FLS signal selection to Pr 119 STOP signal selection Signal type Setting area 0 Simple Motion module FLS RLS DOG STOP DI Pr 150 Input terminal logic selection Manual pulse generator Pr 151 Manual pulse generator Incremental synchronous encoder input logic selection 1 Servo amplifier FLS RLS DOG Pr 22 Input signal logic selection 2 Buffer memory FLS RLS DOG ...

Page 313: ...og signal DOG stop signal STOP and external command signal switching signal DI Precautions Pr 153 External input signal digital filter setting is not a parameter for each axis Pr 153 External input signal digital filter setting becomes valid when the power supply is turned ON the CPU module is reset or the PLC READY signal Y0 is turned ON When lengthening the filter setting time the signal detecti...

Page 314: ...ocess turn the power supply of the servo amplifier ON from OFF and turn the power supply of the system or reset the CPU module again Program example The following shows the program example to operate Cd 44 External input signal operation device Axis 1 to 16 of axis 1 axis 4 axis 8 and axis 16 using the limit switch connected to the input module when 2 Buffer memory is set in Pr 116 FLS signal sele...

Page 315: ...nputOperationDevice1_D D Axis 4 RLS RD77_1 stSysCtrl_D uExternalInputOperationDevice1_D E Axis 4 DOG RD77_1 stSysCtrl_D uExternalInputOperationDevice1_D F Axis 4 STOP RD77_1 stSysCtrl_D uExternalInputOperationDevice2_D C Axis 8 FLS RD77_1 stSysCtrl_D uExternalInputOperationDevice2_D D Axis 8 RLS RD77_1 stSysCtrl_D uExternalInputOperationDevice2_D E Axis 8 DOG RD77_1 stSysCtrl_D uExternalInputOpera...

Page 316: ...314 9 COMMON FUNCTIONS 9 4 External Input Signal Select Function Program example ...

Page 317: ...9 COMMON FUNCTIONS 9 4 External Input Signal Select Function 315 9 ...

Page 318: ...een the clock data of the CPU and the time data of the Simple Motion module Current value history The current value history data of each axis can be monitored The following shows about the current value history data of each axis Monitor details Monitor item Latest backup data The number of backup Once Feed current value Servo command value Encoder single revolution position Encoder multiple revolu...

Page 319: ...clock function of the CPU module Home position return data The number of backup Once Feed current value Servo command value Encoder single revolution position Encoder multiple revolution position Time 1 Year month 1 Time 2 Day hour 1 Time 3 Minute second 1 Monitor details Monitor item ...

Page 320: ...all storage items Backup data at the power on After the power on the detail of the data which restored the current value is output to the buffer memory The backup data at the power on starts being output after the power on If the current value cannot be restored in the absolute system 0 is set to the feed current value and servo command value The warning Home position return data incorrect warning...

Page 321: ...Absolute position detection system PA03 Current value management at the operation mode switching Normal operation mode Amplifier less operation mode Amplifier less operation mode Normal operation mode 0 Disabled The current feed value and machine feed value are 0 The current feed value and machine feed value are 0 At the communication start to the servo amplifiers 1 Enabled The amplifier less oper...

Page 322: ...utput 1 Always 0 during amplifier less operation mode 2478 100n Md 110 Effective load torque Optional data monitor output 2 Always 0 during amplifier less operation mode 2479 100n Md 111 Peak torque ratio Optional data monitor output 3 Always 0 during amplifier less operation mode 2480 100n Md 112 Optional data monitor output 4 Always 0 during amplifier less operation mode 2481 100n Md 119 Servo s...

Page 323: ...eration function is shown below System control data System monitor data Operation mode switching procedure Switch from the normal operation mode to the amplifier less operation mode 1 Stop all operating axes and then confirm that the BUSY signal for all axes turned OFF 2 Turn OFF the PLC READY signal Y0 3 Confirm that the READY signal X0 turned OFF 4 Set ABCDH in Cd 137 Amplifier less operation mo...

Page 324: ... switching of operation mode will not execute When the operation mode is switched with the servo amplifiers connected the communication to the servo amplifiers is shown below Even if the servo amplifiers are not connected the switching of operation mode is possible The forced stop is invalid regardless of the setting in Pr 82 Forced stop valid invalid selection during the amplifier less operation ...

Page 325: ...ed value of virtual servo amplifier are as follows When the virtual servo amplifier is set in the system setting of the engineering tool 0 Disabled incremental system is set in Absolute position detection system PA03 Set 1 Enabled absolute position detection system to the buffer memory to use as absolute position system Do not make to operate by switching between the actual servo amplifier and vir...

Page 326: ... 100n Md 110 Effective load torque Optional data monitor output 2 Always 0 2479 100n Md 111 Peak torque ratio Optional data monitor output 3 Always 0 2480 100n Md 112 Optional data monitor output 4 Always 0 2481 100n Md 119 Servo status2 Zero point pass b0 Always ON Zero speed b3 Changed depending on the command speed Speed limit b4 Always ON when the value other than 0 is set to the command torqu...

Page 327: ...ier can be set for the master axis only It cannot be set for the slave axis 2 In the fully closed loop system the servo amplifier can be set for the master axis only It cannot be set for the slave axis Also it cannot be used with the linear servo motors or direct drive motors Refer to each servo amplifier instruction manual for details Network Servo amplifier Module Combination of number of settab...

Page 328: ... the faulty axis Therefore when connecting the SSCNET cable connect the master axis in the closest position to the Simple Motion module This function is used for the case to operate by multiple motors in one system Connect the master axis and slave axis without slip Precautions during control CAUTION In the operation by driver communication the positioning control or JOG operation of the master ax...

Page 329: ...troke limit are invalid Refer to Page 328 I O signals of slave axis and Page 328 Data used for positioning control of slave axis for details For setting the slave axis as a servo input axis set 2 Real current value or 4 Feedback value in Pr 300 Servo input axis type Otherwise the slave axis does not operate as an input axis At the driver communication operation only the switching to positioning co...

Page 330: ...08 Servo status1 The following bits are valid b0 READY ON b1 Servo ON b7 Servo alarm The slave axis is always controlled in torque control mode control mode b2 b3 is set to torque control mode 0 1 Md 109 Regenerative load ratio Optional data monitor output 1 Md 110 Effective load torque Optional data monitor output 2 Md 111 Peak torque ratio Optional data monitor output 3 Md 112 Optional data moni...

Page 331: ...the servo amplifier s power supply OFF to ON after executing the above shown in the 1st bullet Then turn the system s power supply ON again or reset the CPU module In the driver communication function the torque generation direction for slave axis can be set in Rotation direction selection travel direction selection PA14 Setting item Setting details Buffer memory address Input output setting PA04 ...

Page 332: ...power supply ON again or reset the CPU module In the driver communication function the torque generation direction for slave axis can be set in Rotation direction selection travel direction selection PA14 Setting item Setting details Buffer memory address Input output setting PA04 Forced stop deceleration function selection Disable deceleration stop function at the master axis and slave axis 28404...

Page 333: ... position for a specified number of detections can be collected when the mark detection signal is continuously input at high speed Ex Number of detections 3 Ring buffer mode The latched data is stored in a ring buffer for a specified number of detections The latched data is always stored at mark detection Ex Number of detections 4 Mark detection data storage area Mark detection signal Storage area...

Page 334: ...nput signal Input signal compensation time Correctable within the range of 32768 to 32767 s Detection accuracy 10 s Latch data 11 types Optional buffer memory data 2 words Current feed value Machine feed value Real current value Servo input axis current value Synchronous encoder axis current value Synchronous encoder axis current value per cycle Current value after composite main shaft gear Curren...

Page 335: ...e external input signal for mark detection 54000 20k Pr 801 Mark detection signal compensation time 0 Set 0 No compensation to the compensation time such as delay of sensor 54001 20k Pr 802 Mark detection data type 2 Set 2 Real current value to the target data for mark detection 54002 20k Pr 803 Mark detection data axis No 1 Set 1 Axis 1 to the axis No of target data for mark detection 54003 20k P...

Page 336: ... 807 Mark detection setting 1 54020 to 54039 Mark detection setting 2 54040 to 54059 Mark detection setting 3 54300 to 54319 Mark detection setting 16 54640 to 54649 Mark detection control data Cd 800 Cd 801 Cd 802 Mark detection setting 1 54650 to 54659 Mark detection setting 2 54660 to 54669 Mark detection setting 3 54790 to 54799 Mark detection setting 16 54960 to 55039 Mark detection monitor d...

Page 337: ... Optional 2 word buffer memory Fetch cycle Power supply ON 0 54002 20k Pr 803 Mark detection data axis No Set the axis No of target data for mark detection 1 to 2 Axis 1 to Axis 2 RD77MS2 1 to 4 Axis 1 to Axis 4 RD77MS4 1 to 8 Axis 1 to Axis 8 RD77MS8 1 to 16 Axis 1 to Axis 16 RD77MS16 801 to 804 Synchronous encoder Axis 1 to 4 Fetch cycle Power supply ON 0 54003 20k Pr 804 Mark detection data buf...

Page 338: ...uffer memory is latched by setting 1 Set the buffer memory No in Pr 804 Mark detection data buffer memory No If a value other than the above is set the warning Outside mark detection data type setting range warning code 0937H occurs and the target mark detection is not available Setting value Setting details 0 Invalid 1 to 2 External command signal DI of axis 1 to axis 2 RD77MS2 1 to 4 External co...

Page 339: ... executed Upper limit value Lower limit value The mark detection is executed when the mark detection data is greater or equal to the lower limit value and less than the upper limit value Upper limit value Lower limit value The mark detection is executed when the mark detection data is greater or equal to the lower limit value or less than the upper limit value Upper limit value Lower limit value T...

Page 340: ... number of detection mode 1 to 32 Number of detections If the number of mark detection is the number of detections or more the mark detection is not executed The data is stored to the mark detection data storage area n n 1 Number of mark detection Ring buffer mode 1 to 32 Always The mark detection data storage area 1 to 32 is used as a ring buffer for the number of detections Setting item Setting ...

Page 341: ...is set to Pr 802 Mark detection data type and the mark detection is executed right after the cam axis length per cycle is changed during synchronous control the data before the cam axis length per cycle is changed may be latched At the time the latch data is calculated based on the executing cam axis length per cycle Therefore the value different from the actual output monitor data may be latched ...

Page 342: ...each servo amplifier instruction manual for details of the data monitored Data type Unit Used point Monitoring possibility MR J3 W B MR J4 W B MR JE B 1 Effective load ratio 1 word 2 Regenerative load ratio 3 Peak load factor 4 Load inertia moment ratio 0 1 5 Model loop gain rad s 6 Bus voltage V 7 Servomotor rotation speed 1 r min 8 Encoder multiple revolution counter rev 9 Module power consumpti...

Page 343: ...red to the monitor output Axis monitor data n Axis No 1 When the communication interrupted by the servo amplifier s power supply OFF or disconnection of communication cable with servo amplifiers during optional data monitor 0 is stored in Md 109 to Md 112 Setting item Setting details setting value Buffer memory address Pr 91 Optional data monitor Data type setting 1 Set the data type monitored in ...

Page 344: ...0FFF Information None None Security Error None None Warning None None Information None None Operation Error None None Warning None None Information The operation shown on the right column by an user is detected by the Simple Motion module Module initialization Parameter initialization 20010 Module backup Execution data backup 20011 Online module change 20030 RD77MS4 ERR RUN AX 3 4 2 1 AX Engineeri...

Page 345: ...lue Feed current value Actual current value Feedrate Unit Signal PLC READY All axis servo ON BUSY External input signal Md 30 Servo status 1 Servo status 2 Servo status 3 Synchronous control Input axis Axis information Axis in which an event occurred For a synchronous encoder axis 800 Axis No Axis operation status For a synchronous encoder axis always 0 Data by each error Synchronous control Outpu...

Page 346: ...nce Positioning start 1 to 600 At start Analyzing Started positioning No 1 to 600 Same as start No 1 Not displayed Operating Data No in which an error occurred 1 to 600 Block start 7000 to 7004 At start Analyzing Started block start No 7000 to 7004 Start data No of point No at block start 1 to 600 1 Started block start point No 1 to 50 Same as point No at block start Operating Data No in which an ...

Page 347: ...mplifier the status will not change without Md 53 SSCNET control status becoming 1 Execute waiting Operation failure may occur in some axes if the servo amplifier s power supply is turned OFF without using the disconnect function Be sure to turn OFF the servo amplifier s power supply by the disconnect function Execute the connect disconnect command to the A axis for multiple axis servo amplifier W...

Page 348: ...et 2 Execute command in Cd 102 SSCNET control command 5 Check that 0 Command accept waiting is set in Md 53 SSCNET control status Completion of connection 6 Resume operation of servo amplifier after checking 0 Standby in Md 26 Axis operation status of the connected axis When 1 Execute waiting is set in Md 53 SSCNET control status the command of execute waiting can be canceled if 0 No command is se...

Page 349: ...F the servo amplifier s power supply after checking the LED display AA of servo amplifier by turning bDisconnectCommand from OFF to ON Resume operation of servo amplifier after checking the Md 26 Axis operation status of the connected servo amplifier by turning bConnectCommand from OFF to ON System configuration RD77MS Servo amplifier MR J3 W _B MR J4 W _B Disconnection After Axis 5 Axis 2 Axis 3 ...

Page 350: ...ontrolStatus_D Axis 1 SSCNET control status RD77_1 stSysCtrl_D wSSCNET_ControlCommand_D Axis 1 SSCNET control command Global label local label Defines the global label or the local label as follows The settings of Assign Device Label are not required for the label that the assignment device is not set because the unused internal relay and data device are automatically assigned ...

Page 351: ... 9 13 Online module change 349 9 9 13 Online module change Allows to replace a module without stopping the system For procedures for the online module change refer to the following MELSEC iQ R Online Module Change Manual ...

Page 352: ...ervo amplifier to use the hot line forced stop function The following table shows the software version of servo amplifier that supports the hot line forced stop function 1 The servo amplifier except above does not support the hot line forced stop function Therefore it does not output the hot line or execute deceleration stop by receiving the hot line signal Precautions during control The servo war...

Page 353: ...8 servo status1 b15 is turned ON and the deceleration stop is executed 3 The servo alarm Md 108 Servo status1 b7 is turned OFF by removing the servo alarm factor of axis 2 4 The warning Md 108 Servo status1 b15 is turned OFF by Cd 5 Axis error reset of axis 1 Positioning control 1 3 Md 108 Servo status1 b7 Servo alarm Axis in which the servo alarm occurred axis 2 Positioning control Md 108 Servo s...

Page 354: ...module Module Parameter Refresh settings Configure the setting to transfer the values in the buffer memory of the Simple Motion module to devices or module labels in the CPU module By configuring these refresh settings reading the data by program is not needed Select the transfer destination from the following at Target Module Label Page 352 Module Label Refresh Data Register RD Page 352 Refresh D...

Page 355: ...l input signal Status Page 483 Md 31 Status Target value Page 485 Md 32 Target value Target speed Page 486 Md 33 Target speed Amount of the manual pulser driving carrying over movement Page 492 Md 62 Amount of the manual pulser driving carrying over movement Movement amount after near point dog ON Page 487 Md 34 Movement amount after near point dog ON Torque limit stored value forward torque limit...

Page 356: ...rvo amplifier software No 3 Servo amplifier software No 4 Servo amplifier software No 5 Servo amplifier software No 6 Parameter error No Page 495 Md 107 Parameter error No Servo status2 Page 499 Md 119 Servo status2 Servo status1 Page 496 Md 108 Servo status1 Regenerative load ratio Optional data monitor output 1 Page 496 Md 109 Regenerative load ratio Optional data monitor output 1 Effective load...

Page 357: ... following MELSEC iQ R CPU Module User s Manual Application In addition substitute the following values in the calculation formula to calculate the refresh read time 1 This value is the time with an R_CPU used Ex If all the 1184 items 1344 words in total of the RD77MS16 are set in the refresh read settings 1184 0 98 0 05 1344 11 6 1239 12 s The refresh read time therefore is 1239 12 s Setting valu...

Page 358: ...e required setting for the Simple Motion module Refer to the Simple Motion Module Setting Function Help of the engineering tool for details Select the Simple Motion module setting from the tree on the following window Navigation Parameter Module Information Target module Simple Motion module setting ...

Page 359: ...s X Y are shown in the case that the start input output number of the Simple Motion module is 0 The use prohibited signals are used by the system and cannot be used by a customer If these devices are used the function of the Simple Motion module will not be guaranteed Signal direction Simple Motion module CPU module Device No Signal name X0 READY X1 Synchronization flag X2 Use prohibited X3 X4 X5 ...

Page 360: ... bit of Md 31 Status The axis stop signal forward run JOG start signal reverse run JOG start signal execution prohibition flag are assigned to the buffer memory Cd 180 to Cd 183 Signal direction CPU module Simple Motion module Device No Signal name Y0 PLC READY Y1 All axis servo ON Y2 Use prohibited Y3 Y4 Y5 Y6 Y7 Y8 Y9 YA YB YC YD YE YF Y10 Axis 1 Positioning start 1 Y11 Axis 2 Y12 Axis 3 Y13 Axi...

Page 361: ... enabled After the CPU module is turned ON or the CPU module is reset this signal turns ON if the access from the CPU module to the Simple Motion module is possible When Asynchronous is selected in the module synchronization setting of the CPU module this signal can be used as interlock for the access from a program to the Simple Motion module X10 X11 X12 X13 X14 X15 X16 X17 X18 X19 X1A X1B X1C X1...

Page 362: ...N to OFF In these cases the OFF time should be set to 100 ms or more The READY signal X0 turns OFF The operating axis stops The M code ON signal Md 31 Status b12 for each axis turns OFF and 0 is stored in Md 25 Valid M code e When parameters or positioning data No 1 to 600 are written from the engineering tool or CPU module to the flash ROM this signal will turn OFF Y1 All axis servo ON OFF Servo ...

Page 363: ...ed or no operation may take place 2 Detailed parameters 2 are data items for using the functions of Simple Motion module to the fullest Set as required Classification Item Description Parameters Servo network composition parameters Parameters for the network Set the device to be used and the network according to the system configuration Common parameters Parameters that are independent of axes and...

Page 364: ...tarted Once the operation has started any modification to the data is ignored Exceptionally however modifications to the following are valid even when they are made during a positioning operation acceleration time 0 to 3 deceleration time 0 to 3 and external command function The setting data is created for each axis The setting data parameters have determined default values and are set to the defa...

Page 365: ...twork composition parameters are shown below Item Description System control data Writes initializes the positioning data in the module Sets the setting for operation of all axes Axis control data Makes settings related to the operation and controls the speed change during operation and stops restarts the operation for each axis Output signals axis stop signal JOG start signal and execution prohib...

Page 366: ...ontrol Pr 24 Manual pulse generator Incremental synchronous encoder input selection Pr 82 Forced stop valid invalid selection Pr 89 Manual pulse generator Incremental synchronous encoder input type selection Pr 96 Operation cycle setting Pr 97 SSCNET setting Pr 150 Input terminal logic selection Pr 151 Manual pulse generator Incremental synchronous encoder input logic selection Pr 152 Maximum numb...

Page 367: ... generator operation Inching operation JOG operation Speed torque control Pr 24 Manual pulse generator Incremental synchronous encoder input selection Pr 82 Forced stop valid invalid selection Page 246 Forced stop function Pr 89 Manual pulse generator Incremental synchronous encoder input type selection Pr 96 Operation cycle setting Pr 97 SSCNET setting Pr 150 Input terminal logic selection Pr 151...

Page 368: ... AP Unit pulse Pr 3 Movement amount per rotation AL Pr 4 Unit magnification AM Pr 7 Bias speed at start Basic parameters 2 Pr 8 Speed limit value Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 Detailed parameters 1 Pr 11 Backlash compensation amount Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value Pr 14 Software stroke limit selection Pr 15 Software s...

Page 369: ... Sudden stop deceleration time Pr 37 Stop group 1 sudden stop selection Pr 38 Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning complete signal output time Pr 41 Allowable circular interpolation error width Pr 42 External command function selection Pr 83 Speed control 10 multiplier setting for degree axis Pr 84 Restart allowable range when servo OFF to O...

Page 370: ...axis speed control Speed position or position speed control Other control 1 axis linear control 2 3 4 axis linear interpolation control 1 2 3 4 axis fixed feed control 2 axis circular interpolation control 3 axis helical interpolation control Current value changing JUMP instruction NOP instruction LOOP to LEND Basic parameters 1 Pr 1 Unit setting Pr 2 Number of pulses per rotation AP Unit pulse Pr...

Page 371: ...ion speed designation method Pr 21 Current feed value during speed control Pr 22 Input signal logic selection Pr 81 Speed position function selection Pr 116 FLS signal selection Pr 117 RLS signal selection Pr 118 DOG signal selection Pr 119 STOP signal selection Positioning parameter Major positioning control Position control 1 to 4 axis speed control Speed position or position speed control Other...

Page 372: ...on Pr 35 S curve ratio Pr 36 Sudden stop deceleration time Pr 37 Stop group 1 sudden stop selection Pr 38 Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning complete signal output time Positioning parameter Major positioning control Position control 1 to 4 axis speed control Speed position or position speed control Other control 1 axis linear control 2 3 ...

Page 373: ...ontrol mode Pr 95 External command signal selection Pr 122 Manual pulse generator speed limit mode Pr 123 Manual pulse generator speed limit value Positioning parameter Major positioning control Position control 1 to 4 axis speed control Speed position or position speed control Other control 1 axis linear control 2 3 4 axis linear interpolation control 1 2 3 4 axis fixed feed control 2 axis circul...

Page 374: ...as speed at start Basic parameters 2 Pr 8 Speed limit value Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 Detailed parameters 1 Pr 11 Backlash compensation amount Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value Pr 14 Software stroke limit selection Pr 15 Software stroke limit valid invalid setting Pr 16 Command in position width Pr 17 Torque limit s...

Page 375: ... time Pr 37 Stop group 1 sudden stop selection Pr 38 Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning complete signal output time Pr 41 Allowable circular interpolation error width Pr 42 External command function selection Pr 83 Speed control 10 multiplier setting for degree axis Pr 84 Restart allowable range when servo OFF to ON Pr 90 Operation setting...

Page 376: ...asic parameters 2 Pr 8 Speed limit value Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 Detailed parameters 1 Pr 11 Backlash compensation amount Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value Pr 14 Software stroke limit selection Pr 15 Software stroke limit valid invalid setting Pr 16 Command in position width Pr 17 Torque limit setting value Pr 18 ...

Page 377: ...Pr 30 Deceleration time 3 Pr 31 JOG speed limit value Pr 32 JOG operation acceleration time selection Pr 33 JOG operation deceleration time selection Pr 34 Acceleration deceleration process selection Pr 35 S curve ratio Pr 36 Sudden stop deceleration time Pr 37 Stop group 1 sudden stop selection Pr 38 Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning com...

Page 378: ...sition return parameters Machine home position return control Fast home position return control Home position return basic parameters Pr 43 Home position return method Near point dog method Count method 1 Count method 2 Data set method Scale origin signal detection method Preset parameters are used for machine home position return control Pr 44 Home position return direction Pr 45 Home position ad...

Page 379: ... is different depending on the servo amplifier being used Expansion parameter Related sub function Pr 91 Optional data monitor Data type setting 1 Page 340 Optional Data Monitor Function Pr 92 Optional data monitor Data type setting 2 Pr 93 Optional data monitor Data type setting 3 Pr 94 Optional data monitor Data type setting 4 Servo parameter Remark PA01 to PA32 PA group Setting items are differ...

Page 380: ...ntrol 2 3 4 axis fixed feed control 2 axis circular interpolation control 3 axis helical interpolation control Da 1 Operation pattern Independent positioning control Positioning complete Continuous positioning control Continuous path control Da 2 Control method Linear 1 Linear 2 Linear 3 Linear 4 1 Fixed feed 1 Fixed feed 2 Fixed feed 3 Fixed feed 4 Circular sub Circular right Circular left 1 Heli...

Page 381: ...Da 1 Operation pattern Independent positioning control Positioning complete Continuous positioning control Continuous path control Da 2 Control method Forward run speed position Reverse run speed position 1 Forward run position speed Reverse run position speed Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell...

Page 382: ...OOP LEND Da 1 Operation pattern Independent positioning control Positioning complete Continuous positioning control Continuous path control Da 2 Control method NOP Current value changing JUMP instruction LOOP LEND Da 3 Acceleration time No Da 4 Deceleration time No Da 6 Positioning address movement amount New address Da 7 Arc address Da 8 Command speed Da 9 Dwell time JUMP destination positioning ...

Page 383: ...is Set as required when not required Setting limited Setting not required The setting value is invalid When the value is the default value or within the setting range there is no problem Checking the condition data Da 15 to Da 19 Da 23 to Da 26 are checked with the following timing When Block start data starts When JUMP instruction starts Block start data Block start Normal start Condition start W...

Page 384: ... judgment Pointer No next to the pointer No where the latest history is stored Md 8 Start history pointer Number of write accesses to the flash ROM after the power is switched ON Number of write accesses to flash ROM Md 19 Number of write accesses to flash ROM Forced stop input signal EMI turn ON OFF Forced stop input signal EMI information Md 50 Forced stop input Monitor whether the system is in ...

Page 385: ...cted device Monitor the software No of servo amplifier Md 106 Servo amplifier software No Monitor the parameter No that an error occurred Md 107 Parameter error No Monitor the status servo status of servo amplifier Md 108 Servo status1 Md 119 Servo status2 Md 125 Servo status3 Md 500 Servo status7 Monitor the percentage of regenerative power to permissible regenerative value Monitor the content of...

Page 386: ...speed is being limited Md 39 In speed limit flag Monitor whether the speed is being changed Md 40 In speed change processing flag Monitor the remaining number of repetitions special start Md 41 Special start repetition counter Monitor the remaining number of repetitions control system Md 42 Control system repetition counter Monitor the start data point currently being executed Md 43 Start data poi...

Page 387: ...Cd 5 Axis error reset Issue instruction to restart When axis operation is stopped Cd 6 Restart command Stop continuous control Cd 18 Interrupt request during continuous operation Set start data No of own axis at multiple axes simultaneous starting Cd 30 Simultaneous starting own axis start data No Set start data No 1 for axes that start up simultaneously Cd 31 Simultaneous starting axis start data...

Page 388: ... switching control INC mode Cd 23 Speed position switching control movement amount change register Validate switching signal set in Cd 45 Speed position switching device selection Cd 24 Speed position switching enable flag Change speed for speed control during position speed switching control Cd 25 Position speed switching control speed change register Validate switching signal set in Cd 45 Speed ...

Page 389: ...e Set the command speed during continuous operation to torque control mode Cd 147 Speed limit value at continuous operation to torque control mode Set the acceleration time during continuous operation to torque control mode Cd 148 Acceleration time at continuous operation to torque control mode Set the deceleration time during continuous operation to torque control mode Cd 149 Deceleration time at...

Page 390: ...mber of control axes 58003 Pr 153 External input signal digital filter setting 1 SIN1 to 4 External input signal digital filter setting 2 SIN5 to 8 External input signal digital filter setting 3 SIN9 to 12 External input signal digital filter setting 4 SIN13 to 16 External input signal digital filter setting 5 SIN17 to 20 58004 58005 58006 58007 58008 Positioning parameters Basic parameters 1 Pr 1...

Page 391: ...udden stop deceleration time 54 150n 55 150n Pr 37 Stop group 1 sudden stop selection 56 150n Pr 38 Stop group 2 sudden stop selection 57 150n Pr 39 Stop group 3 sudden stop selection 58 150n Pr 40 Positioning complete signal output time 59 150n Pr 41 Allowable circular interpolation error width 60 150n 61 150n Pr 42 External command function selection 62 150n Pr 83 Speed control 10 multiplier set...

Page 392: ...fer memory address System monitor data Md 3 Start information Start history 1 87010 10p Md 4 Start No 87011 10p Md 54 Start Year month 87012 10p Md 5 Start Day hour 87013 10p Md 6 Start Minute second 87014 10p Md 60 Start ms 87015 10p Md 7 Error judgment 87016 10p Md 8 Start history pointer 87000 Md 19 Number of write accesses to flash ROM 4224 4225 Md 50 Forced stop input 4231 Md 51 Amplifier les...

Page 393: ...Block No being executed 2436 100n Md 46 Last executed positioning data No 2437 100n Md 47 Positioning data being executed Positioning identifier 2438 100n M code 2439 100n Dwell time 2440 100n Positioning option 2441 100n Command speed 2442 100n 2443 100n Positioning address 2444 100n 2445 100n Arc address 2446 100n 2447 100n Axis to be interpolated 2496 100n 2497 100n Md 48 Deceleration start fla...

Page 394: ...mber 59302 100n Md 503 Pre reading data analysis status 59303 100n Servo network composition status Md 105 Connected device 58660 58661 Memory area Item Buffer memory address Axis control data Cd 3 Positioning start No 4300 100n Cd 4 Positioning starting point No 4301 100n Cd 5 Axis error reset 4302 100n Cd 6 Restart command 4303 100n Cd 7 M code OFF request 4304 100n Cd 8 External command valid 4...

Page 395: ...Step valid flag 4345 100n Cd 36 Step start information 4346 100n Cd 37 Skip command 4347 100n Cd 38 Teaching data selection 4348 100n Cd 39 Teaching positioning data No 4349 100n Cd 40 ABS direction in degrees 4350 100n Cd 43 Simultaneous starting axis 4368 100n 4369 100n Cd 45 Speed position switching device selection 4366 100n Cd 46 Speed position switching command 4367 100n Cd 100 Servo OFF com...

Page 396: ...ol data Cd 1 Flash ROM write request 5900 Cd 2 Parameter initialization request 5901 Cd 41 Deceleration start flag valid 5905 Cd 42 Stop command processing for deceleration stop selection 5907 Cd 44 External input signal operation device Axis 1 to 16 5928 5929 5930 5931 Cd 102 SSCNET control command 5932 Cd 137 Amplifier less operation mode switching request 5926 Memory area Item Buffer memory add...

Page 397: ...r 22050 400n Starting block 0 2nd point 22001 400n 22051 400n 3rd point 22002 400n 22052 400n 50th point 22049 400n 22099 400n Starting block 0 Condition data No 1 Da 15 Condition target 22100 400n Da 16 Condition operator Da 17 Address 22102 400n 22103 400n Da 18 Parameter 1 22104 400n 22105 400n Da 19 Parameter 2 22106 400n 22107 400n Da 23 Number of simultaneously starting axes Simultaneously s...

Page 398: ...2299 400n Condition data 22300 400n 22399 400n Starting block 2 Block start data Set with the engineering tool Condition data Starting block 3 Block start data Condition data Starting block 4 Block start data Condition data Positioning data PLC CPU memo area Condition judgment target data of the condition data 30000 30099 Memory area Item Buffer memory address ...

Page 399: ...02 28402 100n PA03 28403 100n PA04 28404 100n PA05 28405 100n PA06 28406 100n PA07 28407 100n PA08 28408 100n PA09 28409 100n PA10 28410 100n PA11 28411 100n PA12 28412 100n PA13 28413 100n PA14 28414 100n PA15 28415 100n PA16 28416 100n PA17 28417 100n PA18 28418 100n PA19 64464 70n PA20 64400 70n PA21 64401 70n PA22 64402 70n PA23 64403 70n PA24 64404 70n PA25 64405 70n PA26 64406 70n PA27 64407...

Page 400: ... 28452 100n PB35 28453 100n PB36 28454 100n PB37 28455 100n PB38 28456 100n PB39 28457 100n PB40 28458 100n PB41 28459 100n PB42 28460 100n PB43 28461 100n PB44 28462 100n PB45 28463 100n PB46 64413 70n PB47 64414 70n PB48 64415 70n PB49 64416 70n PB50 64417 70n PB51 64418 70n PB52 64419 70n PB53 64420 70n PB54 64421 70n PB55 64422 70n PB56 64423 70n PB57 64424 70n PB58 64425 70n PB59 64426 70n PB...

Page 401: ...PC22 28485 100n PC23 28486 100n PC24 28487 100n PC25 28488 100n PC26 28489 100n PC27 28490 100n PC28 28491 100n PC29 28492 100n PC30 28493 100n PC31 28494 100n PC32 28495 100n PC33 64432 70n PC34 64433 70n PC35 64434 70n PC36 64435 70n PC37 64436 70n PC38 64437 70n PC39 64438 70n PC40 64439 70n PC41 64440 70n PC42 64441 70n PC43 64442 70n PC44 64443 70n PC45 64444 70n PC46 64445 70n PC47 64446 70n...

Page 402: ...11 65530 340n PD12 65531 340n PD13 65532 340n PD14 65533 340n PD15 65534 340n PD16 65535 340n PD17 65536 340n PD18 65537 340n PD19 65538 340n PD20 65539 340n PD21 65540 340n PD22 65541 340n PD23 65542 340n PD24 65543 340n PD25 65544 340n PD26 65545 340n PD27 65546 340n PD28 65547 340n PD29 65548 340n PD30 65549 340n PD31 65550 340n PD32 65551 340n PD33 65552 340n PD34 65553 340n PD35 65554 340n PD...

Page 403: ...40n PE15 65582 340n PE16 65583 340n PE17 65584 340n PE18 65585 340n PE19 65586 340n PE20 65587 340n PE21 65588 340n PE22 65589 340n PE23 65590 340n PE24 65591 340n PE25 65592 340n PE26 65593 340n PE27 65594 340n PE28 65595 340n PE29 65596 340n PE30 65597 340n PE31 65598 340n PE32 65599 340n PE33 65600 340n PE34 65601 340n PE35 65602 340n PE36 65603 340n PE37 65604 340n PE38 65605 340n PE39 65606 3...

Page 404: ...65712 340n PS02 65713 340n PS03 65714 340n PS04 65715 340n PS05 65716 340n PS06 65717 340n PS07 65718 340n PS08 65719 340n PS09 65720 340n PS10 65721 340n PS11 65722 340n PS12 65723 340n PS13 65724 340n PS14 65725 340n PS15 65726 340n PS16 65727 340n PS17 65728 340n PS18 65729 340n PS19 65730 340n PS20 65731 340n PS21 65732 340n PS22 65733 340n PS23 65734 340n PS24 65735 340n PS25 65736 340n PS26 ...

Page 405: ...40n PF20 65651 340n PF21 65652 340n PF22 65653 340n PF23 65654 340n PF24 65655 340n PF25 65656 340n PF26 65657 340n PF27 65658 340n PF28 65659 340n PF29 65660 340n PF30 65661 340n PF31 65662 340n PF32 65663 340n PF33 65664 340n PF34 65665 340n PF35 65666 340n PF36 65667 340n PF37 65668 340n PF38 65669 340n PF39 65670 340n PF40 65671 340n PF41 65672 340n PF42 65673 340n PF43 65674 340n PF44 65675 3...

Page 406: ...0n Po24 65703 340n Po25 65704 340n Po26 65705 340n Po27 65706 340n Po28 65707 340n Po29 65708 340n Po30 65709 340n Po31 65710 340n Po32 65711 340n PL01 65744 340n PL02 65745 340n PL03 65746 340n PL04 65747 340n PL05 65748 340n PL06 65749 340n PL07 65750 340n PL08 65751 340n PL09 65752 340n PL10 65753 340n PL11 65754 340n PL12 65755 340n PL13 65756 340n PL14 65757 340n PL15 65758 340n PL16 65759 34...

Page 407: ...40n PL30 65773 340n PL31 65774 340n PL32 65775 340n PL33 65776 340n PL34 65777 340n PL35 65778 340n PL36 65779 340n PL37 65780 340n PL38 65781 340n PL39 65782 340n PL40 65783 340n PL41 65784 340n PL42 65785 340n PL43 65786 340n PL44 65787 340n PL45 65788 340n PL46 65789 340n PL47 65790 340n PL48 65791 340n Memory area Item Servo amplifier parameter No Buffer memory address ...

Page 408: ...Mark detection data axis No 54003 20k Pr 804 Mark detection data buffer memory No 54004 20k 54005 20k Pr 805 Latch data range upper limit value 54006 20k 54007 20k Pr 806 Latch data range lower limit value 54008 20k 54009 20k Pr 807 Mark detection mode setting 54010 20k Mark detection control data Cd 800 Number of mark detection clear request 54640 10k Cd 801 Mark detection invalid flag 54641 10k ...

Page 409: ...ommunication with the SSCNET device is not started by the initial value 0 in default value Page 407 Identification code list 0 58020 32n 58021 32n Identification code Model Remark Network 0100 MR J3 _B MR J3W _B 2 axis type SSCNET 0101 MR J3 _B RJ006 For fully closed loop control SSCNET 0102 MR J3 _B RJ004 For linear servo motor SSCNET 0107 MR J3 _B RJ080W For direct drive motor SSCNET 0180 MR J3W...

Page 410: ...pe 0 1 67 1 Voltage output open collector type 1 Pr 96 Operation cycle setting 0000H 0 888 ms 0000H FFFFH 105 0001H 1 777 ms 0001H 0002H 3 555 ms 0002H 0200H 0 444 ms 0200H FFFFH Automatic setting FFFFH Pr 97 SSCNET setting 0 SSCNET 0 1 106 1 SSCNET H 1 Pr 150 Input terminal logic selection b0 SIN1 0 ON at leading edge 1 ON at trailing edge 0 1 0 58000 58001 to b19 SIN20 Pr 151 Manual pulse genera...

Page 411: ...lling edges of A phase B phase Manual pulse generator Incremental synchronous encoder input selection Setting value A phase B phase multiplied by 4 0 A phase B phase multiplied by 2 1 A phase B phase multiplied by 1 2 PULSE SIGN 3 Pr 151 Manual pulse generator Incremental synchronous encoder input logic selection Positive logic Negative logic Pr 151 Manual pulse generator Incremental synchronous e...

Page 412: ...emental synchronous encoder input type selection is included in common parameters However it will be valid at the leading edge OFF to ON of the PLC READY signal Y0 Pr 151 Manual pulse generator Incremental synchronous encoder input logic selection Positive logic Negative logic Forward run and reverse run are controlled with the ON OFF of the direction sign SIGN The motor will forward run when the ...

Page 413: ...32 Operation cycle setting 1 Confirm that Md 133 Operation cycle over flag does not turn ON If the flag is ON the operation cycle over has been generated Correct the positioning content or increase the operation cycle 1 Md 133 Operation cycle over flag may turn ON depending on the positioning content Pr 97 SSCNET setting Set the servo network The connectable servo amplifier differs by this paramet...

Page 414: ...ch in the signal logic will disable normal operation Be careful of this when you change from the default value Input terminal logic selection Setting value ON at leading edge When the current is flowed through the input signal terminal ON When the current is not flowed through the input signal terminal OFF 0 ON at trailing edge When the current is flowed through the input signal terminal OFF When ...

Page 415: ... or CPU module reset The servo input axis synchronous control and virtual servo amplifier of the axes which are out of the maximum number of control axes are out of the target This parameter is used when the number of actual used control axes is less than the maximum number of control axes of each module and to suppress the operation cycle Pr 153 External input signal digital filter setting Set th...

Page 416: ...en the specified movement amount and the actual movement amount The error can be compensated by adjusting the value set in electronic gear Page 225 Electronic gear function The result of below calculation round up after decimal point is a minimum pulse when the current feed value is updated at follow up processing The movement amount for droop pulse is reflected as the current feed value when the ...

Page 417: ...Refer to the following for information about electric gear Page 225 Electronic gear function Pr 7 Bias speed at start Set the bias speed minimum speed upon starting When using a stepping motor etc set it to start the motor smoothly If the motor speed at start is low the stepping motor does not start smoothly The specified bias speed at start will be valid during the following operations Positionin...

Page 418: ...ontrol or Cd 14 New speed value for speed change function is less than Pr 7 Bias speed at start the warning Below bias speed warning code 0908H will occur and it will operate at Pr 7 Bias speed at start When using S curve acceleration deceleration processing and bias speed at start together S curve acceleration deceleration processing is carried out based on the acceleration deceleration time set ...

Page 419: ...time will be relatively short Thus set the maximum positioning speed equal to or only a little lower than the parameter defined speed limit value These settings are valid for home position return positioning and JOG operations When the positioning involves interpolation the acceleration deceleration time defined for the reference axis is valid Item Setting value setting range Default value Buffer ...

Page 420: ...1 to 10000 0 1 3000 26 150n Pr 18 M code ON signal output timing 0 WITH mode 0 0 27 150n 1 AFTER mode 1 Pr 19 Speed switching mode 0 Standard speed switching mode 0 0 28 150n 1 Front loading speed switching mode 1 Pr 20 Interpolation speed designation method 0 Composite speed 0 0 29 150n 1 Reference axis speed 1 Pr 21 Current feed value during speed control 0 Do not update current feed value 0 0 3...

Page 421: ...ation cycle by Pr 96 Operation cycle setting if a servo alarm occurs Use the value of the following 2 as a measure that a servo alarm does not occur 1 0 to 32767 Set as a decimal 32768 to 65535 Convert into hexadecimal and set Pr 12 Software stroke limit upper limit value Set the upper limit for the machine s movement range during positioning control Pr 1 setting value Value set with the engineeri...

Page 422: ... When 2 degree is set in Pr 1 Unit setting set the setting value of software stroke limit to current feed value The error Software stroke limit selection error code 1AA5H will occur if machine feed value is set Pr 15 Software stroke limit valid invalid setting Set whether to validate the software stroke limit during JOG Inching operation and manual pulse generator operation Pr 16 Command in positi...

Page 423: ...he M code ON signal output timing can be set to each positioning data using the positioning option of the positioning data Da 27 Pr 19 Speed switching mode Set whether to switch the speed switching mode with the standard switching or front loading switching mode Setting value Details 0 Standard switching Switch the speed when executing the next positioning data 1 Front loading switching The speed ...

Page 424: ...r two to four axes the choice between enabling and disabling the update of Md 20 Current feed value depends on how the reference axis is set Set 1 to exercise speed position switching control ABS mode Setting value Details 0 Composite speed The movement speed for the control target is designated and the speed for each axis is calculated by the Simple Motion module 1 Reference axis speed The axis s...

Page 425: ...is not flowed through the input signal contact The current is flowed through the input signal contact Positive logic Opposite the concept of negative logic A mismatch in the signal logic will disable normal operation Be careful of this when you change from the default value Pr 81 Speed position function selection Select the mode of speed position switching control 0 INC mode 2 ABS mode If the sett...

Page 426: ... Y0 is not turned ON 2 When it is set in Pr 116 FLS signal selection to Pr 118 DOG signal selection at MR JE B use any errors or warnings do not occur However the external input signal upper lower limit signal near point dog signal cannot be operated Input terminal When the input type is set with 0 Simple Motion module set the input terminal The setting is not required when the value other than 0 ...

Page 427: ...ration time 2 2 3 Pr 30 Deceleration time 3 3 Pr 34 Acceleration deceleration process selection 0 Trapezoid acceleration deceleration process 0 0 52 150n 1 S curve acceleration deceleration process 1 Pr 35 S curve ratio 1 to 100 1 to 100 100 53 150n Pr 36 Sudden stop deceleration time 1 to 8388608 ms 1 to 8388608 ms 1000 54 150n 55 150n Pr 37 Stop group 1 sudden stop selection 0 Normal deceleratio...

Page 428: ...se 0 restart not allowed 0 64 150n 65 150n Pr 90 Operation setting for speed torque control mode b0 to b3 Not used 0000H 68 150n b4 to b7 Torque initial value selection 0 Command torque 1 Feedback torque b8 to b11 Speed initial value selection 0 Command speed 1 Feedback speed 2 Automatic selection b12 to b15 Condition selection at mode switching 0 Switching conditions valid for switching control m...

Page 429: ...30 Deceleration time 3 Pr 34 Acceleration deceleration process selection Set whether to use trapezoid acceleration deceleration or S curve acceleration deceleration for the acceleration deceleration process 1 Refer to the following for details Page 292 Acceleration deceleration processing function Pr 35 S curve ratio Set the S curve ratio 1 to 100 for carrying out the S curve acceleration decelera...

Page 430: ...ignal from the engineering tool Error occurrence excludes errors in stop groups 1 and 2 includes only the software stroke limit errors during JOG operation speed control speed position switching control and position speed switching control Pr 8 Speed limit value Da 8 Command speed Actual acceleration time 1 Positioning start 2 Sudden stop cause occurrence 3 Positioning stop Actual deceleration tim...

Page 431: ...dule had terminated the command output For the interpolation control the positioning completed signal of interpolation axis is output only during the time set to the reference axis RD77MS4 operation example Positioning start signal Start complete signal BUSY signal Positioning complete signal Output time Positioning complete signal after dwell time has passed M CPU module Simple Motion module Posi...

Page 432: ...100000 10 1 m 1 inch 0 to 1 00000 inch 0 to 100000 10 5 inch 2 degree 0 to 1 00000 degree 0 to 100000 10 5 degree 3 pulse 0 to 100000 pulse 0 to 100000 pulse Setting value Details 0 External positioning start The external command signal input is used to start a positioning operation 1 External speed change request The external command signal input is used to change the speed in the current positio...

Page 433: ...valid 0 001 to 2000000 000 degree min 1 to 2000000000 10 3 degree min 1 Valid 0 01 to 20000000 00 degree min 1 to 2000000000 10 2 degree min When the difference between the last command position of Simple Motion module at the forced stop input or the servo forced stop input and the present value at the forced stop release or the servo forced stop release is equal to or less than the value set in t...

Page 434: ...ring servo OFF restart cannot be executed If restart is requested the warning Restart not possible warning code 0902H occurs Do not restart while a stop command is ON When restart is executed during a stop the error Stop signal ON at start error code 1908H occurs and the axis operation status becomes ERR Therefore restart cannot be performed even if the error is reset Restart can also be executed ...

Page 435: ...ncluded in detailed parameters 2 However it will be valid at the leading edge OFF to ON of the PLC READY signal Y0 Set normally 0 Set 1 to shift to torque control without waiting for stop of servo motor immediately after positioning completion Setting value Details 0 Command torque Command torque value at switching following axis control data Switching to torque control mode Cd 143 Command torque ...

Page 436: ...generator operation Set the Manual pulse generator speed limit value to a value less than Pr 8 Speed limit value If the speed limit value is exceeded the error Manual pulse generator speed limit value error error code 1ABAH will occur Setting value Details 0 Not used External command signal is not used 1 DI1 DI1 is used as external command signal 10 DI10 DI10 is used as external command signal Set...

Page 437: ...witch 0 0 78 150n 1 Retry home position return with limit switch 1 Setting value Details Reference 0 Near point dog method After decelerating at the near point dog ON stop at the zero signal and complete the machine home position return Page 35 Near point dog method 4 Count method 1 After decelerating at the near point dog ON move the designated distance and complete the machine home position retu...

Page 438: ...ion that the address increments Arrow 2 1 Negative direction address decrement direction Moves in the direction that the address decrements Arrow 1 Pr 1 setting value Value set with the engineering tool unit Value set with a program unit 0 mm 214748364 8 to 214748364 7 m 2147483648 to 2147483647 10 1 m 1 inch 21474 83648 to 21474 83647 inch 2147483648 to 2147483647 10 5 inch 2 degree 0 to 359 9999...

Page 439: ...peed when Pr 83 Speed control 10 multiplier setting for degree axis is valid 0 01 to 20000000 00 degree min 2 The range of home position return speed when Pr 83 Speed control 10 multiplier setting for degree axis is valid 1 to 2000000000 10 2 degree min Pr 48 Home position return retry Set whether to carry out home position return retry Refer to the following for the operation of home position ret...

Page 440: ... return deceleration time selection 0 Pr 10 Deceleration time 0 0 0 83 150n 1 Pr 28 Deceleration time 1 1 2 Pr 29 Deceleration time 2 2 3 Pr 30 Deceleration time 3 3 Pr 53 Home position shift amount The setting value range differs depending on the Pr 1 Unit setting 0 84 150n 85 150n Pr 54 Home position return torque limit value 0 1 to 1000 0 1 to 10000 0 1 3000 86 150n Pr 55 Operation setting for ...

Page 441: ...ue set in Pr 25 Acceleration time 1 2 Use the value set in Pr 26 Acceleration time 2 3 Use the value set in Pr 27 Acceleration time 3 Pr 52 Home position return deceleration time selection Set which of deceleration time 0 to 3 to use for the deceleration time during home position return 0 Use the value set in Pr 10 Deceleration time 0 1 Use the value set in Pr 28 Deceleration time 1 2 Use the valu...

Page 442: ...the servomotor torque after reaching the creep speed during machine home position return Refer to the following for details on the torque limits Page 235 Torque limit function Pr 1 setting value Value set with the engineering tool unit Value set with a program unit 0 mm 214748364 8 to 214748364 7 m 2147483648 to 2147483647 10 1 m 1 inch 21474 83648 to 21474 83647 inch 2147483648 to 2147483647 10 5...

Page 443: ...set for Pr 53 Home position shift amount Select the setting from Pr 46 Home position return speed or Pr 47 Creep speed 0 Designate Pr 46 Home position return speed as the setting value 1 Designate Pr 47 Creep speed as the setting value Pr 57 Dwell time during home position return retry When home position return retry is validated when 1 is set for Pr 48 set the stop time after decelerating in 2 an...

Page 444: ...taneous torque 2 12 Servomotor thermistor temperature 13 Equivalent disturbance torque 2 14 Overload alarm margin 15 Error excessive alarm margin 16 Settling time 17 Overshoot amount 20 Position feedback 1 21 Encoder single revolution position 1 22 Selection droop pulse 1 23 Module integral power consumption 1 24 Load side encoder information 1 1 25 Load side encoder information 2 1 26 Z phase cou...

Page 445: ...set in Pr 93 Optional data monitor Data type setting 3 When setting other than 0 the warning Optional data monitor data type setting error warning code 0933H will occur with initialized communication to servo amplifier and 0 will be set in Md 109 to Md 112 When the data type of used point 2 words is set the monitor data of low order is Md 109 Regenerative load ratio Optional data monitor output 1 ...

Page 446: ...parameters Refer to each servo amplifier instruction manual for details of the parameter list and setting items for MR J4 W B MR JE B MR J3 W B Do not change other than the buffer memory addresses of the parameters described in each servo amplifier instruction manual ...

Page 447: ... 1000n 71011 1000n 71080 1000n 71081 1000n 71090 1000n 71091 1000n Da 6 Da 8 Da 9 Dwell time JUMP destination positioning data No Positioning data No 1 Positioning identifier Da 1 to Da 4 Positioning address movement amount Command speed 6000 1000n 6006 1000n 6007 1000n Da 7 Arc address 6008 1000n 6009 1000n 6004 1000n 6005 1000n 6002 1000n Da 10 M code Condition data No Number of LOOP to LEND rep...

Page 448: ...INC Linear 2 0BH 0CH Feed 2 0CH 0DH ABS ArcMP 0DH 0EH INC ArcMP 0EH 0FH ABS ArcRGT 0FH 10H ABS ArcLFT 10H 11H INC ArcRGT 11H 12H INC ArcLFT 12H 13H FWD V2 13H 14H RVS V2 14H 15H ABS Linear 3 15H 16H INC Linear 3 16H 17H Feed 3 17H 18H FWD V3 18H 19H RVS V3 19H 1AH ABS Linear 4 1AH 1BH INC Linear 4 1BH 1CH Feed 4 1CH 1DH FWD V4 1DH 1EH RVS V4 1EH 20H Helical interpolation control with sub point spe...

Page 449: ...ers according to the Da 2 Control method 0 6002 1000n JUMP destination positioning data No Da 10 M code Condition data No Number of LOOP to LEND repetitions Number of pitches M code 0 6001 1000n Condition data No Number of LOOP to LEND repetitions Axis to be interpolated Da 20 Axis to be interpolated No 1 0 Axis 1 selected 1 Axis 2 selected 2 Axis 3 selected 3 Axis 4 selected 4 Axis 5 selected 5 A...

Page 450: ...he value set in Pr 9 Acceleration time 0 1 Use the value set in Pr 25 Acceleration time 1 2 Use the value set in Pr 26 Acceleration time 2 3 Use the value set in Pr 27 Acceleration time 3 Positioning option Da 27 M code ON signaloutput timing 0 Uses the setting value of Pr 18 M code ON signal output timing 1 WITH mode 2 AFTER mode 0 1 2 0000H 6003 1000n Da 28 ABS direction in degrees 0 Uses the se...

Page 451: ... fixed feed 1 fixed feed 2 fixed feed 3 fixed feed 4 The setting value movement amount for the INC system is set as a movement amount with sign When movement amount is positive Moves in the positive direction address increment direction When movement amount is negative Moves in the negative direction address decrement direction Speed position switching control INC mode Set the amount of movement a...

Page 452: ...47 INC Linear 1 02H INC Linear 2 0BH INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 214748364 8 to 214748364 7 Set the movement amount 2147483648 to 2147483647 Forward run speed position 06H Reverse run speed position 07H Forward run position speed 08H Reverse run position speed 09H Set the movement amount 0 to 21474836...

Page 453: ...inear 4 1AH Current value changing 81H Set the address 0 to 359 99999 Set the address 0 to 35999999 INC Linear 1 02H INC Linear 2 0BH INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 21474 83648 to 21474 83647 Set the movement amount 2147483648 to 2147483647 2 Forward run speed position 06H Reverse run speed position 07H ...

Page 454: ...feed 3 17H Fixed feed 4 1CH Set the movement amount 2147483648 to 2147483647 Set the movement amount 2147483648 to 2147483647 Forward run speed position 06H Reverse run speed position 07H Forward run position speed 08H Reverse run position speed 09H Set the movement amount 0 to 2147483647 Set the movement amount 0 to 2147483647 ABS circular sub 0DH ABS circular right 0FH ABS circular left 10H Set ...

Page 455: ... address 2147483648 to 2147483647 INC Linear 1 02H INC Linear 2 0BH INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 21474 83648 to 21474 83647 Set the movement amount 2147483648 to 2147483647 Forward run speed position 06H Reverse run speed position 07H Forward run position speed 08H Reverse run position speed 09H Set th...

Page 456: ...ering tool m Value set with a program 1 10 1 m ABS circular sub 0DH ABS circular right 0FH ABS circular left 10H Set the address 214748364 8 to 214748364 7 2 Set the address 2147483648 to 2147483647 INC circular sub 0EH INC circular right 11H INC circular left 12H Set the movement amount 214748364 8 to 214748364 7 2 Set the movement amount 2147483648 to 2147483647 2 ABS helical sub 20H ABS helical...

Page 457: ... occur and the positioning will not start Refer to the following for details on the errors Page 591 List of Error Codes 1 The range of command speed when Pr 83 Speed control 10 multiplier setting for degree axis is valid 0 01 to 20000000 00 degree min 2 The range of command speed when Pr 83 Speed control 10 multiplier setting for degree axis is valid 1 to 2000000000 10 2 degree min Da 2 setting va...

Page 458: ...mplete signal turns ON as the dwell time When Da 1 Operation pattern is 01 Continuous positioning control Set the time from when positioning control ends to when the next positioning control starts as the dwell time When Da 1 Operation pattern is 11 Continuous path control The setting value is irrelevant to the control The dwell time is 0 ms Da 2 setting value Setting item Value set with the engin...

Page 459: ...condition data No for JUMP 0 Unconditional JUMP to the positioning data specified by Da 9 1 to 10 JUMP performed according to the condition data No specified a number between 1 and 10 Make sure that you specify the number of LOOP to LEND repetitions by a number other than 0 The error Control method LOOP setting error error code 1A33H will occur if you specify 0 If 3 axis helical interpolation cont...

Page 460: ...e M code ON signal output timing to each positioning data Refer to the following for setting details Page 421 Pr 18 M code ON signal output timing 0 Uses the setting value of Pr 18 M code ON signal output timing 1 WITH mode 2 AFTER mode Da 28 ABS direction in degrees Set Cd 40 ABS direction in degrees to each positioning data Refer to the following for setting details Page 422 Pr 20 Interpolation ...

Page 461: ...gnation method Set the interpolation speed designation method to each positioning data Refer to the following for setting details Page 422 Pr 20 Interpolation speed designation method 0 Uses the setting value of Pr 20 Interpolation speed designation method 1 Composite speed 2 Reference axis speed ...

Page 462: ... the error Outside start No range error code 19A3H will occur Refer to the following for details Page 266 Pre reading start function Block No 1 Axis Block start data Condition Buffer memory Engineering tool 7000 Axis 1 Start block 0 Condition data 1 to 10 Supports the settings Supports the settings Axis 16 Condition data 1 to 10 7001 Axis 1 Start block 1 Condition data 1 to 10 Axis 16 Condition da...

Page 463: ...and after completing control execute the next point s block start data Setting value Setting details 00H Block start Normal start Execute the random block positioning data in the set order with one start 01H Condition start Carry out the condition judgment set in condition data for the designated positioning data and when the conditions are established execute the block start data If not establish...

Page 464: ...ot used There is no need to set Condition start 1 to 10 Set the condition data No Data No of condition data is set up for the condition judgment Refer to Page 463 Condition Data for details on the condition data Wait start Simultaneous start Repeated start FOR loop 0 to 255 Set the number of repetitions Repeated start FOR condition 1 to 10 Set the condition data No Data No of condition data is set...

Page 465: ...8 400n 22109 400n 22102 400n 22103 400n Da 17 Address 22104 400n 22105 400n 22106 400n 22107 400n Da 18 Parameter 1 Da 19 Parameter 2 b0 b8 b15 b4 b12 b0 b8 b15 b4 b12 b16 b24 b31 b20 b28 Start block 0 Simultaneously starting axis No 2 Simultaneously starting axis No 1 Da 24 n Axis No 1 Buffer memory address Buffer memory address Buffer memory address Da 16 Condition operator Da 15 Condition targe...

Page 466: ...o 10 condition data items can be assigned to each block No 1 Setting cannot be made when the Pre reading start function is used If you set any of Nos 7000 to 7004 and perform the Pre reading start function the error Outside start No range error code 19A3H will occur Refer to the following for details Page 266 Pre reading start function Block No 1 Axis Block start data Condition Buffer memory Engin...

Page 467: ...3 Number of simultaneously starting axes 2 2 axes 2H 0000H 22108 400n 22109 400n 3 3 axes 3H 4 4 axes 4H Da 24 Simultaneously starting axis No 1 0 Axis 1 selected 1 Axis 2 selected 2 Axis 3 selected 3 Axis 4 selected 4 Axis 5 selected 5 Axis 6 selected 6 Axis 7 selected 7 Axis 8 selected 8 Axis 9 selected 9 Axis 10 selected A Axis 11 selected B Axis 12 selected C Axis 13 selected D Axis 14 selecte...

Page 468: ...word 01H P1 Select how to use the value in the buffer memory as a part of the condition 02H P1 03H P1 04H P1 05H P1 P2 06H P1 P2 Da 15 Condition target Setting value Setting details 01H Device X Not used There is no need to set 02H Device Y 03H Buffer memory 1 word Value Buffer memory address Set the target buffer memory address For 2 words set the low order buffer memory address 04H Buffer memory...

Page 469: ...1 03H P1 04H P1 05H P1 P2 Value The value of P2 should be equal to or greater than the value of P1 P1 P2 If P1 is greater than P2 P1 P2 the error Condition data error error code 1A00H to 1A05H will occur 06H P1 P2 07H DEV ON Not used No need to be set 08H DEV OFF 2 to 3 4 Value positioning data No Set the positioning data No for starting axis set in Da 26 Simultaneously starting axis No 3 Low orde...

Page 470: ...art Minute second 0000H Md 60 Start ms 0000H Md 7 Error judgment 0000H Md 8 Start history pointer 0000H Md 19 Number of write accesses to flash ROM 0 Md 50 Forced stop input 0 Md 51 Amplifier less operation mode status 0 Md 52 Communication between amplifiers axes searching flag 0 Md 53 SSCNET control status 0 Md 59 Module information RD77MS2 4000H RD77MS4 4001H RD77MS8 4002H RD77MS16 4003H Md 130...

Page 471: ...ng axis a record relating to this event may be output before a record relating to an earlier start signal is output Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Not used 0 0 0 0 0 b15 b12 b8 b4 b0 CPU module Stored contents Stored value 00 01 10 External signal Engineering tool Start origin Restart flag OFF Stored contents Stored val...

Page 472: ... 9038 3 2 4 F 9039 3 2 5 0 9040 3 2 5 1 9041 3 2 5 2 9042 3 Synchronous control operation JOG operation Manual pulse generator Machine home position return Fast home position return Current value changing Simultaneous start to to Start No Outside the range of control mode setting Position control mode speed control mode switching Position control mode torque control mode switching Reference Decima...

Page 473: ... Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 6 Start Minute second The starting time Minute second is stored Refresh cycle At start Reading the monitor value Monitoring is carried out with a hexadecimal display 1 If a start signal is issued against an operating axis a record relating to this event may be output before a record relating to an earlier s...

Page 474: ...exadecimal display 1 If a start signal is issued against an operating axis a record relating to this event may be output before a record relating to an earlier start signal is output Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data BUSY start Control mode switching during BUSY Control mode switching during zero speed OFF Outside control ...

Page 475: ...eading the monitor value Monitoring is carried out with a decimal display Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 50 Forced stop input This area stores the states ON OFF of forced stop input Refresh cycle Operation cycle Reading the monitor value Monitoring is carried out with a decimal display Buffer memory address Refer to ...

Page 476: ... Reading the monitor value Monitoring is carried out with a decimal display Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 59 Module information Stores the module information Refresh cycle At power supply ON Reading the monitor value Monitoring is carried out with a hexadecimal display Buffer memory address Refer to the following fo...

Page 477: ...e Main cycle Reading the monitor value Monitoring is carried out with a decimal display Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 132 Operation cycle setting Stores the current operation cycle Refresh cycle At power supply ON Reading the monitor value Monitoring is carried out with a hexadecimal display Buffer memory address Re...

Page 478: ...eration time Stores the time that took for operation every operation cycle Refresh cycle Operation cycle Reading the monitor value Monitoring is carried out with a decimal display Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 135 Maximum operation time Stores the maximum value of operation time after each module s power supply ON R...

Page 479: ... counter 0 Md 42 Control system repetition counter 0000H Md 43 Start data pointer being executed 0 Md 44 Positioning data No being executed 0 Md 45 Block No being executed 0 Md 46 Last executed positioning data No 0 Md 47 Positioning data being executed 0 Md 48 Deceleration start flag 0 Md 62 Amount of the manual pulser driving carrying over movement 0 Md 100 Home position return re travel value 0...

Page 480: ...following for the buffer memory address in this area Page 390 Monitor data Md 124 Control mode switching status 0 Md 125 Servo status3 0000H Md 500 Servo status7 0000H Md 502 Driver operation alarm number 0000H Md 503 Pre reading data analysis status 0 Item Default value Actual value A B C D A B C D E F G H E R F G H High order buffer memory Low order buffer memory Low order buffer memory b15 b12 ...

Page 481: ...0 Monitor data Md 22 Feedrate The speed of the operating workpiece is stored May be different from the actual motor speed during operation During interpolation operation the speed is stored in the following manner Refresh cycle Operation cycle In case of the single axis operation Md 22 Feedrate and Md 28 Axis feedrate are identical In the composite mode of the interpolation operation Md 22 Feedrat...

Page 482: ... address Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 26 Axis operation status This area stores the axis operation status Refresh cycle Immediate Reading the monitor value Monitoring is carried out with a decimal display Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Axis warning No Monitor...

Page 483: ...a When speed change function is executed this area stores Cd 14 New speed value For details of change speed function refer to Page 248 Speed change function Refresh cycle Immediate Reading the monitor value Monitoring is carried out with a decimal display Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data R Unit conversion Md 27 Current sp...

Page 484: ...g control is stored When the control method is Reverse run position speed the negative value is stored Refresh cycle Immediate Reading the monitor value Refer to Md 28 Axis feedrate Page 482 Md 28 Axis feedrate Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data A B C D A B C D E F G H E R F G H Sorting Unit conversion High order buffer mem...

Page 485: ...ntrol The signal goes OFF when the power is switched ON under the position control and during JOG operation or manual pulse generator operation During the speed position or position speed switching control this signal comes ON only when the speed control is in effect During the speed position switching control this signal goes OFF when the speed position switching signal executes a switching over ...

Page 486: ... the command speed change function During the position speed switching control this signal comes ON when speed control takes over This signal goes OFF when the next positioning data is processed and during JOG operation or manual pulse generator operation Axis warning detection flag This signal comes On when an axis warning is reported and goes OFF when the axis error reset signal comes ON Speed c...

Page 487: ...ing address movement amount for a positioning operation At the beginning of positioning control and current value changing Stores the value of Da 6 Positioning address movement amount At the home position shift operation of home position return control Stores the value of home position shift amount At other times Stores 0 Refresh cycle Immediate Reading the monitor value Monitoring is carried out ...

Page 488: ...is overridden the target speed is restricted to the speed limit value The target speed changes every time data is switched but does not change in an acceleration deceleration state inside each piece of data changes with the speed change because the target speed changes Reading the monitor value Monitoring is carried out with a hexadecimal display Buffer memory address Refer to the following for th...

Page 489: ... 101 Torque output setting value is stored When a value is set in Cd 22 New torque value forward new torque value during operation Cd 22 New torque value forward new torque value is stored When home position return Pr 17 Torque limit setting value or Cd 101 Torque output setting value is stored However Pr 54 Home position return torque limit value is stored after the speed reaches Pr 47 Creep spee...

Page 490: ... Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 39 In speed limit flag If the speed exceeds the Pr 8 Speed limit value Pr 31 JOG speed limit value at JOG operation control due to a speed change or override the speed limit functions and the in speed limit flag turns ON When the speed drops to less than Pr 8 Speed limit value Pr 31 JOG speed limit value at...

Page 491: ... control comes out of the loop when the count reaches 0 This area stores 0 within an infinite loop Refresh cycle Immediate Reading the monitor value Monitoring is carried out with a decimal display Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 42 Control system repetition counter This area stores the remaining number of repetitions...

Page 492: ...a stores 0 when the JOG inching operation is executed Refresh cycle Immediate Reading the monitor value Monitoring is carried out with a decimal display Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 45 Block No being executed When the operation is controlled by block start data this area stores a block number 7000 to 7004 attached ...

Page 493: ...es Refresh cycle Immediate Reading the monitor value Information is stored in the storage addresses Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Stored item Reference Positioning identifier Page 448 Da 1 Operation pattern to Page 449 Da 4 Deceleration time No Positioning address Page 449 Da 6 Positioning address movement amount Arc a...

Page 494: ...generator speed limit value Refresh cycle Immediate Reading the monitor value Monitoring is carried out with a hexadecimal display 1 The unit is mm s at linear servo use Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Storage value 0 Status other than below 1 Status from deceleration start to next operation start or manual pulse generat...

Page 495: ...age 492 Md 62 Amount of the manual pulser driving carrying over movement Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 101 Real current value This area stores the current value feed current value command pulse feedback pulse For setting units Ex mm Buffer memory 0 1 m Refresh cycle Operation cycle Reading the monitor value Refer to...

Page 496: ...at linear servo use Refresh cycle Operation cycle Reading the monitor value Refer to the following Page 492 Md 62 Amount of the manual pulser driving carrying over movement Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 104 Motor current value This area stores the present motor current value of the motor Buffer memory 0 1 Refresh cy...

Page 497: ...resh cycle Immediate Reading the monitor value Monitoring is carried out with a decimal display Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Address 2464 2465 2466 2467 2468 2469 Monitor value Example B35W200 A0 422D 3533 3257 3030 4120 2030 B 3 5 0 0 SPACE A 0 SPACE W 2 The monitor value is character code ASCII format Software No Mo...

Page 498: ... with Md 125 Servo status3 Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 109 Regenerative load ratio Optional data monitor output 1 The rate of regenerative power to the allowable regenerative power is indicated as a percentage When the regenerative option is used the rate to the allowable regenerative power of the option is indica...

Page 499: ...cated rated torque being 100 Buffer memory This area stores the content set in Pr 93 Optional data monitor Data type setting 3 at optional data monitor data type setting Refresh cycle Operation cycle Reading the monitor value Monitoring is carried out with a decimal display Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 112 Optional...

Page 500: ...ning code displayed in LED of servo amplifier When the Cd 5 Axis error reset axis control data is set to ON after remove the error factor of servo amplifier side the servo alarm is cleared set to 0 Refresh cycle Immediate Reading the monitor value Monitoring is carried out with a hexadecimal display Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Mo...

Page 501: ...fier is PID control Refresh cycle Operation cycle Reading the monitor value Monitoring is carried out with a hexadecimal display Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data 0 INC mode 1 ABS mode ABS INC mode distinction for magnetism type encoder Connecting to single revolution ABS encoder Connecting to magnetism type encoder b15 b1...

Page 502: ...er the speed reaches Pr 47 Creep speed Refresh cycle Immediate Reading the monitor value Monitoring is carried out with a decimal display Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 122 Speed during command This area stores the command speed during speed control mode This area stores the command speed during continuous operation ...

Page 503: ...cycle Operation cycle Reading the monitor value Monitoring is carried out with a decimal display Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 125 Servo status3 This area stores the servo status3 Continuous operation to torque control mode Turn ON when the continuous operation to torque control mode Refresh cycle Operation cycle Re...

Page 504: ...on alarm is 10H and the detailed number is 23H 1023H is displayed Buffer memory address Refer to the following for the buffer memory address in this area Page 390 Monitor data Md 503 Pre reading data analysis status Use this monitor when using the pre reading start function This area stores the positioning data analysis status Refresh cycle Operation cycle Reading the monitor value Monitoring is c...

Page 505: ...5 Connected device 0 Monitor value Identification code Vendor ID 0000 Mitsubishi electric 0100 MR J3 _B MR J3W _B 2 axis type 0101 MR J3 _B RJ006 For fully closed loop control 0102 MR J3 _B RJ004 For linear servo motor 0107 MR J3 _B RJ080W For direct drive motor 0180 MR J3W 0303BN6 4100 FR A700 Inverter 4101 FR A700 NA Inverter 4102 FR A700 EC Inverter 4103 FR A700 CHT Inverter 0FFF Virtual servo ...

Page 506: ... turned ON Writing to the flash ROM beyond 25 times will cause the error Flash ROM write number error error code 1080H Refer to Page 591 List of Error Codes for details Monitoring is the number of writes to the flash ROM after the power is switched ON by the Md 19 Number of write accesses to flash ROM Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memo...

Page 507: ...ontrol data Cd 41 Deceleration start flag valid Sets whether Md 48 Deceleration start flag is made valid or invalid Fetch cycle At PLC READY ON The Cd 41 Deceleration start flag valid become valid when the PLC READY signal Y0 turns from OFF to ON Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Parameter ...

Page 508: ...ration curve re processing deceleration curve continuation Fetch cycle At deceleration stop causes occurrence Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data 0 Deceleration curve re processing 1 Deceleration curve continuation K Stop command processing for deceleration stop selection Setting value ...

Page 509: ...limit signal FLS Axis 13 Lower limit signal RLS Axis 13 Near point dog signal DOG Axis 13 STOP signal STOP Axis 14 Upper limit signal FLS Axis 14 Lower limit signal RLS Axis 14 Near point dog signal DOG Axis 14 STOP signal STOP Axis 15 Upper limit signal FLS Axis 15 Lower limit signal RLS Axis 15 Near point dog signal DOG Axis 15 STOP signal STOP Axis 16 Upper limit signal FLS Axis 16 Lower limit ...

Page 510: ...peration mode Fetch cycle 3 5 ms Setting value Set with a hexadecimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data SSCNET control command 0 2 10 Except above setting Invalid 1 1 to the maximum control axes K Axis No 1 Execute command No command Connect command of SSCNET communication Disconnect command of SSCNET communication Axis No...

Page 511: ...0 Cd 25 Position speed switching control speed change register 0 Cd 26 Position speed switching enable flag 0 Cd 27 Target position change value New address 0 Cd 28 Target position change value New speed 0 Cd 29 Target position change request flag 0 Cd 30 Simultaneous starting own axis start data No 0 Cd 31 Simultaneous starting axis start data No 1 0 Cd 32 Simultaneous starting axis start data No...

Page 512: ...d 146 Speed limit value at torque control mode 1 Cd 147 Speed limit value at continuous operation to torque control mode 0 Cd 148 Acceleration time at continuous operation to torque control mode 1000 Cd 149 Deceleration time at continuous operation to torque control mode 1000 Cd 150 Target torque at continuous operation to torque control mode 0 Cd 151 Torque time constant at continuous operation t...

Page 513: ...otion module errors and servo amplifier errors by axis error reset Some servo amplifier errors cannot be reset even if error reset is requested At the time 0 is not stored in Cd 5 by the Simple Motion module It remains 1 Set 0 in Cd 5 and then set 1 to execute the error reset again by user side For details refer to each servo amplifier instruction manual Fetch cycle 14 2 ms Setting value Set with ...

Page 514: ...r the buffer memory address in this area Page 392 Control data Cd 8 External command valid Validates or invalidates external command signals Fetch cycle At request by external command signal Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Restart command 1 Restarts K 1 Setting value The Simple Motion mod...

Page 515: ...on time Fetch cycle At change request Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Pr 1 Unit setting mm 10 1 m inch 10 5 inch degree 10 5 degree pulse pulse Setting range 2147483648 to 2147483647 2147483648 to 2147483647 0 to 35999999 2147483648 to 2147483647 Setting range of Cd 10 unit 0 to 8388608 m...

Page 516: ...g operation speed override To use the positioning operation speed override function use this data item to specify an override value 1 For details of the override function refer to the following Page 254 Override function If the command speed is set to less than the minimum unit using the override function the speed is raised to the minimum unit and the warning Less than minimum speed warning code ...

Page 517: ...peration cycle Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Pr 1 Unit setting mm 10 2 mm min inch 10 3 inch min degree 1 10 3 degree min pulse pulse s Setting range 0 to 2000000000 0 to 2000000000 0 to 2000000000 0 to 1000000000 Actual value Conversion into an integer value Cd 14 New speed value 10m U...

Page 518: ...er memory address Refer to the following for the buffer memory address in this area Page 392 Control data Pr 1 Unit setting mm 10 1 m inch 10 5 inch degree 10 5 degree pulse pulse Setting range 0 to 65535 0 to 65535 0 to 65535 0 to 65535 Conversion into an integer value Cd 16 Inching movement amount 10m Unit conversion table Cd 16 m μm inch 1 5 5 degree 0 pulse Unit R Setting value Decimal Actual ...

Page 519: ... memory address Refer to the following for the buffer memory address in this area Page 392 Control data Pr 1 Unit setting mm 10 2 mm min inch 10 3 inch min degree 1 10 3 degree min pulse pulse s Setting range 1 to 2000000000 1 to 2000000000 1 to 2000000000 1 to 1000000000 Actual value Conversion into an integer value Cd 17 JOG speed 10m Unit conversion table Cd 17 m mm min inch min 2 3 3 degree mi...

Page 520: ...ue Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Cd 21 Manual pulse generator enable flag This data item enables or disables operations using a manual pulse generator Fetch cycle Operation cycle Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area P...

Page 521: ...speed position switching control INC mode it is possible to change the specification of the movement amount during the position control stage For that use this data item to specify a new movement amount The new movement amount has to be set during the speed control stage of the speed position switching control INC mode The value is reset to 0 when the next operation starts Set a value within the f...

Page 522: ...g range is 0 to 2000000000 10 2 degree min Fetch cycle At switching request Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Pr 1 Unit setting mm 10 2 mm min inch 10 3 inch min degree 1 10 3 degree min pulse pulse s Setting range 0 to 2000000000 0 to 2000000000 0 to 2000000000 0 to 1000000000 Speed positi...

Page 523: ...se pulse ABS 2147483648 to 2147483647 2147483648 to 2147483647 0 to 35999999 2147483648 to 2147483647 INC 2147483648 to 2147483647 2147483648 to 2147483647 2147483648 to 2147483647 2147483648 to 2147483647 Position speed switching enable flag 0 Position control will not be taken over by speed control even when the signal set in Cd 45 Speed position switching device selection comes ON 1 Position co...

Page 524: ...tting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Cd 30 Simultaneous starting own axis start data No Use this data item to specify a start data No of own axis at multiple axes simultaneous starting Fetch cycle At start Setting value Set with a decimal Buffer memory address Refer to the following for the buff...

Page 525: ...axis start data No Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Cd 33 Simultaneous starting axis start data No 3 Use this data item to specify a start data No 3 for each axis that starts simultaneously 1 For 2 axis simultaneous starting and 3 axis simultaneous starting the axis setting is not required Setting value is ignored Fetch c...

Page 526: ...p command To skip the current positioning operation set 1 in this data item Fetch cycle Operation cycle During positioning operation Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Setting value Step valid flag 0 Invalidates step operations 1 Validates step operations K Setting value Step start informati...

Page 527: ...when an illegal value 601 or higher is entered Fetch cycle 103 ms Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Cd 40 ABS direction in degrees This data item specifies the ABS moving direction carrying out the position control when degree is selected as the unit Fetch cycle At start Setting value Set w...

Page 528: ...ide the range is set to the number of simultaneous starting axes the error Error before simultaneous start error code 1990H 1991H occurs and the operation is not executed Do not set the simultaneous starting axis No 2 and 3 for 2 axis interpolation and do not set the simultaneous starting axis No 3 for 3 axis interpolation The setting value is ignored Fetch cycle At start Setting value Set with a ...

Page 529: ...ddress Refer to the following for the buffer memory address in this area Page 392 Control data Setting value K Speed position switching device selection Speed position switching control 0 Use the external command signal for switching from speed control to position control 1 Use the near point dog signal for switching from speed control to position control 2 Use Cd 46 Speed position switching comma...

Page 530: ... the Cd 101 Torque output setting value is 0 the Pr 17 Torque limit setting value will be its value If a value beside 0 is set in the Cd 101 Torque output setting value the torque generated by the servomotor will be limited by that value The Pr 17 Torque limit setting value of the detailed parameter becomes effective at the PLC ready signal leading edge The Cd 101 Torque output setting value refer...

Page 531: ...ing request Sets same setting individual setting of the forward torque limit value or reverse torque limit value in the torque change function Fetch cycle Operation cycle Set 0 normally when the forward torque limit value and reverse torque limit value are not divided When a value except 1 is set it operates as forward reverse torque limit value same setting Setting value Set with a decimal Buffer...

Page 532: ...d 130 Servo parameter write request Set the write request of servo parameter Set 1 or 2 after setting Cd 131 Parameter No Setting for servo parameters to be changed and Cd 132 Change data Fetch cycle Main cycle 1 1 Cycle of processing executed at free time except for the positioning control It changes by status of axis start Setting value Set with a decimal Set 1 for MR J4 W B MR JE B and MR J3 W ...

Page 533: ...r the buffer memory address in this area Page 392 Control data Setting value H Parameter No setting 01H to 40H Writing mode 0 Write to RAM Writing mode 0 Write to RAM 0 Parameter group 0 PA group 1 PB group 2 PC group 3 PD group 4 PE group 5 PF group 9 Po group A PS group B PL group MR J4 W B MR JE B Setting value H Parameter No setting 01H to 99H 0 Parameter group 0 Group 0 1 Group 1 2 Group 2 3 ...

Page 534: ... low order buffer memory Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Cd 133 Semi Fully closed loop switching request Set the switching of semi closed control and fully closed control Fetch cycle Operation cycle Fully closed loop control servo amplifier only Setting value Set with a decimal Buffer memory address Refer to the followin...

Page 535: ... Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Cd 139 Control mode setting Set the control mode to be changed in the speed torque control Fetch cycle At control mode switching Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control dat...

Page 536: ...ode Set the time for the speed to increase from 0 to Pr 8 Speed limit value 0 to 65535 ms Fetch cycle At control mode switching Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Pr 1 Unit setting mm 10 2 mm min inch 10 3 inch min degree 1 10 3 degree min pulse pulse s Setting range 2000000000 to 2000000000...

Page 537: ...le At torque control mode Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Cd 144 Torque time constant at torque control mode Forward direction Set the time constant at driving during torque control mode Set the time for the torque to increase from 0 to Pr 17 Torque limit setting value 0 to 65535 ms Fetch...

Page 538: ...ontrol 10 multiplier setting for degree axis is valid the setting range is 0 to 2000000000 10 2 degree min Fetch cycle Operation cycle At torque control mode Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Pr 1 Unit setting mm 10 2 mm min inch 10 3 inch min degree 1 10 3 degree min pulse pulse s Setting ...

Page 539: ...continuous operation to torque control mode Set the time for the speed to increase from 0 to Pr 8 Speed limit value 0 to 65535 ms Fetch cycle At control mode switching Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Pr 1 Unit setting mm 10 2 mm min inch 10 3 inch min degree 1 10 3 degree min pulse pulse ...

Page 540: ...ontrol mode Setting value Set with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Cd 151 Torque time constant at continuous operation to torque control mode 1 1 is an abbreviation for Forward direction Set the time constant at driving during continuous operation to torque control mode Set the time for the torque to increase f...

Page 541: ...t with a decimal Buffer memory address Refer to the following for the buffer memory address in this area Page 392 Control data Setting value Details 0 No switching condition Switching is executed at switching request to continuous operation to torque control mode 1 Current feed value pass Switching is executed when Md 20 Current feed value passes the address set in Cd 154 Control mode auto shift p...

Page 542: ...p By turning the axis stop signal ON during positioning operation the positioning operation will be stopped Whether to decelerate stop or suddenly stop can be selected with Pr 39 Stop group 3 sudden stop selection During interpolation control of the positioning operation if the axis stop signal of any axis turns ON all axes in the interpolation control will decelerate and stop Fetch cycle Operatio...

Page 543: ... the buffer memory address in this area Page 392 Control data Cd 183 Execution prohibition flag If the execution prohibition flag is ON when the positioning start signal turns ON positioning control does not start until the execution prohibition flag turns OFF Used with the Pre reading start function Page 266 Pre reading start function Fetch cycle At start Setting value Set with a decimal Buffer m...

Page 544: ...r is turned OFF 1 Parameter only Memory configuration Role Area configuration Parameter area Monitor data area Control data area Positioning data area Block start data area No 1 to 100 No 101 to 600 No 7000 to 7001 No 7002 to 7004 Buffer memory Area that can be directly accessed with a program with a CPU module Internal memory Area that can be set only with the engineering tool Area that can be se...

Page 545: ...ing out block No 7000 to 7004 high level positioning is set and stored PLC CPU memo area Area where condition judgment values required for special positioning etc are set and stored Servo parameter area Area where parameters such as servo parameters required for positioning control on servo amplifier are set and stored Synchronous control area 1 Area where parameters and control data required for ...

Page 546: ...0 100n to 4399 100n 30100 10n to 30109 10n Mark detection control data area 54640 10k to 54649 10k Positioning data area No 1 to 100 Positioning data area 6000 1000n to 6999 1000n 71000 1000n 71001 1000n Possible Positioning data area No 101 to 600 Set with the engineering tool Block start data area No 7000 Block start data area 22000 400n to 22049 400n 22050 400n to 22099 400n Condition data area...

Page 547: ...hronous control area Servo input axis parameter 32800 10n to 32805 10n Possible Servo input axis monitor data 33120 10n to 33127 10n Not possible Synchronous encoder axis parameter 34720 20j to 34735 20j Possible Synchronous encoder axis control data 35040 10j to 35047 10j Possible Synchronous encoder axis monitor data 35200 20j to 35212 20j Not possible Synchronous control system control data 363...

Page 548: ... 1 Power supply ON CPU module reset 2 TO command 4 FROM command CPU module Parameter area c 5 Servo amplifier data read 1 Power supply ON CPU module reset Valid Parameter area c Flash ROM Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Parameter area a Parameter area c Servo parameter area Internal memory nonvolatile 2 Valid upon execution of the TO instruc...

Page 549: ...ifier LED indicates b After that the TO instruction writes the servo parameter from the CPU module to the buffer memory so that the servo parameter in the buffer memory is not transmitted to the servo amplifier even if the PLC READY signal Y0 is turned OFF then ON Change the servo parameter with the above method after setting the servo network composition parameter Pr 100 Connected device inside t...

Page 550: ...meter area a Servo amplifier Engineering tool 6 Flash ROM write Set 1 in Cd 1 with TO command Pr 1 to Pr 7 Pr 11 to Pr 24 Pr 43 to Pr 57 Pr 81 to Pr 83 CPU module Pr 89 to Pr 95 Pr 100 Flash ROM Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Parameter area a Parameter area c Servo parameter area 6 Flash ROM write Internal memory nonvolatile Pr 8 to Pr 10 P...

Page 551: ...ervo parameter in the buffer memory internal memory area are transmitted to the flash ROM internal memory nonvolatile 1 This transmission process is the same as 6 above Do not turn the power OFF or reset the CPU module while writing to the flash ROM If the power is turned OFF or the CPU module is reset to forcibly end the process the data backed up in the flash ROM internal memory nonvolatile will...

Page 552: ... 1 to Pr 7 Pr 11 to Pr 24 Pr 43 to Pr 57 Pr 81 to Pr 83 Pr 89 to Pr 95 Pr 100 CPU module Engineering tool 9 Data write 8 Data read 9 Data write 8 Data read Parameter area b Flash ROM Positioning data area No 1 to 600 Servo parameter area Block start data area No 7000 to 7004 Parameter area a Parameter area c Internal memory nonvolatile Parameter area b Pr 8 to Pr 10 Pr 25 to Pr 42 Parameter area c...

Page 553: ...processes are carried out with the monitor from the engineering tool The monitor data in the buffer memory area is transmitted to the engineering tool via the CPU module 9 Writing data from the engineering tool to buffer memory internal memory The following transmission processes are carried out with the Write to module Write to RD77MS from the engineering tool The parameters positioning data No 1...

Page 554: ...tion selection PA14 is changed by the program or the engineering tool after the servo parameter is transmitted to servo amplifier LED of the servo amplifier is indicated b C or d When Rotation direction selection travel direction selection PA14 is changed transmit the servo parameter to servo amplifier Servo amplifier 10 Servo parameter transfer Parameter area b Positioning data area No 1 to 600 S...

Page 555: ...ransfer the servo parameter setup from the program engineering tool to the servo amplifier The servo series of servo network composition parameter Pr 100 Connected device inside the internal memory nonvolatile set to 0 Initial value 0 The setting value of the parameters that correspond to the servo network composition parameter Pr 100 Connected device inside the internal memory nonvolatile becomes...

Page 556: ...o amplifier The PLC READY signal Y0 is turned ON from OFF B in the following figure Servo parameter to be transferred The data written from the program engineering tool before the PLC READY signal Y0 ON A in the following figure RD77MS power ON Initialization completion of RD77MS A Buffer memory internal memory data setting Axis connection completion Indefinite value 0 Standby 20 Servo amplifier h...

Page 557: ...fier had started B in the following figure Servo parameter to be transferred The data written from the program engineering tool before the PLC READY signal Y0 ON A in the following figure Setting item Setting details Buffer memory address Cd 130 Servo parameter write request Set the write request of servo parameter Set 1 or 2 after setting Cd 131 Parameter No Setting for servo parameters to be cha...

Page 558: ...y programs and devices must be used This will not only complicate the program but will also increase the scan time When rewriting the positioning data during continuous path control or continuous positioning control rewrite the data four positioning data items before the actual execution If the positioning data is not rewritten before the positioning data four items earlier is executed the process...

Page 559: ...on The following figure shows the system configuration used for the program examples 1 R61P 2 R16CPU 3 RD77MS16 X0 to X1F Y0 to Y1F 4 RX40C7 X20 to X3F 5 RX40C7 X40 to X5F 1 2 3 4 5 Servo amplifier MR J4 B Servo motor External device X40 to X5F X20 to X3F RD77MS16 ERR RUN AX1 16 ...

Page 560: ...speed RD77_1 stnAxPrm_D 0 udHomingSpeed_D Axis 1 Home position return speed RD77_1 stnAxPrm_D 0 udMovementAmountPerRotation_D Axis 1 Movement amount per rotation AL RD77_1 stnAxPrm_D 0 udPulsesPerRotation_D Axis 1 Number of pulses per rotation AP Axis monitor data RD77_1 stnAxMntr 0 uM_Code Axis 1 Valid M code RD77_1 stnAxMntr 0 uStatus 3 Axis 1 Home position return request flag RD77_1 stnAxMntr 0...

Page 561: ...ching positioning data No RD77_1 stnAxCtrl1_D 0 udNewSpeed_D Axis 1 New speed value RD77_1 stnAxCtrl1_D 0 udPV_NewSpeed_D Axis 1 Position speed switching control speed change register RD77_1 stnAxCtrl1_D 0 udVP_NewMovementAmount_D Axis 1 Speed position switching control movement amount change register System control data RD77_1 stSysCtrl_D wSSCNET_ControlCommand_D SSCNET control command Axis contr...

Page 562: ... 13 PROGRAMMING 13 2 List of Labels Used Global label that the assignment device is not to be set The unused internal relay and data device are automatically assigned when the assignment device is not set ...

Page 563: ... 6 External command function valid setting program 7 PLC READY signal ON program 8 All axis servo ON program 9 Positioning start number setting program 10 Positioning start program 11 M code OFF program Not required when the M code output function is not used 12 JOG operation setting program Not required when the JOG operation is not used 13 Inching operation setting program Not required when the ...

Page 564: ... Program Examples Parameter setting program The program is not required when the parameter is set by Module Parameter using an engineering tool Setting for basic parameter 1 axis 1 Setting for home position return basic parameter axis 1 Unit degree setting axis 1 program ...

Page 565: ...13 PROGRAMMING 13 4 Positioning Program Examples 563 13 Positioning data setting program The program is not required when the data is set by Positioning Data using an engineering tool ...

Page 566: ...564 13 PROGRAMMING 13 4 Positioning Program Examples Block start data setting program The program is not required when the data is set by Block Start Data using an engineering tool ...

Page 567: ...engineering tool Home position return request OFF program The program is not required when 1 Positioning control is executed is set in Pr 55 Operation setting for incompletion of home position return by Home Position Return Detailed Parameters using an engineering tool External command function valid setting program PLC READY signal ON program All axis servo ON program ...

Page 568: ...hine home position return Fast home position return Positioning with positioning data No 1 Speed position switching operation Positioning data No 2 In the ABS mode new movement amount is not needed to be written Position speed switching operation Positioning data No 3 High level positioning control ...

Page 569: ...ogram Examples 567 13 Fast home position return command and fast home position return command storage OFF Not required when fast home position return is not used Positioning start program M code OFF program JOG operation setting program ...

Page 570: ...568 13 PROGRAMMING 13 4 Positioning Program Examples Inching operation setting program JOG operation inching operation execution program Manual pulse generator operation program ...

Page 571: ...13 PROGRAMMING 13 4 Positioning Program Examples 569 13 Speed change program Override program Acceleration deceleration time change program ...

Page 572: ...570 13 PROGRAMMING 13 4 Positioning Program Examples Torque change program Step operation program Skip program Teaching program ...

Page 573: ...13 PROGRAMMING 13 4 Positioning Program Examples 571 13 Continuous operation interrupt program Target position change program Restart program ...

Page 574: ...572 13 PROGRAMMING 13 4 Positioning Program Examples Parameter initialization program Flash ROM write program ...

Page 575: ...13 PROGRAMMING 13 4 Positioning Program Examples 573 13 Error reset program Axis stop program ...

Page 576: ...status of the LED display so that the range of the trouble cause can be reduced The status of the Simple Motion module can be checked by the RUN LED and ERR LED The following shows the correspondence relation between each LED and status of the Simple Motion module OFF ON Flashing RD77MS status LED display Description Remedy Normal operation RUN ERR AX1 AX2 AX3 AX4 The axes stopped The axes on stan...

Page 577: ...ck item Action Is the power supplied for the power supply module Check that the voltage supplied to the power supply module is within the rated range Is the LED of the power supply module turned on If the LED is not turned on refer to the following MELSEC iQ R CPU Module User s Manual Application Is the power supply capacity sufficient Calculate the total current consumption of the modules connect...

Page 578: ... 14 1 Troubleshooting Procedure Troubleshooting using the module status Error codes warning codes and error history occurred in the Simple Motion module can be checked on the module diagnostics display of an engineering tool ...

Page 579: ...is performed Review the start program Is the cumulative pulse of servo amplifier changed after positioning control is performed Refer to each servo amplifier instruction manual and check that the function to suppress the motor rotation is not working Check item Action Is the value in Rotation direction selection travel direction selection PA14 correct Check that the value in Rotation direction sel...

Page 580: ... error occurs in positioning data or parameters unrelated to interpolation control If the error occurs at the simultaneous start of a positioning operation the axis error storage details will differ depending on whether the error occurred before or after the simultaneous start If the error illegal axis No other axis BUSY etc occurs before the simultaneous start the error Error before simultaneous ...

Page 581: ...t axis turns ON and the input axis error number is stored in Md 326 Synchronous encoder axis error No Item Error code Classification of errors Minor errors 1860H to 18BFH Dedicated instruction errors 18C0H to 18FFH Inter module synchronization errors 1900H to 193FH Positioning control common errors 1940H to 197FH Home position return errors 1980H to 198FH JOG inching and manual pulse generator ope...

Page 582: ...n the Simple Motion module Reset it as necessary Warning code classification Warning storage When an axis warning occurs the warning code corresponding to the warning details is stored in Md 24 Axis warning No When an axis warning occurs in a positioning operation etc axis warning detection Md 31 Status b9 for axis status storage turns ON When a warning occurs on servo amplifier the warning No dis...

Page 583: ...is changed from Error to Standby Axis warning detection Md 31 Status b9 is turned OFF When servo amplifier errors cannot be reset even if error reset is requested 0 is not stored in Cd 5 Axis error reset by Simple Motion module It remains 1 Set 0 in Cd 5 Axis error reset and then set 1 to execute the error reset again by user side For the synchronous encoder axis an error or warning state is cance...

Page 584: ...eeds the torque limit setting value 1 Operation status at warning occurrence The torque change is not carried out Set a new torque value forward new torque value equal to or less than the torque limit setting value 0908H Below bias speed The command speed is below the bias speed at start Operation status at warning occurrence Operates by the bias speed at start Re set the command speed bias speed ...

Page 585: ...urrence The operation continues Execute home position return 093EH SSCNET communication error Data received from servo amplifier is in error Operation status at warning occurrence The operation continues Check the SSCNET cable Check the servomotor and encoder cable Take measures against noise Check whether the rotation direction selection travel direction selection PA14 is set 0 1 or 1 0 in the us...

Page 586: ...ag is turned ON Speed control mode Torque control mode Continuous operation to torque control The speed is controlled with the speed limit value The Md 39 In speed limit flag is not turned ON Review each speed so that setting speeds do not exceed the speed limit value 0992H M code ON signal ON The M code ON signal is turned ON when the positioning data is executed Operation status at warning occur...

Page 587: ...ode 099CH Target position change not possible A target position change request is turned ON during continuous path control Operation status at warning occurrence The target position change is not carried out Do not turn ON the target position change request when an operating pattern continuous path control is used 099DH Target position change not possible A target position change request was given...

Page 588: ...control mode switching request after completing the control mode switching 09EAH Illegal control mode switching Switching to the speed torque control mode is requested to the axis which does not support the control mode switching Switching to the continuous operation to torque control mode is requested to the axis which does not support the control mode switching Operation status at warning occurr...

Page 589: ... is controlled as the maximum value within the setting range The Md 39 In speed limit flag is turned ON Set the speed change value to within the setting range Set Cd 140 Command speed at speed control mode to within the setting range during the speed control mode Set Cd 146 Speed limit value at torque control mode to within the setting range during the torque control mode 0C80H Driver warning Warn...

Page 590: ...ng range during the synchronous control The synchronous parameter Pr 405 Main shaft clutch control setting was set from a setting other than No Clutch to No Clutch during the synchronous control Operation status at warning occurrence Synchronous control continues by the previous main shaft clutch control setting Set a value within the range Do not change the settings other than No Clutch to No Clu...

Page 591: ...ecuted Set 1 or 2 0C45H Outside cam resolution coordinate number range Cd 605 Cam resolution coordinate number is other than 256 512 1024 2048 4096 8192 16384 32768 for the stroke ratio data format cam during the cam data writing operation Cd 605 Cam resolution coordinate number is outside the range of 2 to 16384 for the coordinate data format cam during the cam data writing operation Operation st...

Page 592: ...er Operation status at warning occurrence Cam auto generation is not executed Review the setting value of the cam auto generation data 0C56H Camauto generation data write inhibit Cam auto generation is executed with the cam data write password set Operation status at warning occurrence Cam auto generation is not executed Delete the cam data write password with a programming tool 0C60H Outside cam ...

Page 593: ...8C0H Unit synchronization cycle setting unsupported The setting value of unit synchronization cycle is unsupported Operation status at error occurrence The READY signal X0 is not turned ON With the setting brought into the supported range switch the power on again or reset the CPU module 1900H PLC READY OFF during operation The PLC READY signal Y0 is turned OFF during operation Operation status at...

Page 594: ... signal is turned ON Operation status at error occurrence The READY signal X0 is not turned ON Turn ON the PLC READY signal Y0 with the BUSY signals of all axes OFF 190BH Unsupported servo amplifier connection A servo amplifier driver which is not supported is connected Operation status at error occurrence The target axis is not connected to the servo amplifier Connect supported servo amplifier dr...

Page 595: ...t the parameter and write it to a Flash ROM again 1933H Flash ROM sum check error While data is written to the flash ROM in the synchronous parameter area the power is turned OFF Operation status at error occurrence At start The system does not operate Reset the parameter and write to the flash ROM again 1934H Synchronous restoration data sum check error Synchronous restoration data reading is fai...

Page 596: ...rvo amplifier properly upon the home position return Operation status at error occurrence The home position return does not complete Execute home position return again When the servo parameter Function selection C 4 PC17 is changed to 1 Not need to pass servo motor Z phase after power on transfer the parameter from the Simple Motion module to the servo amplifier and turn the power supply of the se...

Page 597: ...g range The Simultaneous starting axis start data No of the start axis and the partner axis for simultaneous start is 0 or is outside the setting range Operation status at error occurrence At start The system does not operate During operation The operation is terminated Normalize the simultaneous starting own axis start data No and the simultaneous starting axis start data No 1 to 3 1993H Software...

Page 598: ...urrent address is outside the ranges of 0 to 359 99999 where the control unit is set to degree Operation status at error occurrence Current value is not changed Bring the new current value into the setting range 1998H Interpolation while interpolation axis BUSY Interpolation is started during the operation of the interpolation axis Operation status at error occurrence At start The system does not ...

Page 599: ...ps with the setting deceleration stop sudden stop of the detailed parameter 2 sudden stop selection stop group 3 Note that the deceleration stop only occurs during the manual pulse generator operation In the error history check the axis where the error other than this error occurred and remove the error factor Correct the block start data and positioning data 199FH Circular interpolation not possi...

Page 600: ... return request is ON set 1 to the setting value of the operation setting at home position return incomplete 19E4H Outside control mode auto shift switching parameter range When setting the control mode auto shift switching selection the control mode auto shift switching parameter is outside the range Operation status at error occurrence During positioning control The system stops with the setting...

Page 601: ...tarting axis No 1 Da 25 Simultaneously starting axis No 2 and Da 26 Simultaneously starting axis No 3 Operation status at error occurrence The operation is terminated Normalize the block start data 1A0DH Condition data error The axis number is set in Da 24 Simultaneously starting axis No 1 Da 25 Simultaneously starting axis No 2 and Da 26 Simultaneously starting axis No 3 that is larger than the c...

Page 602: ...gnation is not executed During operation The system stops immediately Correct the center point address arc address Correct the end address positioning address Correct the circular interpolation error allowable limit value 1A18H Software stroke limit The setting value of the Da 6 Positioning address movement amount exceeds Pr 12 Software stroke limit upper limit value Operation status at error occu...

Page 603: ...oning data Operation status at error occurrence Current value is not changed Do not designate a current value changing using the positioning data following the continuous path control Do not designate positioning data following continuous path control using a current value changing 1A1DH New current value not possible The operation pattern sets a new current value in the control method using the d...

Page 604: ...ion stop only occurs during the manual pulse generator operation Correct the control method axis to be interpolated or parameter 1A25H Control method setting error The number of control axes or the axis to be interpolated differs from the previous data when continuous positioning control or continuous path control is to be exercised for continuously Operation status at error occurrence At start Th...

Page 605: ... at error occurrence At start The system does not operate During operation The system stops immediately Correct the center point address arc address 1A2FH Center point setting error Center point address is outside the range of 2147483648 to 2147483647 in the circular interpolation with center point designation Operation status at error occurrence At start The system does not operate During operati...

Page 606: ...ccurrence The READY signal X0 is not turned ON With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 1A61H Outside pulse number per rotation range The set value of the basic parameter 1 Number of pulses per rotation is outside the setting range Operation status at error occurrence The READY signal X0 is not turned ON With the setting brought into the setting r...

Page 607: ...gree set so that the Pr 13 Software stroke limit lower limit value is smaller than the Pr 12 Software stroke limit upper limit value and turn the PLC READY signal Y0 from OFF to ON 1AA3H Software stroke limit lower limit In the unit of degree the setting value of the detailed parameter 1 Software stroke limit lower limit value is outside the setting range Operation status at error occurrence The R...

Page 608: ...ion function selection and turn the PLC READY signal Y0 from OFF to ON 1AB1H Acceleration time 1 setting error The setting value of the detailed parameter 2 Acceleration time 1 is outside the setting range Operation status at error occurrence When the PLC READY signal Y0 is turned from OFF to ON The READY signal X0 is not turned ON At start The system does not start During operation The system sto...

Page 609: ...se generator operation With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 1AB7H JOG speed limit value error The setting value of the detailed parameter 2 Pr 31 JOG speed limit value is outside the setting range Operation status at error occurrence When the PLC READY signal Y0 is turned from OFF to ON The READY signal X0 is not turned ON At start The system ...

Page 610: ...Y0 from OFF to ON 1ABEH Acceleration deceleration process selection setting error The setting value of the detailed parameter 2 Acceleration deceleration process selection is outside the setting range Operation status at error occurrence When the PLC READY signal Y0 is turned from OFF to ON The READY signal X0 is not turned ON At start The system does not start During operation The system stops wi...

Page 611: ...group 3 Note that the deceleration stop only occurs during the manual pulse generator operation With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 1AC4H Outside allowance circular interpolation error width The setting value of the detailed parameter 2 Allowance circular interpolation error width is outside the setting range Operation status at error occurre...

Page 612: ... signal selection is outside the setting range Operation status at error occurrence The READY signal X0 is not turned ON With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 1AD0H FLS signal selection error The setting value of the detailed parameter 1 FLS signal selection is outside the setting range Operation status at error occurrence The READY signal X0 i...

Page 613: ...ting range Operation status at error occurrence The READY signal X0 is not turned ON With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 1B0AH Setting for the movement amount after near point dog ON error The setting value of the home position return detailed parameter Setting for the movement amount after near point dog ON is outside the setting range Opera...

Page 614: ...oder input logic selection error The setting value of the common parameter Pr 151 Manual pulse generator Incremental synchronous encoder input logic selection is outside the setting range Operation status at error occurrence The READY signal X0 is not turned ON Correct the setting value and turn the PLC READY signal Y0 from OFF to ON 1BAAH Synchronous encoder via servo amplifier invalid error The ...

Page 615: ...N If the same error is displayed again the hardware fault might occur in the CPU module base unit extension cable or Simple Motion module Please consult your sales representative 2611H Inter module synchronization signal fault Inter module synchronization fault is detected Operation status at error occurrence The READY signal X0 is not turned ON Take measures against noise After the Simple Motion ...

Page 616: ... Use the following values for A Unit setting Operation cycle 0 444 ms 0 888 ms 1 777 ms 3 555 ms When unit is set to pulse 2250 1125 562 5 281 25 When unit is set to degree and Pr 83 Speed control 10 multiplier setting for degree axis is valid 135 67 5 33 75 16 875 When unit setting is other than the above 1350 675 337 5 168 75 ...

Page 617: ...ernal operation overflow occurred because the unit conversion ratio unit conversion Numerator unit conversion Denominator of the input axis is too large Operation status at error occurrence The input axis operation is immediately stopped and a connection becomes invalid Set a smaller unit conversion ratio unit conversion Numerator unit conversion Denominator of the input axis Decrease the input ax...

Page 618: ...ntrol does not start Set within the range 1BE7H Outside main shaft clutch smoothing time constant range Setting value of the synchronous parameter Pr 412 Main shaft clutch smoothing time constant is outside the setting range Operation status at error occurrence Synchronous control does not start Set within the range 1BE8H Composite main shaft gear operation overflow The composite value is overflow...

Page 619: ... Pr 435 Speed change gear smoothing time constant is set other than 0 to 5000 Operation status at error occurrence Synchronous control does not start Set a value within the range of 0 to 5000 1C03H Speed change gear overflow Overflow sign reversion occurred in input values because the speed change ratio of speed change gear is too large Operation status at error occurrence Synchronous control is i...

Page 620: ...han 0 to 3 3 Current value per cycle after auxiliary shaft gear is established when the auxiliary shaft does not exist Operation status at error occurrence Synchronous control does not start Set a value within the range of 0 to 3 Set other than 3 Current value per cycle after auxiliary shaft gear when the auxiliary shaft does not exist 1C27H Outside cam axis current value per cycle Initial setting...

Page 621: ...ing from 1 for identifying modules with the same module name Data type Indicates the classification of a buffer memory area ax Indicates the axis No corresponding to the module label A numerical value from 0 to 15 is used for ax according to the axes from 1 to 16 Label name Unique label name of a module D Indicates whether the module label is for auto refresh or direct access For direct access _D ...

Page 622: ...4 1000n 6985 1000n 6994 1000n 6995 1000n 6012 1000n 6982 1000n 6992 1000n 6011 1000n 6981 1000n 6991 1000n 71010 1000n 71011 1000n 71080 1000n 71081 1000n 71090 1000n 71091 1000n Da 6 Da 8 Da 9 Dwell time JUMP destination positioning data No Positioning data No 1 Positioning identifier Da 1 to Da 4 Positioning address movement amount Command speed 6000 1000n 6006 1000n 6007 1000n Da 7 Arc address ...

Page 623: ...Da 20 to Da 22 0 Da 10 M code Condition data No Number of LOOP to LEND repetitions Number of pitches 1 Da 9 Dwell time JUMP destination positioning data No 2 Positioning option Da 27 to Da 29 3 Da 8 Command speed lower 16 bits 4 Da 8 Command speed upper 16 bits 5 Da 6 Positioning address movement amount lower 16 bits 6 Da 6 Positioning address movement amount upper 16 bits 7 Da 7 Arc address lower...

Page 624: ...6 M The start block No of the buffer memory address to be determined Substitute a number from 0 to 4 P The block start data point of the buffer memory address to be determined Substitute a number from 1 to 50 No 10 Setting item 22190 400n 22198 400n 22199 400n 22192 400n 22193 400n 22194 400n 22195 400n 22196 400n 22197 400n Condition data No No 2 Setting item 22110 400n 22118 400n 22119 400n 2211...

Page 625: ...The start block No of the buffer memory address to be determined Substitute a number from 0 to 4 Q The condition data No of the buffer memory address to be determined Substitute a number from 1 to 10 R Substitute one of the following numbers according to the buffer memory address to be determined Da 15 Condition target 0 Da 16 Condition operator 0 Da 17 Address lower 16 bits 2 Da 17 Address upper ...

Page 626: ...etting To connect VC series set the following parameters n Axis No 1 1 For SSCNET connection 2 For SSCNET H connection Parameters set in VC series are not controlled by the Simple Motion module Setting item Setting value Default value Buffer memory address Pr 100 Connected device 00080102H VC Manufactured by Nikki Denso Co Ltd For linear stage 1 00080107H VC Manufactured by Nikki Denso Co Ltd For ...

Page 627: ... Encoder multiple revolution counter 9 Module power consumption 10 Instantaneous torque 12 Servomotor thermistor temperature 13 Equivalent disturbance torque 14 Overload alarm margin 15 Error excessive alarm margin 16 Settling time 17 Overshoot amount 20 Position feedback 21 Encoder single revolution position 22 Selection droop pulse 23 Module integral power consumption 24 Load side encoder inform...

Page 628: ...ror Home position return zero point not passed error code 197AH occurs because the home position return is executed without passing the motor Z phase Motor reference position signal Control mode Control modes that can be used are shown below Position control mode speed control including position control and position loop Speed control mode speed control not including position loop Torque control m...

Page 629: ...ed by the servo parameter change request becomes invalid and the value written by VC data editing software becomes valid Optional data monitor The following table shows data types that can be set Gain changing command PI PID switching request Semi Fully closed loop switching request Gain changing command and PI PID switching request are available Semi fully closed loop switching request becomes in...

Page 630: ...04103H FR A700 CHT Inverter Control of FR A700 series parameters Parameters set in FR A700 series are not controlled by Simple Motion module Set the parameters by connecting FR A700 series directly with the operation panel on the front of inverter FR DU07 FR PU07 or FR Configurator that is inverter setup software Confirm the specifications of FR A700 series for details of the setting items In the ...

Page 631: ...he PU is disconnected operation will be continued PU stop is disabled at SSCNET connection 2 Reset input is always enabled When the PU is disconnected the inverter trips PU stop is disabled at SSCNET connection 3 A reset can be input only when the protective function is activated When the PU is disconnected the inverter trips PU stop is disabled at SSCNET connection 14 Reset input is always enable...

Page 632: ...ntrol gain Position loop gain Bus voltage Converter output voltage Encoder multiple revolution counter Absolute position encoder multiple revolution counter Position feedback Position feedback Encoder single revolution position Absolute position encoder single revolution position Data type Update delay time of FR A700 series Effective load ratio 12 5 ms Load inertia moment ratio 56 ms or more up t...

Page 633: ...enerative load ratio 3 Peak load factor 4 Load inertia moment ratio 5 Model loop gain 6 Bus voltage 7 Servo motor rotation speed 8 Encoder multiple revolution counter 12 Servomotor thermistor temperature 20 Position feedback 21 Encoder single revolution position 22 Selection droop pulse 24 Load side encoder information 1 25 Load side encoder information 2 Absolute position system Not possible Poss...

Page 634: ...ted error code 19E7H occurs and the operation stops 1 Feedback torque cannot be set in Torque initial value selection b4 to b7 of Pr 90 Operation setting for speed torque control mode If it is set the warning Torque initial value selection invalid warning code 09E5H occurs and the command value immediately after switching is the same as the case of selecting 0 Command torque Driver communication T...

Page 635: ...per servo motor rotation 4194304 pulses The servo amplifier MR JE B is integrated with the main circuit power supply and the control power supply Therefore when the power of the servo amplifier is turned OFF the controller cannot communicate with the axes after the axis whose power is turned OFF Item MR JE B MR J4 W B Pr 100 Connected device 00001200H MR JE _B 00001000H MR J4 _B Operation mode Sta...

Page 636: ...R Simple Motion Module User s Manual Application 2 Refer to the following for details MELSEC iQ R Simple Motion Module User s Manual Advanced Synchronous Control Function Software version Engineering tool Reference Event history Flash ROM writing Ver 03 or later 1 Inter module synchronization start Advanced synchronous control Slippage smoothing method Linear Input value follow up 1 007H or later ...

Page 637: ...Control mode auto shift selection 539 Control mode setting 533 Control mode switching request 533 Control mode switching status 501 Control system repetition counter 489 Creep speed 435 437 Current feed value 478 Current feed value during speed control 418 422 Current speed 481 D Deceleration start flag 492 Deceleration start flag valid 505 Deceleration time 417 425 426 Deceleration time at contin...

Page 638: ...dog ON 487 Movement amount per rotation AL 414 415 N New acceleration time value 513 New current value 513 New deceleration time value 514 New speed value 515 New torque value forward new torque value 519 Number of pulses per rotation AP 414 415 Number of simultaneously starting axes 465 467 Number of write accesses to flash ROM 473 O Operation cycle over flag 476 Operation cycle setting 408 411 4...

Page 639: ...itioning movement amount 482 Speed position switching device selection 527 Speed position switching enable flag 520 SSCNET control command 508 SSCNET control status 474 SSCNET setting 408 411 Start Day hour 471 Start Minute second 471 Start ms 472 Start Year month 471 Start data No 461 Start data pointer being executed 490 Start history pointer 473 Start information 469 Start No 470 Start position...

Page 640: ...ified parts RELEVANT MANUALS TERMS Section 1 1 1 2 1 3 2 1 2 2 3 1 3 2 4 1 4 2 4 3 4 4 5 1 5 2 5 3 5 4 Chapter 6 Section 7 1 8 2 8 4 8 5 8 6 8 8 8 9 9 1 9 2 9 3 9 4 9 5 9 8 9 9 9 10 9 11 9 13 9 14 Chapter 10 Section 11 3 12 1 12 2 12 3 12 4 12 5 12 6 12 7 12 8 12 9 13 1 13 2 13 3 13 4 14 1 14 2 14 3 14 4 14 5 Appendix 2 3 4 This manual confers no industrial property rights of any other kind nor do...

Page 641: ...ave been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided 4 Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced 5 Failure caused by external irresistible forces such as...

Page 642: ...s Japan and other countries Intel Pentium and Celeron are either registered trademarks or trademarks of Intel Corporation in the United States and other countries Ethernet is a registered trademark of Xerox Corp The SD and SDHC logos are either registered trademarks or trademarks of SD 3C LLC All other company names and product names used in this manual are either trademarks or registered trademar...

Page 643: ......

Page 644: ...ithout notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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