Mitsubishi A1SD75P1-S3 User Manual Download Page 247

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MELSEC-A

6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

(2)

Time chart for starting "high-speed zero point return"

OFF

9002

OFF

Positioning start signal

PLC READY signal

AD75 READY signal

Start complete signal

BUSY signal

Error detection signal

Zero point absolute position overflow flag
[ Md.40 Status:b11]

Zero point absolute position under flow flag
[ Md.40 Status:b12]

Cd.11 Positioning start No.

[Y10]

[Y1D]

[X0]

[X1]

[X4]

[XA]

Fig. 6.5 Time chart for starting "high-speed zero point return"

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Summary of Contents for A1SD75P1-S3

Page 1: ...ss underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos...

Page 2: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 3: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 4: ...he end user Design Instructions DANGER Provide a safety circuit outside the programmable controller so that the entire system will operate safely even when an external power supply error or PLC fault...

Page 5: ...dropping Securely connect the external device connection connector and peripheral device connection connector into the module connector until a click is heard Improper connection could lead to a conne...

Page 6: ...hat operation can be stopped immediately if a hazardous state occurs Always make sure to touch the grounded metal to discharge the electricity charged in the body etc before touching the module Failur...

Page 7: ...n 3 5 3 Section 5 2 5 Section 5 3 to Section 5 5 Section 5 6 2 Section 6 5 3 Section 6 5 6 Section 7 1 2 Section 8 2 5 Section 8 2 6 Section 9 1 2 Section 9 1 5 Section 9 2 3 to Section 9 2 5 Section...

Page 8: ...2 10 Section 10 3 2 Section 10 5 1 Section 12 5 1 Section 12 5 2 Section 12 6 1 Section 12 6 2 Section 12 6 8 Japanese Manual Version SH 3608 M This manual confers no industrial property rights or any...

Page 9: ...l 1 2 1 1 1 Features of AD75 1 2 1 1 2 Purpose and applications of positioning control 1 4 1 1 3 Mechanism of positioning control 1 6 1 1 4 Outline design of positioning system 1 8 1 1 5 Communicating...

Page 10: ...cautions 4 5 4 2 Installation 4 7 4 2 1 Precautions for installation 4 7 4 3 Wiring 4 8 4 3 1 Precautions for wiring 4 8 4 3 2 Wiring the external device connection connector pins 4 13 4 3 3 Connectin...

Page 11: ...6 1 Precautions for creating program 6 2 6 2 List of devices used 6 4 6 3 Creating a program 6 8 6 3 1 General configuration of program 6 8 6 3 2 Positioning control operation program 6 9 6 4 Position...

Page 12: ...Data required for main positioning control 9 3 9 1 2 Operation patterns of main positioning controls 9 4 9 1 3 Designating the positioning address 9 14 9 1 4 Confirming the current value 9 15 9 1 5 C...

Page 13: ...2 11 2 JOG operation 11 4 11 2 1 Outline of JOG operation 11 4 11 2 2 JOG operation execution procedure 11 7 11 2 3 Setting the required parameters for JOG operation 11 8 11 2 4 Creating start program...

Page 14: ...3 Execution data backup function 13 5 13 4 LED display function 13 7 13 5 Clock data function 13 11 14 TROUBLESHOOTING 14 1 to 14 36 14 1 Error and warning details 14 2 14 2 List of errors 14 6 14 3...

Page 15: ...er Appendix 21 Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation Appendix 22 Appendix 8 1 Connection example of A1SD75 AD75 and series Differential driv...

Page 16: ...A 13 MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 17: ...the positioning and testing etc using the above software package are explained Enclosed with each software package product IB 66714 13J915 GX Configurator AP Version 1 Operating Manual The methods of...

Page 18: ...l data item A serial No is inserted in the mark Indication of values in this manual The buffer memory address error code and warning code are indicated in a decimal value The X Y device is indicated i...

Page 19: ...RING AND MAINTENANCE OF THE PRODUCT Chapter 5 DATA USED FOR POSITIONING CONTROL SECTION 2 CONTROL DETAILS AND SETTING Chapter 8 ZERO POINT RETURN CONTROL Chapter 9 MAIN POSITIONING CONTROL Chapter 10...

Page 20: ...al program using this program as a reference 6 7 MEMORY CONFIGURATION AND DATA PROCESS The AD75 memory configuration and data process are described Read this as required 7 SECTION 2 CONTROL DETAILS AN...

Page 21: ...t compatible drive unit servo amplifier stepping motor Manual pulse generator Abbreviation for manual pulse generator prepared by user Data link system Abbreviation for MELSECNET II and MELSECNET B da...

Page 22: ...A1SD75P3 S3 AD75P3 S3 External device connection connector 10136 3000VE Sumitomo 3M 1 2 3 Connector cover 10336 56 F0 008 Sumitomo 3M 1 2 3 AD75 1 A1SD75P1 S3 P2 S3 P3 S3 AD75P1 S3 P2 S3 P3 S3 Positio...

Page 23: ...A 20 MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 24: ...To understand the memory configuration and data transmission process Read SECTION 2 for details on each control Chapter 1 PRODUCT OUTLINE 1 1 to 1 18 Chapter 2 SYSTEM CONFIGURATION 2 1 to 2 8 Chapter...

Page 25: ...MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 26: ...ures of AD75 1 2 1 1 2 Purpose and applications of positioning control 1 4 1 1 3 Mechanism of positioning control 1 6 1 1 4 Outline design of positioning system 1 8 1 1 5 Communicating signals between...

Page 27: ...positioning data 2 axis interpolation control and multiple axes using simultaneous start is possible 2 Linear control 3 axis simultaneous execution possible is possible with positioning for each axis...

Page 28: ...ated between the target axes Example When operation is started with the simultaneous start function for axes 1 and 3 No start delay between axes 1 and 3 When interpolation operation is started for axe...

Page 29: ...positioning pattern is changed Palletizer Servo amplifier PLC MELSEC A AD75 Conveyor control Conveyor Servomotor with brakes Position detector Reduction gears Ball screw From AD75 Palletizer Unloader...

Page 30: ...gital switch PLC MELSEC A AD75 Servo amplifier The index table is positioned at a high accuracy using the 1 axis servo Inner surface grinder PLC MELSEC A AD75 a b c d e Servomotor Servo amplifier 1M G...

Page 31: ...h as the start signal stop signal limit signal and control changeover signal to the AD75 AD75 software package AD75 positioning module External signal Manual pulse generator Issues commands by transmi...

Page 32: ...vo amplifier is called the movement amount per pulse This value is the min value for the workpiece to move and is also the electrical positioning precision Speed control The above total No of pulses i...

Page 33: ...oop pulses in the deviation counter are subtracted The deviation counter maintains a set droop amount and the motor continues rotating 3 When the command pulse output from the AD75 is stopped the droo...

Page 34: ...counter droop pulse amount Vs K pulse The movement amount per pulse is indicated with 1 and the No of output pulses movement amount per pulse is the movement amount The command pulse frequency is calc...

Page 35: ...hase External signal External signal Manual pulse generator Speed position changeover signal Stop signal External start signal Peripheral device interface Peripheral device Parameter write read Positi...

Page 36: ...s related to commands such as deviation counter clear signal Signals indicating drive unit state such as drive unit READY signal Pulse train Pulse train output AD75 Manual pulse generator The AD75 and...

Page 37: ...oning data Start block data Condition data Creation of sequence program for operation Refer to Note 2 3 4 5 6 7 8 Writing of setting data Writing of program Monitoring with test operation and debuggin...

Page 38: ...5 software package into the AD75 Chapter 7 AD75 Software Package Operating Manual 6 Using the GPP function software package write the created sequence program into the PLC CPU When not using the AD75...

Page 39: ...Positioning parameters Set the positioning parameters Zero point return parameters Set the zero point return parameters Positioning data Set the positioning data Positioning start information Set the...

Page 40: ...n set with the AD75 software package this does not need to be created PLC CPU Write Write Write GPP function software package Create sequence program for executing main function Create sequence progra...

Page 41: ...JOG opera tion Manual pulse generator operation Forced stop Drive unit READY signal OFF Each axis During error Immediate stop Immediate stop Fatal stop Stop group 1 Hardware stroke limit upper lower l...

Page 42: ...0 200 300 700 100 100 Axis 1 Stop position due to stop cause Designated end point position Start point address Restart Axis 2 Stop position after restart Operation during restart Axis 1 Stop position...

Page 43: ...1 18 MELSEC A 1 PRODUCT OUTLINE MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 44: ...odule and the precautions of configuring the system are explained Prepare the required configuration devices to match the positioning control system 2 1 General image of system 2 2 2 2 List of configu...

Page 45: ...stem Converter RS 232 cable RS 422 cable Conversion cable Only when using A1SD75P S3 Extension cable Positioning module I O module Main base unit 2 CPU module 1 3 REMARK 1 Refer to section 2 3 Applica...

Page 46: ...imit switch External start signal Speed position changeover signal Stop signal AD75TU 4 3 Personal computer Peripheral device 2 Refer to the AD75 Software Package Operating Manual for details AD75 sof...

Page 47: ...Drive unit Prepared by user 8 Manual pulse generator Prepared by user Recommended MR HDP01 Mitsubishi Electric AD75C20SH For MR H AD75C20SJ2 For MR J2 J2S A 9 Connection cable dedicated AD75C20SC For...

Page 48: ...52GCPU A1SHCPU A2SHCPU A1SJHCPU QnACPU Q2ACPU S1 Q2ASCPU S1 Q2ASHCPU S1 Q3ACPU Q4ACPU Q4ARCPU Q2ASCPU S1 Q2ASHCPU S1 QCPU A mode Q02CPU A Q02HCPU A Q06HCPU A 1 Including PLC CPU with link function 2 W...

Page 49: ...2 S3 AD75P3 S3 cannot be mounted into the main base unit of the A73CPU S3 Simultaneous start and interpolation operation with the axis controlled by the A73 S3 CPU A373CPU PCPU is not possible 4 When...

Page 50: ...r An Control method setting error error code 524 will occur if used Precautions for using 3 axis module When configuring a positioning system using a 3 axis module A1SD75P3 S3 AD75P3 S3 the following...

Page 51: ...2 8 MELSEC A 2 SYSTEM CONFIGURATION MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 52: ...nctions 3 4 3 3 2 AD75 main functions 3 6 3 3 3 AD75 auxiliary functions and common functions 3 8 3 3 4 Combination of AD75 main functions and auxiliary functions 3 10 3 4 Specifications of input outp...

Page 53: ...nstallation place Within control panel Overvoltage category 1 II or less Degree of contamination 2 2 or less 1 Indicates to which power distribution section from the public power distribution network...

Page 54: ...degree 0 to 2147483647 pulse 0 to 134217727 pulse Speed command 0 01to 6000000 00 mm min 0 01 to 375000 00 mm min 0 001 to 600000 000 inch min 0 001 to 37500 000 inch min 0 001 to 600000 000 degree mi...

Page 55: ...Refer to Chapter 9 MAIN POSITIONING CONTROL 3 Advanced positioning control This control executes the positioning data stored in the AD75 using the positioning start information The following types of...

Page 56: ...n M code output function Teaching function Command in position function Stepping motor mode function Acceleration deceleration process function Indirectly specification function Main positioning contr...

Page 57: ...Md 29 Current feed value is set to 0 when starting With 2 axis fixed dimension feed control the linear path will be fixed dimension fed with interpolation 9 2 4 9 2 5 Position control 2 axis circular...

Page 58: ...he FOR condition to the start block data set in NEXT until the conditions set in the condition data are established 10 3 8 JOG operation Outputs a pulse to the drive unit while the JOG start signal is...

Page 59: ...on control 12 3 3 Speed limit function If the command speed exceeds Pr 7 Speed limit value during control this function limits the commanded speed to within the Pr 7 Speed limit value setting range 12...

Page 60: ...e function This function makes settings for using a stepping motor 12 6 6 Acceleration deceleration process function This function adjusts the control acceleration deceleration 12 6 7 Other functions...

Page 61: ...mension feed control Continuous path control cannot be set 2 axis fixed dimension feed control interpolation Continuous path control cannot be set Position control 2 axis circular interpolation contro...

Page 62: ...change function Step function Skip function M code output function Teaching function Command in position function Stepping motor mode function Acceleration decelera tion process function Indirectly sp...

Page 63: ...s 1 X8 Axis 2 X9 Axis 3 Positioning complete XA Axis 1 XB Axis 2 XC Axis 3 Error detection XD Axis 1 XE Axis 2 XF Axis 3 M code ON YF Use prohibited X10 Y10 Axis 1 Y11 Axis 2 Y12 Axis 3 Positioning st...

Page 64: ...mplete ON Positioning complete This signal turns ON for the time set in Pr 41 Positioning complete signal output time from the time that each positioning data No positioning control is completed This...

Page 65: ...lete refers to when the output of pulses from AD75 is completed Thus even if the AD75 positioning complete signal turns ON the system may continue to operate 3 If WDT error occurs status of I O signal...

Page 66: ...Axis 3 Forward run JOG start Reverse run JOG start Forward run JOG start Reverse run JOG start Forward run JOG start Reverse run JOG start OFF JOG not started ON JOG started When the JOG start signal...

Page 67: ...pprox 3 5k 0 8ms or less Zero point signal PG0 3 s or less 3 s or less 1ms or more ON OFF 5VDC 5mA 4 5 to 6 1VDC 2 5VDC or more 3 5mA or more 1VDC or less 0 1mA or less Approx 1 5k 1ms or less 1 Pulse...

Page 68: ...lear CLEAR 5 to 24VDC 4 25 to 30VDC 0 1A point 0 4A 10ms or less 1VDC TYP 2 5VDC MAX 0 1mA or less 2ms or less resistance load Pulse rising edge falling edge time in AD75 unit tr tf s Duty When ambien...

Page 69: ...ULSE F Drive unit 20 Pulse sign common Open collector PULSE COM Drive unit 19 Pulse output common Open collector PULSE COM Drive unit 18 Open 17 Open 16 External start signal STRT External device 15 S...

Page 70: ...t signal 5V Zero point signal 24V 24 6 Input the zero point signal for machine zero point return Use the zero point signal of the pulse encoder or the like Use this signal when the zero point return m...

Page 71: ...ADY signal and outputs the zero point return request when not in the READY state When the drive unit is inoperable such as if an error occurs in the drive unit s control power this signal will turn OF...

Page 72: ...PULSER A 27 Manual pulse generator A phase PULSER A 10 PULSER B 28 Manual pulse generator B phase PULSER B 7 Drive unit READY READY 8 In position signal INPS 26 Common COM 6 24 Zero point signal PG0 I...

Page 73: ...COM 2 3 PULSE F 21 CW A phase PULSE PULSE F 4 PULSE R Output CR COM SG PP PG NP NG VDD For MR J2 A 22 Differential driver CCW B phase SIGN PULSE R 2 1 The meaning of O and in the need for wiring colu...

Page 74: ...ce 4 2 4 1 1 Installation wiring and maintenance procedures 4 2 4 1 2 Names of each part 4 3 4 1 3 Handling precautions 4 5 4 2 Installation 4 7 4 2 1 Precautions for installation 4 7 4 3 Wiring 4 8 4...

Page 75: ...les used to connect the AD75 with the drive unit the AD75 with the machine system input each input output signal and the AD75 with the manual pulse generator are manufactured by soldering each signal...

Page 76: ...X1 AX2 AX3 MODE RS 422 AX1 AX2 AX3 1SD75P3 S3 A For AD75P3 S3 For A1SD75P3 S3 D75P3 S3 A 1 17 segment LED 3 Mode switch 4 Module version label 2 Axis display LED External device connection connector 3...

Page 77: ...n Refer to section 13 4 LED display function for details on the displayed information 4 Module version label This label indicates the module s software version and hardware version Example Indicates t...

Page 78: ...nductive section and electronic parts of the module Failure to observe this could lead to module malfunctioning or trouble When not connecting a drive unit or peripheral device always install a cover...

Page 79: ...Installation environment Do not install the module in the following type of environment Where the ambient temperature exceeds the 0 to 55 C range Where the ambient humidity exceeds the 10 to 90 RH ra...

Page 80: ...thin the general specifications environment given in this manual Using the PLC outside the general specification range environment could lead to electric shocks fires malfunctioning product damage or...

Page 81: ...puts 6 Do not pull the cable when removing the cable from the AD75 or drive unit Hold and pull the connector connected to the AD75 or drive unit If the cable connected to the AD75 or drive unit is pul...

Page 82: ...r grounding wire in the shortest path Ground to the panel of the AD75 securely Strip the sheath of the shielded cable Remove the shielding wires from the shielded cable and solder them to the groundin...

Page 83: ...n using cable of more than 2m to within 10m for wiring Ground the shield part of the external device connection cable with a cable clamp Ground the shield part at the point nearest to the external dev...

Page 84: ...sing AD75CK Shielded cable Shielding wires Screw for mounting to control cabinet M4 screw Grounding terminal Grounding terminal installation screw M4x8 screw AD75CK can ground up to four shielded cabl...

Page 85: ...echniques related to connection with the servo amplifier also refer to the instruction manual of the servo amplifier 13 If compliance with the EMC directive is not required the influence of external n...

Page 86: ...the connector section Disassemble the connector section and remove the connector Assemble the connector section Solder the wire onto the connector pin 1 Disassembling the connector section a Loosen an...

Page 87: ...h and then tighten screw B Screw B may be removed once and then tightened after sandwiching the cable Take care not to lose the screw and nut Cable fixture Connector Pass the cable through B b Solder...

Page 88: ...MELSEC A 4 INSTALLATION WIRING AND MAINTENANCE OF THE PRODUCT c After connection the state will be as shown below Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisant...

Page 89: ...topper to protect the signal wire connection section when the cable is pulled on If the cable is not sufficiently tightened with the cable fixture wind insulation tape around the cable so that it can...

Page 90: ...t shut off shut off all phases b Confirm the module connector connection state and connector shape and match the engagement orientation c Press the connector straight into the module until a click is...

Page 91: ...and servomotor correctly connected Are the AD75 and external device input output signal correctly connected With this connection confirmation whether the direction that the AD75 recognizes as forward...

Page 92: ...5 is mounted on the remote station the mounted station and master station and the power for the drive unit and motor connected to the AD75 3 The AD75 OS type same displays as Step 4 will appear on the...

Page 93: ...rol V P Waiting BUSY The execution is waiting due to the condition designation etc Error occurrence E The error code appears in Refer to Chapter 14 for details on the errors POINT When the PLC READY s...

Page 94: ...rget input output signal name Remarks SVON Drive unit READY signal Z ON Zero point signal ULMT Upper limit signal LLMT Lower limit signal V P Speed position changeover signal DOG Near point dog signal...

Page 95: ...not operating correctly use the operation monitors as necessary 3 As another display on the above 17 segment LED if a watch dog timer error occurs in the AD75 FALT will appear If a watch dog timer err...

Page 96: ...the screws Failure to turn all phases OFF could lead to electric shocks CAUTION Never disassemble or modify the module Failure to observe this could lead to trouble malfunctioning injuries or fires Sw...

Page 97: ...4 24 MELSEC A 4 INSTALLATION WIRING AND MAINTENANCE OF THE PRODUCT MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 98: ...5 4 5 1 3 Setting items for zero point return parameters 5 6 5 1 4 Setting items for positioning data 5 7 5 1 5 Setting items for start block data 5 9 5 1 6 Setting items for condition data 5 10 5 1 7...

Page 99: ...a for main positioning control Positioning start information Start block data Set the start block data for advanced positioning control Condition data Set the condition data for advanced positioning c...

Page 100: ...ck data in the module and reads writes the positioning data Axis control data Makes settings related to the operation and controls the speed change during operation and stops restarts the operation to...

Page 101: ...rection setting Pr 7 Speed limit value 12 4 1 Pr 8 Acceleration time 0 Pr 9 Deceleration time 0 12 6 7 Pr 10 Bias speed at start Basic para meters 2 Pr 11 Stepping motor mode selection 12 6 6 Pr 12 Ba...

Page 102: ...oup 1 sudden stop selection Pr 39 Stop group 2 sudden stop selection Pr 40 Stop group 3 sudden stop selection Pr 41 Positioning complete signal output time Pr 42 Allowable circular interpolation error...

Page 103: ...int return dwell time R R R R R Pr 52 Setting for the movement amount after near point dog ON Pr 53 Zero point return acceleration time selection Pr 54 Zero point return deceleration time selection Pr...

Page 104: ...control Da 1 Operation pattern Continuous path control Da 2 Control method Linear 1 Linear 2 Fixed dimension feed 1 Fixed dimension feed 2 Circular interpolation Circular right Circular left Forward...

Page 105: ...g the positioning data Da 1 to Da 9 are checked with the following timing 1 Startup of a positioning operation 2 When the test mode using the AD75 software package Artisan Technology Group Quality Ins...

Page 106: ...tart block data setting items Block start Normal start Condition start Wait start Simulta neous start Stop Repeated start FOR loop Repeated start FOR condition Da 10 Shape Da 11 Start data No Da 12 Sp...

Page 107: ...ondition data Other than JUMP com mand JUMP com mand Block start Normal start Condition start Wait start Simul taneous start Stop Repeat ed start FOR loop Repeat ed start FOR condi tion Da 14 Conditio...

Page 108: ...the axis operation state Monitors the data related to the operating axis such as the current position and speed Axis monitor data Md 29 to Md 56 The axis monitor data is updated every 56 8ms Note that...

Page 109: ...t error Axis in which the error occurred Md 19 Axis in which the error occurred Axis error No Md 20 Axis error No Hour minute Md 21 Axis error occurrence time Hour minute Axis error occurrence Second...

Page 110: ...d change processing flag Monitor the start information point currently being executed Md 51 Start data pointer being executed Monitor the positioning data No currently being executed Md 54 Positioning...

Page 111: ...orresponding item Set the item hour Cd 1 Clock data setting hour Set the item minute second Cd 2 Clock data setting minute second Write the data set in Cd 1 and Cd 2 into the AD75 Cd 3 Clock data writ...

Page 112: ...g data No in the OS memory into the buffer memory The positioning data in the OS memory designated in and is stored in the buffer memory Read completed Write completed Reading the positioning data The...

Page 113: ...27 Step mode Issue instruction to continuous operation or restart from stopped step Cd 28 Step start information Controlling the speed Control details Corresponding item Set new speed when changing s...

Page 114: ...ngeover control Cd 21 Speed position changeover control movement amount change register Set manual pulse generator operation validity Cd 22 Manual pulse generator enable flag Set scale per pulse of No...

Page 115: ...range is set Table 1 on right page 20000 2 152 302 1 1 fold 1 10 10 fold 10 100 100 fold 100 Movement amount per pulse Pr 4 Unit magnification Am 1000 1000 fold 1000 1 3 153 303 Pr 1 Unit setting This...

Page 116: ...es less than 1 also use the electronic gear function of the drive unit and make setting so that the movement amount per pulse is 1 or greater Pr 2 No of pulses per rotation Ap Set the No of pulses req...

Page 117: ...on Am Note The unit magnification Am is a value of 1 10 100 or 1000 If the PB 1 n value exceeds 6553 5 m adjust with the unit magnification so that the movement amount per rotation Al does not exceed...

Page 118: ...ive logic is changed with Pr 24 Logic selection for pulse output to the drive unit An example of the pulse output mode for positive logic is shown below 1 PULSE SIGN mode Positive logic Negative logic...

Page 119: ...ward rotation when one command pulse is output When B phase is 90 behind A phase When B phase is 90 ahead A phase Forward run Forward rotation when one command pulse is output Reverse run Forward rota...

Page 120: ...W is moving toward the address decrement direction defined in the system the address decrement direction set 1 in Pr 6 and change the rotative direction 3 Carry out forward run JOG operation again and...

Page 121: ...10 Bias speed at start The setting value range differs depending on the Pr 11 Stepping motor mode selection or Pr 1 Unit setting Here the value within the Table 1 range is set Table 1 on right page 0...

Page 122: ...tandard mode 3 pulse 1 to 1000000 pulse s 1 to 1000000 pulse s 0 mm 0 01 to 375000 00 mm min 1 to 37500000 10 2 mm min 1 inch 0 001 to 37500 000 inch min 1 to 37500000 10 3 inch min 2 degree 0 001 to...

Page 123: ...l of axis 1 and axis 2 Note Refer to the section 12 6 6 Stepping motor mode function for the limits that apply when the stepping motor mode is selected Control Applicable motor Pr 11 setting value for...

Page 124: ...5 27 MELSEC A 5 DATA USED FOR POSITIONING CONTROL MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 125: ...n right page 2147483648 18 19 168 169 318 319 0 Apply software stroke limit on current feed value 0 Pr 15 Software stroke limit selection 1 Apply software stroke limit on machine feed value 1 0 20 170...

Page 126: ...th sequence 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 99999 degree 0 to...

Page 127: ...ther to validate the software stroke limit during JOG operation and manual pulse generator operation Setting value setting range Setting value buffer memory address Item Value set with peripheral devi...

Page 128: ...he buffer memory Md 45 Torque limit stored value so transmit that Md 45 Torque limit stored value to the D A conversion module with the sequence program Table 1 Pr 11 setting value Pr 1 setting value...

Page 129: ...the end of positioning and the M code ON signal turns ON Positioning complete signal X7 X8 X9 m1 m2 indicate the set M codes 01 continuous 00 end BUSY signal X4 X5 X6 M code ON signal X8D X8E X8F Cd 1...

Page 130: ...Use manual pulse generator 3 3 Axis 1 1 Axis 2 2 Axis 3 3 29 179 329 0 Positive logic 0 Pr 24 Logic selection for pulse output to the drive unit 1 Negative logic 1 0 30 180 330 0 1 word type 1 to 655...

Page 131: ...s When reference axis speed is designated X axis Y axis Calculated by AD75 Note For a positioning operation that involves the circular interpolation specify the composite speed always Pr 22 Current fe...

Page 132: ...ogic of the drive unit changes depending on the drive unit If not set correctly the drive unit will not operate correctly For the pulse output logic of the AD75 refer to section 3 5 Specifications of...

Page 133: ...1 Unit setting Here the value within the Table 2 range is set Table 2 on right page 20000 48 49 198 199 348 349 0 Pr 8 Acceleration time 0 0 1 Pr 26 Acceleration time 1 1 2 Pr 27 Acceleration time 2...

Page 134: ...000 10 3 degree min 1 Stepping motor mode 3 pulse 1 to 62500 pulse s 1 to 62500 pulse s Pr 32 JOG speed limit value Set the maximum speed for JOG operation Note Set the JOG speed limit value to less t...

Page 135: ...204 205 354 355 Pr 38 Stop group 1 sudden stop selection 0 Normal deceleration stop 0 56 206 356 Pr 39 Stop group 2 sudden stop selection 57 207 357 Pr 40 Stop group 3 sudden stop selection 1 Sudden s...

Page 136: ...V t V t b a 0 7 b a sine curve S curve ratio B A 100 Example Positioning speed Positioning speed When S curve ratio is 100 When S curve ratio is 70 Table 1 Pr 25 setting value Value set with periphera...

Page 137: ...tion starts following the sudden stop deceleration time 3 Positioning stop When a sudden stop cause does not occur the decelera tion starts toward the stop position following the decel eration time Ac...

Page 138: ...nal OFF Stop group 3 External stop signal Stop signal from PLC Error occurrence excluding errors in stop group 1 and 2 Stop caused by an ON OFF change at the near point dog during count method machine...

Page 139: ...361 0 External positioning start 0 1 External speed change request 1 Pr 43 External start function selection 2 Skip request 2 0 62 212 362 0 Positioning address pass mode 0 Pr 44 Near pass mode select...

Page 140: ...ut to the set end point address while compensating the error with spiral interpolation The allowable circular interpolation error width is set in the reference axis buffer memory addresses For circula...

Page 141: ...the external start signal Pr 44 Near pass mode selection for path control Set the method to carry out control between positioning data items during continuous path control of the AD75 interpolation c...

Page 142: ...stop method 3 After starting with the creep speed stop with the stopper and complete the machine zero point return with the zero point signal 4 Count method 1 After decelerating at the near point dog...

Page 143: ...peed and move with the creep speed At this time setting for the Pr 56 Zero point return torque limit value is required If the torque is not limited the servomotor could be damaged in step 4 4 The axis...

Page 144: ...t zero point after moving the movement amount after near point dog ON Movement amount after near point dog ON Md 44 The near point dog must turn OFF at a sufficient distance away from the zero point p...

Page 145: ...4 225 374 375 Pr 46 Zero point return direction Set the direction to start movement when starting machine zero point return 0 Positive direction address increment direction Moves in the direction that...

Page 146: ...600000 000 inch min 1 to 600000000 10 3 inch min 2 degree 0 001 to 600000 000 degree min 1 to 600000000 10 3 degree min 0 Standard mode 3 pulse 1 to 1000000 pulse s 1 to 1000000 pulse s 0 mm 0 01 to 3...

Page 147: ...eturn with limit switch 1 0 78 228 378 Pr 49 Creep speed Set the creep speed after near point dog ON the low speed just before stopping after decelerating from the zero point return speed The creep sp...

Page 148: ...turns OFF before the near point dog signal ON is detected 2 the axis will decelerate to a stop and then will move in the direction opposite the designated zero point return direction 3 If it is detect...

Page 149: ...ime 1 1 2 Pr 30 Deceleration time 2 2 Pr 54 Zero point return deceleration time selection 3 Pr 31 Deceleration time 3 3 0 83 233 383 Pr 51 Zero point return dwell time When stopper stop 1 is set for P...

Page 150: ...t to 300ms Pr 52 Setting for the movement amount after near point dog ON is calculated as shown below Machine zero point return operation Speed limit value Pr 7 Zero point return speed Pr 48 Decelerat...

Page 151: ...65535 ms 0 to 65535 ms 0 to 32767 Set as a decimal 32768 to 65535 Convert into hexadecimal and set 0 89 239 389 Pr 55 Zero point shift amount Set the amount to shift move from the position stopped at...

Page 152: ...727 pulse Pr 56 Zero point return torque limit value Set the value to limit the servomotor torque after reaching the creep speed during machine zero point return Refer to section 12 4 2 Torque limit f...

Page 153: ...24 2325 2326 2327 2328 2329 3280 3281 3282 3284 3285 3286 3287 3288 3289 3290 3291 3292 3294 3295 3296 3297 3298 3299 b15 b12 b0 b4 b8 0 0 Da 1 Da 2 Da 3 Da 4 Axis 2 Axis 1 Positioning data No 1 Posit...

Page 154: ...ory address Positioning identifier 100 99 The positioning data setting items Da 1 to Da 9 are explained in the following section The buffer memory addresses for the axis 1 to axis 3 positioning data N...

Page 155: ...rpolation control with center point designation ABS CCW 0AH INC Circular right Circular interpolation control with center point designation INC CW 0BH INC Circular left Circular interpolation control...

Page 156: ...a Da 2 Control method Set the control method for carrying out positioning control Note When JUMP command is set for the control method the Da 8 Dwell time and Da 9 M code setting details will differ R...

Page 157: ...ABS system Current value charge The setting value positioning address for the ABS system and current value change is set with an absolute address address from zero point 1000 3000 1000 Stop position p...

Page 158: ...et the address 2147483648 to 2147483647 ABS Circular interpolation 07H ABS Circular right 09H ABS Circular left 0AH Circular interpolation control is not possible when using the stepping motor mode Se...

Page 159: ...ce pulse Value set with sequence program 1 pulse ABS Linear 1 01H ABS Linear 2 04H Current value change 11H Set the address 2147483648 to 2147483647 2 134217728 to 134217727 3 Set the address 21474836...

Page 160: ...control 0EH JUMP command 20H Setting not required Setting not required Set the address 21474 83648 to 21474 83647 Set the address 2147483648 to 2147483647 ABS Circular interpolation 07H ABS Circular...

Page 161: ...ion set the auxiliary point passing point address as the arc address 2 When carrying out circular interpolation with center point designation set the center point address of the arc as the arc address...

Page 162: ...d in the sequence program so input the setting value as an integer The value will be converted into the specified value within the system 2 Setting range for when Pr 11 Stepping motor mode selection i...

Page 163: ...ABS Linear 2 04H INC Linear 1 02H INC Linear 2 05H Fixed dimension feed 1 03H Fixed dimension feed 2 06H Forward run Speed control 0DH Reverse run Speed control 0EH Forward run speed position 0FH Reve...

Page 164: ...1H ABS Linear 2 04H INC Linear 1 02H INC Linear 2 05H Fixed dimension feed 1 03H Fixed dimension feed 2 06H Forward run Speed control 0DH Reverse run Speed control 0EH Forward run speed position 0FH R...

Page 165: ...ill be carried out at the speed limit value 2 If 1 is set for the command speed the current speed speed set for previous positioning data No will be used for positioning control Use the current speed...

Page 166: ...min 2 degree 0 001 to 37500 000 degree min 1 to 37500000 10 3 degree min 1 Stepping motor mode 3 pulse 1 to 62500 pulse s 1 to 62500 pulse s Table 2 Da 2 setting value Setting item Value set with peri...

Page 167: ...attern in 00 Positioning complete Set the time from when the positioning ends to when the positioning complete signal turns ON as the dwell time Positioning control Positioning complete signal OFF 2 W...

Page 168: ...left One start block data item is configured of the items shown in the bold box 1st point 2nd point 50th point Setting item Buffer memory address Setting item Buffer memory ddress Setting item Buffer...

Page 169: ...1 Positioning starting point No This number between 7000 and 7010 is called the block No With the AD75 the start block data 50 points and condition data 10 items can be set for each block No Data corr...

Page 170: ...258H b15 b0 b3 b7 b11 0 0 0 Start data No Shape 0000H 4300 4550 4800 0 Normal start 00H 1 Condition start 01H 2 Wait start 02H 3 Simultaneous start 03H 4 Stop 04H 5 FOR loop 05H 6 FOR condition 06H Da...

Page 171: ...established ignore that start block data and then execute the next point s start block data 02H Wait start Carry out the condition judgment set in condition data for the designated positioning data an...

Page 172: ...t the condition data No No of condition data set to perform condition judgment For details of the condition data refer to Section 5 5 Stop Not used There is no need to set Repeated start FOR loop 0 to...

Page 173: ...5 76 MELSEC A 5 DATA USED FOR POSITIONING CONTROL MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 174: ...Open Up to 10 condition data items can be set stored for each axis in the buffer memory address shown on the left One condition data item is configured of the items shown in the bold box Address Da 1...

Page 175: ...lock data for the nth point block between 1 and 50 in the Cd 31 Positioning starting point No This number between 7000 and 7010 is called the block No With the AD75 the start block data 50 points and...

Page 176: ...designation 0BH 0C Axis 3 designation 0CH 0D Axis 1 and axis 3 designation 0DH Condition identifier Da 15 Condition operator 0E Axis 2 and axis 3 designation 0EH b15 b0 b7 b8 Condition operator Condit...

Page 177: ...H DEV OFF When the input output signal ON OFF is set as the condition set ON or OFF 01H P1 03H Buffer memory 1 word 04H Buffer memory 2 word 06H P1 P2 Set how to judge the conditions for the value tar...

Page 178: ...oning data No 1 to 600 01H to 258H Da 18 Parameter 2 Set the parameters as required for the Da 15 Condition operator Da 15 Condition operator Setting value Setting details 01H P1 04H P1 Not used There...

Page 179: ...e system in the AD75 is stored This is used to record the history occurrence time Note To utilize the clock data the correct time must be set from the PLC CPU with Cd 1 to Cd 3 If this setting is not...

Page 180: ...sponding OS name 452 453 454 455 Monitoring is carried out with a hexadecimal Example When OS version is V00M 0 3 456 0 4 D M V 5 457 6 3 0 0 V00M Converted with ASCII code Monitor value OS version Co...

Page 181: ...d Software clock data created by system in AD75 Monitoring is carried out with a hexadecimal 0 b15 b12 0 0 1 0 1 0 1 0 0 1 1 0 0 0 0 b8 b4 b0 5 3 0 1 0 to 2 0 to 9 0 to 5 00 to 23 00 to 59 0 to 9 5 1...

Page 182: ...nter No where the latest start history is stored is stored Item Buffer memory address A pointer No is assigned to each block of buffer memory that configures one start history Example Pointer No 0 Buf...

Page 183: ...ored Software clock data created by system in AD75 Monitoring is carried out with a hexadecimal 0 b15 b12 0 0 1 0 1 0 1 0 0 1 1 0 0 0 0 b8 b4 b0 5 3 0 1 0 to 2 0 to 3 0 to 5 00 to 23 00 to 59 0 to 9 5...

Page 184: ...20 621 622 14 613 614 615 616 617 13 608 609 610 611 612 12 603 604 605 606 607 11 598 599 600 601 602 10 593 594 595 596 597 9 588 589 590 591 592 8 583 584 585 586 587 7 578 579 580 581 582 6 573 57...

Page 185: ...b15 b12 0 0 1 0 1 0 1 0 0 1 1 0 0 0 0 b8 b4 b0 5 3 0 1 0 to 2 0 to 9 0 to 5 00 to 23 00 to 59 0 to 9 5 1 3 0 Buffer memory stored with BCD code Monitor value hour minute Md 22 Axis error occurrence ti...

Page 186: ...Axis error No Md 21 Axis error occurrence time Hour minute Md 21 Axis error occurrence time Second 100ms The pointer No following the pointer No where the latest error history is stored is stored Erro...

Page 187: ...l 0 b15 b12 0 0 1 0 1 0 1 0 0 1 1 0 0 0 0 b8 b4 b0 5 3 0 1 0 to 2 0 to 9 0 to 5 00 to 23 00 to 59 0 to 9 5 1 3 0 Buffer memory stored with BCD code Monitor value hour minute Md 27 Axis warning occurre...

Page 188: ...s warning No Md 26 Axis warning occurrence time Hour minute Pointer No Warning history Md 27 Axis warning occurrence time Second 100ms The pointer No following the pointer No where the latest warning...

Page 189: ...mined with machine Update timing 56 8ms Md 31 Feedrate The output speed commanded by the AD75 is stored May be different from the actual motor speed during operation During interpolation operation the...

Page 190: ...to decimal 1 mm 5 inch 5 degree 0 pulse n Unit n 2 mm min 3 inch min 3 degree min 0 pulse s Unit Unit conversion table Unit conversion Actual value High order buffer memory Low order buffer memory R...

Page 191: ...Axis operation status The axis operation state is stored Md 36 Current speed Da 7 Command speed of positioning data currently execution is stored When 1 is set for Da 7 Command speed The command spee...

Page 192: ...g In JOG operation In manual pulse generator operation Analyzing Special start waiting In zero point return In position control In speed control In speed control for speed position control In position...

Page 193: ...position control to end after changing to position control with the speed position changeover control is stored Md 39 External input output signal The ON OFF state of the external input output signal...

Page 194: ...version Actual value High order buffer memory Low order buffer memory R 10n Unit conversion table Md 38 Axis feedrate Md 37 Md 37 Speed position changeover control positioning amount Md 38 0000H 814 8...

Page 195: ...ontrolling speed of speed position changeover control This signal turns OFF during axis movement in each operation Zero point return request flag This signal turns ON when the drive unit READY signal...

Page 196: ...ag Speed position changeover latch flag Command in position flag Zero point return request flag Zero point return complete flag Axis warning detection Speed change 0 flag Zero point absolute position...

Page 197: ...e machine zero point return is completed The zero point absolute position value is changed when the current value charge function is executed Md 44 Movement amount after near point dog ON 0 is stored...

Page 198: ...821 Sorting Decimal integer value Converted from hexadecimal to decimal 1 mm 5 inch 5 degree 0 pulse n Unit n 2 mm min 3 inch min 3 degree min 0 pulse s Unit Unit conversion table Unit conversion Actu...

Page 199: ...ta No indicated by the start data pointer currently being executed is stored Md 49 In speed limit flag If the speed exceeds the Pr 7 Speed limit value due to a speed change or override the speed limit...

Page 200: ...or value setting value Md 46 00 04 07 01 02 03 06 05 1 to 10 0 to 255 Stored contents Storage value None None Condition data No No of repetitions 0 828 928 1028 Monitoring is carried out with a decima...

Page 201: ...etition loop The loop ends when 0 is reached 0 is stored for an infinite loop Md 54 Positioning data No being executed The positioning data No currently being executed is stored For an indirectly spec...

Page 202: ...al display Storage value 1 to 600 Monitor value 0 835 935 1035 Monitoring is carried out with a decimal display Storage value 0 7000 to 7010 Monitor value 0 836 936 1036 Each storage item is stored in...

Page 203: ...s set after the AD75 power is turned ON Cd 3 Clock data writing After setting the clock data in Cd 1 and Cd 2 when setting the data in Md 5 and Md 6 as the AD75 clock data set 1 When the setting is co...

Page 204: ...o 9 0 Setting value Buffer memory 0000 1101 Set with a hexadecimal 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 b15 b0 b4 b8 b12 0 Setting value Buffer memory Clock data wirte 1 Clock data write request Not...

Page 205: ...sitioning address and arc address of the positioning data Positioning data field Set how to write the data other than the positioning address and arc address in the positioning data Cd 7 Read write re...

Page 206: ...Setting value Buffer memory Not set Arc address Positioning address Target of transfer 0 Positioning data I F for reading or writing is transferred 1 The current feed value is transferred Not set Add...

Page 207: ...data are returned to the default values Note After completion of the setting data initialization processing reset the PLC CPU or power on the PLC again Initialized setting data Parameter Pr 1 to Pr 58...

Page 208: ...ime Not used Command speed Positioning address to Da 1 Da 4 Da 9 Da 8 Da 7 Da 5 Da 6 0 1108 to 1137 Set with a decimal K 1 Flash ROM write request Setting value After writing is completed 0 is stored...

Page 209: ...xis operation state is in error occurrence the error is cleared and the AD75 is returned to the waiting state Cd 13 Restart command When positioning is stopped for any reason when axis operation state...

Page 210: ...ompleted 0 is stored by the OS Indicates that the axis error reset is completed Axis 1 Axis error is reset Set by sequence program 0 1151 1201 1251 Set with a decimal K 1 Restart command Setting value...

Page 211: ...operation will stop when 0 is set The value is set within the following range Pr 1 Pr 11 mm 10 2 mm min inch 10 3 inch min degree 10 3 degree min pulse pulse s Standard mode 0 to 600000000 0 to 600000...

Page 212: ...e decimal When setting 10000 00mm min in the New speed value set 1000000 in the buffer memory Cd 16 Cd 15 New current value Cd 16 New speed value 0 1156 1157 1206 1207 1256 1257 Set with a decimal K 1...

Page 213: ...urce To change the movement amount for the position control during speed control of speed position changeover control set the movement amount after changing to position control Make the setting during...

Page 214: ...n if the speed position changeover signal turns ON the control does not change from speed to position control 1 When the speed position changeover signal turns ON the control changes from speed to pos...

Page 215: ...nual pulse generator When setting value is 0 or less Processed as 1 When setting value is 101 or more Processed as 100 Cd 24 Zero point return request flag OFF request When the zero point return reque...

Page 216: ...Zero point return request flag OFF request Setting value After the zero point return request turns OFF 0 is stored by the OS Indicates that the zero point return request flag OFF request is completed...

Page 217: ...et 1 to skip the current positioning Cd 30 New torque value To change the Md 45 Torque limit stored value set the new estimated torque limit stored value Set the value within the Pr 18 Torque limit se...

Page 218: ...continue 2 Restart 0 1174 1224 1274 Set with a decimal K 1 Skip command Setting value After the skip request is accepted 0 is stored by the OS 1 Decelerate to a stop and then carry out the next positi...

Page 219: ...setting range unit 1 word type 0 to 65535 mm 2 word type 0 to 8388608 ms Cd 33 New acceleration time value When changing the deceleration time during speed change set the new deceleration time Pr 25 s...

Page 220: ...program 0 1181 1231 1281 0 1184 1185 1234 1235 1284 1285 Set with a decimal Setting value To set 60000ms for the New acceleration time value set 60000 in the buffer memory Example Cd 33 Cd 33 New acc...

Page 221: ...5 124 MELSEC A 5 DATA USED FOR POSITIONING CONTROL MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 222: ...s the program configuration of general control and the latter half explains the program details Create the required program while referring to the various control details explained in SECTION 2 and to...

Page 223: ...e the data four positioning data items before the actual execution If the positioning data is not rewritten before the positioning data four items earlier is executed the process will be carried out a...

Page 224: ...g the speed with the AD75 5 Process during overrun Overrun is prevented with the AD75 s upper and lower stroke limit However this applies only when the AD75 is operating correctly In terms of the enti...

Page 225: ...turn X24 High speed zero point return command Commanding high speed zero point return X25 Positioning start command Commanding positioning start X26 Speed position changeover operation command Command...

Page 226: ...ero point return M6 High speed zero point return command storage High speed zero point return command held M7 Positioning start command pulse Positioning start commanded M8 Positioning start command s...

Page 227: ...ent amount low order 16 bits D9 Movement amount high order 16 bits Cd 21 Speed position changeover control movement amount change register D10 JOG operation speed low order 16 bits D11 JOG operation s...

Page 228: ...a 1 Operation pattern Da 2 Control method Da 3 Acceleration time No D56 Positioning identifier Da 4 Deceleration time No D57 M code Da 9 M code D58 Dwell time Da 8 Dwell time D59 Dummy D60 Command spe...

Page 229: ...n program is shown below Parameter and data are Set using the AD75 software package Set using the sequence program Initialization program Parameter and data setting program Start details setting progr...

Page 230: ...program No 4 No 5 External start function valid setting program No 7 PLC READY signal Y1D ON program Refer to section 6 5 1 Refer to 6 5 1 Required Set using the AD75 software package Set using sequen...

Page 231: ...o point return control Main positioning control Advanced positioning control Program required to carry out manual control Refer to section 6 5 2 Refer to section 6 5 3 Refer to section 11 2 4 Refer to...

Page 232: ...ogram Parameter initialization program Restart program Continuous operation interrupt program Refer to section 12 5 1 Refer to section 12 5 3 Refer to section 12 5 4 Refer to section 12 6 1 Refer to s...

Page 233: ...tting of No of pulses per rotation Setting of movement amount per rotation Setting of unit magnification 1 fold Setting of pulse output mode cw ccw Setting of rotation direction forward rotation for i...

Page 234: ...ta No 15 Setting of start block data to AD75 Setting of special start command to normal start Setting of normal start Setting of normal start Setting of normal start Setting of normal start Setting of...

Page 235: ...chine zero point return 9001 write AD75 status information read Zero point return request flag ON OFF extraction High speed zero point return start enable High speed zero point return 9002 write High...

Page 236: ...ero point return command and high speed zero point return command storage OFF Not required when high speed zero point return is not used High speed zero point return command OFF High speed zero point...

Page 237: ...12 Manual pulse generator operation program Manual pulse generator operation command pulse Manual pulse generator 1 pulse input magnification setting Manual pulse generator operating flag ON Manual p...

Page 238: ...erride program No 15 Acceleration deceleration time change program Acceleration deceleration time change program command pulse Setting of acceleration time to 2000ms Setting of deceleration time to wi...

Page 239: ...Data No unit step mode selection Step operation command write Skip operation command pulse Skip operation command ON storage Skip operation command write Skip complete read Skip operation command stor...

Page 240: ...pulse Parameter initialization command hold PLC READY output to AD75 standby Parameter initialization write Parameter initialization complete read Parameter initialization command storage OFF Flash R...

Page 241: ...ogram Error code read Error code read complete confirmation Error reset command pulse Error reset execution Error code read complete OFF Stop command pulse Stop execution Axis stop signal OFF due to a...

Page 242: ...for details on the setting details Time chart for zero point return OFF request PLC READY signal AD75 READY signal OFF ON ON Zero point return request flag Md 40 Status b3 Cd 24 Zero point return req...

Page 243: ...set the positioning start point No of the block to be started in Cd 31 Positioning start point No Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Cd 31 Positioni...

Page 244: ...ning data No 1 will start Fig 6 2 Procedures for starting control Starting conditions When starting the following conditions must be satisfied The program must be configured by adding the required con...

Page 245: ...BUSY signal will turn OFF and the positioning complete signal will turn ON However when using speed control or when the positioning complete signal ON time is 0 the signal will not turn ON When the p...

Page 246: ...detection signal OFF OFF ON ON ON ON OFF OFF OFF 9001 ON ON OFF OFF Near point dog V t Zero point return request flag Md 40 Status b3 Cd 11 Positioning start No Positioning start signal Y10 PLC READY...

Page 247: ...Y signal AD75 READY signal Start complete signal BUSY signal Error detection signal Zero point absolute position overflow flag Md 40 Status b11 Zero point absolute position under flow flag Md 40 Statu...

Page 248: ...in positioning control 4 Time chart for starting speed position changeover control V t Dwell time Operation pattern 00 Speed control Speed position changeover signal Position control 0 1 1 Positioning...

Page 249: ...Y10 Y11 Y12 X4 X5 X6 X1 X2 X3 Zero point return complete flag Md 40 Status b4 Fig 6 8 Machine zero point return operation timing and process time Normal timing time Unit ms t1 t2 t3 t4 5 to 15 0 to 3...

Page 250: ...XE XF X1 X2 X3 XD XE XF X7 X8 X9 Fig 6 9 Position control operation timing and process time When the positioning start signal turns ON if all signals marked with an asterisk are already ON the signals...

Page 251: ...rnal start signal set parameter Pr 43 beforehand and validate the external start signal with the external start function valid setting program program No 5 Buffer memory address Setting item Setting v...

Page 252: ...mand turns ON Fig 6 11 Operation during continuous operation interruption 2 Restrictions 1 When the continuous operation interrupt request is executed the positioning will end Thus after stopping the...

Page 253: ...ed to zero at a start or at a restart Start V t Stop process when operation cannot stop at positioning data No 10 Positioninig data No 10 Positioning data No 11 Positioning data No 12 Continuous opera...

Page 254: ...nge to error occurring Thus even if the error is reset the operation cannot be restarted 3 Restarting can be executed even while the positioning start signal is ON However make sure that the positioni...

Page 255: ...is 1 Stopped 2 Signal state Device Signal name Signal state Axis 1 Axis 2 Axis 3 PLC READY signal ON PLC CPU preparation completed Y1D AD75 READY signal OFF AD75 preparation completed X0 Axis stop sig...

Page 256: ...Axis stop signal AD75 READY signal Start complete signal BUSY signal Error detection signal Cd 11 Positioning start No Positioning complete signal PLC READY signal Md 35 Axis operation status Y10 Y13...

Page 257: ...er stopping Machine zero point return control High speed zero point return control Main positioning control Advanced positioning control JOG opera tion Manual pulse generator operation Forced stop Dri...

Page 258: ...he AD75 immediately stops the pulse output but the operation will coast for the droop pulses accumulated in the drive unit s deviation counter Actual deceleration time Set deceleration time Positionin...

Page 259: ...ccurs during deceleration the sudden stop process will start from that point However if the sudden stop deceleration time is longer than the deceleration time the deceleration stop process will be con...

Page 260: ...uch as when the power is turned ON or when the PLC READY signal changes from OFF to ON can be easily understood This also allows the transmission process to be carried out correctly when storage or ch...

Page 261: ...mation area No 7001 to 7010 Monitor data area Control data area PLC CPU memo area Block transmission area Backup Buffer memory Area that can be directly accessed with sequence program from PLC CPU Not...

Page 262: ...the items indicated with Da 10 to Da 18 Positioning start information area No 7001 to 7010 Area where information required only when carrying out block No 7001 to 7010 advanced positioning is set and...

Page 263: ...accesses this memory Data is backed up here Flash ROM Buffer memory OS memory Parameter area Parameter area The data used for actual control is stored here Positioning start information area No 7000 P...

Page 264: ...a area 1100 to 1149 Control data area Axis control data area 1150 to 1199 1200 to 1249 1250 to 1299 Possible Positioning data area No 1 to 100 Positioning data area 1300 to 2299 2300 to 3299 3300 to 4...

Page 265: ...lock transmission area Monitor data area Control data area Buffer memory PLC CPU Peripheral device Flash ROM ROM Positioning data area No 101 to 600 Parameter area a Parameter area b Positioning data...

Page 266: ...time when the parameter area b 2 positioning data No 1 to 100 and positioning start information No 7000 is written into the buffer memory with the TO command it is simultaneously transmitted to the O...

Page 267: ...er area a Parameter area b Positioning data area No 1 to100 Positioning start information area No 7000 Positioning start information area No 7000 to 7010 Positioning data area No 101 to 600 OS memory...

Page 268: ...ansmitted to the flash ROM 2 The positioning data No 101 to 600 and positioning start information No 7001 to 7010 in the OS memory are transmitted to the flash ROM POINT The following two types of par...

Page 269: ...to 100 Positioning start information area No 7000 Positioning start information area No 7001 to 7010 Positioning data area No 101 to 600 OS memory Parameter area a Parameter area b Positioning data ar...

Page 270: ...ng data from peripheral device to buffer memory or OS memory The following transmission processes are carried out with the AD75 write from the peripheral device 1 The parameters positioning data No 1...

Page 271: ...write of flash ROM Transmit data in buffer memory to OS memory when PLC READY signal Y1D changes from OFF to ON Use new setting value in future Change setting value temporarily Correct data with peri...

Page 272: ...smission process 10 Write following items into buffer memory s block transmission area 5100 to 5103 using TO command Axis that sets positioning data Head No of positioning data to be set Size of posit...

Page 273: ...5116 5117 5118 5119 5113 End Turn OFF the PLC READY signal Y1D Set as follows Target axis Axis 1 Head positioning data No 101 No of read write data 100 Set the positioning data No 101 to 200 to the r...

Page 274: ...ITIONING CONTROL Also refer to Chapter 6 SEQUENCE PROGRAM USED IN POSITIONING CONTROL when creating the sequence programs required in each control and consider the entire control programconfiguration...

Page 275: ...MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 276: ...8 1 Outline of zero point return control 8 2 8 1 1 Two types of zero point return control 8 2 8 2 Machine zero point return 8 4 8 2 1 Outline of the machine zero point return operation 8 4 8 2 2 Machi...

Page 277: ...ning ON the positioning start signal 1 Establish a positioning control zero point Machine zero point return positioning start No 9001 2 Carry out positioning toward the zero point High speed zero poin...

Page 278: ...shift function Section 12 2 2 Combination possible Restricted Combination not possible When a zero point return is not required Control can be carried out ignoring the zero point return request flag M...

Page 279: ...45 Zero point return method The following shows the operation when starting a machine zero point return 1 The machine zero point return is started 2 The operation starts according to the speed and dir...

Page 280: ...t provided after the zero point signal is detected after stoppage Stopper method 3 The stopper position is regarded as the zero point The machine starts at the Pr 49 Creep speed from the beginning the...

Page 281: ...to ON and the zero point return request flag Md 40 Status b3 turns from ON to OFF Md 30 Machine feed value Md 29 Current feed value Md 44 Movement amount after near point dog ON Md 35 Axis operation...

Page 282: ...rn completion when the zero point return retry function is not set 0 is set in Pr 50 Zero point return retry 2 Machine zero point returns carried out from the near point dog ON position will start at...

Page 283: ...oint dog turns ON outputting the deviation counter clear output to the drive unit 6 After a deviation counter clear output is output to the drive unit the zero point return complete flag Md 40 Status...

Page 284: ...eleration and stop are caused resulting in an error dwell time fault error code 205 Machine zero point return start Positioning start signal ON OFF Zero point return speed Valid torque limit range Tor...

Page 285: ...int return complete flag Md 40 Status b4 Md 44 Movement amount after near point dog ON Md 29 Current feed value Md 30 Machine feed value Standing by In zero point return Inconsistent Inconsistent Valu...

Page 286: ...tops 5 The pulse output from the AD75 will stop at the zero point signal after the machine stops outputting the deviation counter clear output to the drive unit 6 After a deviation counter clear outpu...

Page 287: ...timing fault error code 204 will occur after the machine stops 2 The near point dog must be kept turned ON until contact with the stopper t ON OFF Zero point return speed Torque limit ON OFF OFF ON V...

Page 288: ...lue the machine moved is stored Zero point return request flag Md 40 Status b3 Zero point return complete flag Md 40 Status b4 Md 44 Movement amount after near point dog ON Md 29 Current feed value Md...

Page 289: ...om the AD75 will stop at the zero point signal after the machine stops outputting the deviation counter clear output to the drive unit 4 After a deviation counter clear output is output to the drive u...

Page 290: ...V 0 Pr 49 Creep speed Valid torque limit range Machine zero point return start Positioning start signal Md 35 Axis operation status Value the machine moved is stored Zero point return request flag Md...

Page 291: ...point return start Positioning start signal Standing by In zero point return Md 35 Axis operation status Inconsistent Value the machine moved is stored Zero point address Value of 1 Deviation counter...

Page 292: ...ed zero point return direction 3 Deceleration processing is carried out by Pr 40 Stop group 3 sudden stop selection when the near point dog OFF is detected 4 After the machine stops a machine zero poi...

Page 293: ...sition Md 30 Machine feed value t V ON OFF ON OFF ON ON OFF 0 OFF Pr 48 Zero point return speed Pr 49 Creep speed Pr 52 Setting for the movement amount after near point dog ON Md 44 Movement amount af...

Page 294: ...en a machine zero point return is started at the near point dog ON position 1 A machine zero point return is started 2 The machine moves at the zero point return speed in the opposite direction of the...

Page 295: ...The high speed zero point return is started 2 Positioning control begins to the Md 43 Zero point absolute position following the speed set in the zero point return parameters Pr 45 to Pr 58 3 The hig...

Page 296: ...and processing time of high speed zero point returns Normal timing time Unit ms t1 t2 t3 5 to 15 0 to 3 5 The t1 timing time could be delayed by the following factors 1 Presence of FROM TO command ex...

Page 297: ...following table shows setting examples in which zero point positioning is set in the positioning data No 100 of axis 1 Setting item Setting example Setting details Da 1 Operation pattern Positioning...

Page 298: ...b11 OFF OFF ON ON ON ON OFF OFF OFF 100 OFF OFF V t ON OFF Positioning start signal PLC READY signal AD75 READY signal Start complete signal BUSY signal Error detection signal Cd 11 Positioning start...

Page 299: ...n the positioning data setting AD75 buffer memory PLC CPU data register Address m Positioning data data No 100 1150 Cd 11 Positioning start No 823 822 2299 Md 40 Status Md 43 Zero point absolute posit...

Page 300: ...OFF AD75 zero point absolute position read Zero point absolute position write to AD75 High speed machine zero point return execution X1 X41 Y10 M100 M101 M102 D100 D101 D102 D103 Start complete signal...

Page 301: ...8 26 MELSEC A 8 ZERO POINT RETURN CONTROL MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 302: ...eration patterns of main positioning controls 9 4 9 1 3 Designating the positioning address 9 14 9 1 4 Confirming the current value 9 15 9 1 5 Control unit degree handling 9 17 9 1 6 Interpolation con...

Page 303: ...sitioning data set in the reference axis The Md 29 Current feed value is set to 0 at the start Auxiliary point designation ABS Circular interpolation INC Circular interpolation Position control 2 axis...

Page 304: ...execution Da 8 Dwell time Set the time the machine waits from the completion of the executed positioning control and the stopping of the workpiece until the judgment of the AD75 positioning completio...

Page 305: ...ed Positioning data No 1 0 Operation pattern 11 Continuous path control Positioning to address A at command speed a No 2 No 3 No 4 No 5 Address a b NO 1 No 2 No 3 No 4 No 5 Speed is changed without st...

Page 306: ...ration pattern 00 data becomes the end of block data when carrying out block positioning The positioning stops after this data is executed Time Start complete signal OFF ON Dwell time X1 X2 X3 OFF ON...

Page 307: ...erminate the positioning If the operation pattern is set to positioning continue 01 or 11 the operation will continue until operation pattern 00 is found The operation may be carried out until the max...

Page 308: ...No 600 if operation pattern 00 cannot be found because it was not set in the last positioning data 5 The speed changeover patterns include the front loading speed changeover pattern in which the speed...

Page 309: ...tioning data to carry out the next operation POINT 1 Only the movement direction of the reference axis is checked during interpolation operations Thus automatic deceleration is not carried out if the...

Page 310: ...is f pps t1 1 2 f s t2 1 f s A time of t1 must be maintained by the drive unit for a specified period T s T depends on the drive unit specifications If t1 cannot be maintained for T or longer lower t...

Page 311: ...current speed is changed even if the command speed is not reached in P2 2000 1000 3000 3000 1000 1000 1 3000 1 3000 1 3000 P1 P2 P3 P4 P5 Speed 3000 Da 7 Command speed Md 36 Current speed 2000 1000 30...

Page 312: ...ed out if the command speeds are the same OFF ON OFF ON OFF ON OFF ON 11 11 11 01 00 V Dwell time t Speed changeover Da 1 Operation pattern Positioning Start complete signal BUSY signal Positioning co...

Page 313: ...speed set in the positioning data to carry out the next operation at the end of the positioning data currently being executed 2 The parameters used in acceleration deceleration to the command speed se...

Page 314: ...Ex Operation patterns 00 01 the machine will immediately stop at the positioning address and a warning insufficient movement amount warning code 513 will occur When the speed cannot change over to the...

Page 315: ...Address 150 Address 100 Address 100 Address 150 Zero point reference point Start point End point Fig 9 6 Absolute system positioning Increment system The position where the machine is currently stopp...

Page 316: ...6 8ms Machine feed value This is the value stored in Md 30 Machine feed value This value always has an address established with a machine zero point return as a reference The address cannot be changed...

Page 317: ...current value The current feed value and machine feed value are stored in the following buffer memory addresses and can be read using a DFRO P command from the PLC CPU Buffer memory addresses Axis 1...

Page 318: ...ntrol unit is set to degree a Absolute system 1 When the software stroke limit is invalid Positioning is carried out in the nearest direction to the designated address using the current value as a ref...

Page 319: ...addresses are within a range of 0 to 359 99999 Use the increment system to carry out positioning of one rotation or more b Increment system Positioning is carried out for a designated movement amount...

Page 320: ...xis is axis 1 and the interpolation axis is axis 2 Setting the positioning data during interpolation control When carrying out interpolation control the same positioning data Nos are set for the refer...

Page 321: ...to interpolation control The AD75 may malfunction if a control method other than interpolation control is set The path pattern can be selected when carrying out continuous path control using interpola...

Page 322: ...lar interpolation ABS INC Right arc ABS INC Left arc ABS INC Reference axis speed Setting possible Setting not possible 1 mm and inch unit mix possible 2 degree setting not possible An error control m...

Page 323: ...ntrol Da 2 Control method Linear 1 Linear 2 Fixed dimension feed1 Fixed dimension feed 2 Circular interpolation Circular right Circular left Forward run Speed limited Reverse run Speed limited Forward...

Page 324: ...Setting item Setting example Setting details Da 1 Operation pattern Positioning complete Set Positioning complete assuming the next positioning data will not be executed Da 2 Control method ABS linear...

Page 325: ...s Da 1 Operation pattern Positioning complete Set Positioning complete assuming the next positioning data will not be executed Da 2 Control method INC linear 1 Set increment system 1 axis linear contr...

Page 326: ...position start point address to the address end point address set in Da 5 Positioning address movement amount X1 X2 Y1 Y2 Reverse direction Forward direction X axis Reverse direction Forward direction...

Page 327: ...1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 9 Deceleration time 0 as the deceleration time at deceleration Da 5 Positioning address movement amount 10...

Page 328: ...the sign of the movement amount X1 X2 Y1 Y2 Reverse direction Forward direction X axis Reverse direction Forward direction Y axis Movement by linear interpolation positioning of the X axis and Y axis...

Page 329: ...celeration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 9 Deceleration time 0 as the deceleration time at deceleration Da 5 Positioning address mo...

Page 330: ...fixed dimension feed control the address Md 29 Current feed value of the current stop position start point address is set to 0 Positioning is then carried out to a position at the end of the movement...

Page 331: ...Setting details Da 1 Operation pattern Positioning complete Set Positioning complete assuming the next positioning data will not be executed Da 2 Control method Fixed dimension feed 1 Set 1 axis fixe...

Page 332: ...ntrol accuracy does not affect the regular controls Refer to section 9 1 6 Interpolation control for details on interpolation control Operation chart In increment system 2 axis fixed dimension feed co...

Page 333: ...ttern Positioning complete Set Positioning complete assuming the next positioning data will not be executed Da 2 Control method Fixed dimension feed 2 Set 2 axis fixed dimension feed control Da 3 Acce...

Page 334: ...n on a 2 axis coordinate plane are used Positioning is carried out from the current stop position start point address to the address end point address set in Da 5 Positioning address movement amount i...

Page 335: ...is possible is 536870912 2 29 An error outside radius range error code 544 will occur at positioning start When the center point address is outside the range of 2147483648 2 31 to 2147483647 2 31 1 A...

Page 336: ...time at deceleration Da 5 Positioning address movement amount 80000 0 m 60000 0 m Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 6 Arc address 40000 0 m 30000 0 m Set the auxi...

Page 337: ...intersection point of perpendicular bisectors of the following 1 A straight line between the start point address current stop position and auxiliary point address arc address calculated from the move...

Page 338: ...2147483648 2 31 to 2147483647 2 31 1 An error end point setting error error code 526 or outside radius range error code 544 will occur at positioning start When the auxiraly point address or center po...

Page 339: ...eleration time at deceleration Da 5 Positioning address movement amount 80000 0 m 60000 0 m Set the movement amount Assuming that the Pr 1 Unit setting is set to mm Da 6 Arc address 40000 0 m 30000 0...

Page 340: ...details on interpolation control The following table shows the rotation directions arc center angles that can be controlled and positioning paths for the different control methods Control method Rota...

Page 341: ...ess Error Calculated end point address End point address During arc interpolation control with center point designation the angle is calculated on the assumption that movement at the command speed occ...

Page 342: ...ddress of the center point set in Da 6 Arc address Radius Movement by circular interpolation Forward direction Reverse direction End point address Start point address current stop position Arc address...

Page 343: ...ing data No 1 of axis 2 Axis Setting item Axis 1 reference axis setting example Axis 2 interpolation axis setting example Setting details Da 1 Operation pattern Positioning complete Set Positioning co...

Page 344: ...a position at the end of the movement amount set in Da 5 Positioning address movement amount in an arc path having as its center the address arc address of the center point set in Da 6 Arc address St...

Page 345: ...nnot be set in the following cases When degree is set in Pr 1 Unit setting When the units set in Pr 1 Unit setting are different for the reference axis and interpolation axis mm and inch combinations...

Page 346: ...n time 0 as the deceleration time at deceleration Da 5 Positioning address movement amount 80000 0 m 60000 0 m Set the movement amount Assuming that the Pr 1 Unit setting is set to mm Da 6 Arc address...

Page 347: ...run direction and Reverse run speed control in which control starts in the reverse run direction Operation chart The following chart shows the operation timing for speed control The in speed control...

Page 348: ...s selected the M codes are not output and the M code ON signal does not turn ON 3 The software stroke limit check is not made with the degree unit Positioning data setting examples The following table...

Page 349: ...speed control to position control 1 The control is changed over from speed control to position control by the external signal speed position changeover signal 2 Besides setting the positioning data th...

Page 350: ...on control Dwell time In speed control flag Md 40 Status b0 Cd 20 Speed position changeover enable flag Da 7 Command speed Movement amount set in Da 5 Positioning address movement amount OFF OFF OFF O...

Page 351: ...external speed position changeover signal Md 35 Axis operation status Cd 21 Speed position changeover control movement amount change register Zero point return complete flag Md 40 Status b4 Cd 14 M co...

Page 352: ...ition control 2 Zero clear current feed value The current feed value is cleared set to 0 at control start and updated from the changeover to position control t 0 Updated from 0 t Speed t Position cont...

Page 353: ...position changeover signal from an external source t Movement amount Speed position changeover signal ON OFF Speed control Position control Position control start Speed position changeover control sta...

Page 354: ...ion a warning speed position changeover signal ON during acceleration warning code 508 occurs due to large variation in the accumulating pulses 5 The software stroke limit range check under speed cont...

Page 355: ...the value set in Pr 9 Deceleration time 0 as the deceleration time at deceleration Da 5 Positioning address movement amount 10000 0 m Set the movement amount after the changeover to position control A...

Page 356: ...0 Y11 Y12 Restrictions 1 An error Current value change not possible error code 515 will occur and the operation cannot start if continuous path control is set in Da 1 Operation pattern Continuous path...

Page 357: ...art Da 4 Deceleration time No 0 Designate the value set in Pr 9 Deceleration time 0 as the deceleration time at deceleration Da 5 Positioning address movement amount 10000 0 m Set the movement amount...

Page 358: ...ions 1 An error Outside current value change range error code 514 will occur if the designated value is outside the setting range when degree is set in Pr 1 Unit setting 2 An error will not occur even...

Page 359: ...1154 1155 1204 1205 1254 1255 Cd 11 Positioning start No 9003 Set the start No 9003 for the current value change 1150 1200 1250 Refer to section 5 7 List of control data for details on the setting de...

Page 360: ...al Error detection signal Current value change command Positioning start signal Current value change command pulse New current value Store new current feed value in D106 and D107 Current value change...

Page 361: ...ommand is executed and the operation jumps to the positioning data No set in Da 8 Dwell time If the JUMP command execution conditions set in Da 9 M code have not been established the JUMP command is i...

Page 362: ...ng value is ignored Da 4 Deceleration time No Setting not required Setting value is ignored Da 5 Positioning address movement amount Setting not required Setting value is ignored Da 6 Arc address Sett...

Page 363: ...9 62 MELSEC A 9 MAIN POSITIONING CONTROL MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 364: ...data configuration 10 4 10 2 Advanced positioning control execution procedure 10 6 10 3 Setting the start block data 10 7 10 3 1 Relation between various controls and start block data 10 7 10 3 2 Blo...

Page 365: ...for the axis designated with the condition data Outputs pulses at the same timing Stop Stops the positioning operation Repeated start FOR loop Repeats the program from the start block data set with t...

Page 366: ...tails Da 10 Shape Set whether to end the control after executing only the start block data of the shape itself or continue executing the start block data set in the next point Da 11 Start data No Set...

Page 367: ...0 b7 b8 b11 b12 4401 4402 4403 4404 4405 4406 4407 4408 4409 Da15 Condition operator Da16 Address Da17 Parameter1 Da18 Parameter 2 Da14Condition target Same for axis 2 and axis 3 Setting item Setting...

Page 368: ...rameter1 Da18 Parameter2 b15 b0 b7 b8 b11 b12 Condition identifier Da12 Special start comm and Da13 Parameter Da10 Shape Da11 Start positioning data No Axisi 1 start condition data Da14 Condition targ...

Page 369: ...to Chapter 6 Write the sequence program created in STEP 4 to the PLC CPU using the GPP function software package Same procedure as for the main positioning control start STEP 6 Use one of the followi...

Page 370: ...Block start Normal start Condition start Wait start Simulta neous start Stop Repeated start FOR loop Repeated start FOR condition NEXT start 0 End Da 10 Shape 1 Continue Da 11 Start data No 1 to 600 D...

Page 371: ...d point 1 Continue 5 0 Normal start 4th point 1 Continue 10 0 Normal start 5th point 0 End 15 0 Normal start b Positioning data setting example Axis 1 position ing data No Da 1 Operation pattern 1 00...

Page 372: ...complete signal BUSY signal X7 X8 X9 t 2 11 3 01 4 00 5 11 6 00 15 00 Positioning according to the 1st point settings Address 10 00 OFF OFF ON ON ON Operation pattern Positioning data No Positioning...

Page 373: ...n set in Da 13 Parameter b Positioning data setting example Axis 1 position ing data No Da 1 Operation pattern 1 01 Continuous positioning control 2 01 Continuous positioning control 3 00 Positioning...

Page 374: ...l start The condition data Nos have been set in Da 13 Parameter b Positioning data setting example Axis 1 position ing data No Da 1 Operation pattern 1 01 Continuous positioning control 2 01 Continuou...

Page 375: ...us path control 11 11 Continuous path control 12 00 Positioning complete 50 00 Positioning complete 2 Control examples The following shows the control executed when the start block data of the 1st poi...

Page 376: ...0 4 Stop 3rd point 0 End 50 0 Normal start b Positioning data setting example Axis 1 position ing data No Da 1 Operation pattern 1 01 Continuous positioning control 2 01 Continuous positioning control...

Page 377: ...lock data Da 10 Shape Da 11 Start data No Da 12 Special start command Da 13 Parameter 1st point 1 Continue 1 5 FOR loop 2 2nd point 1 Continue 10 0 Normal start 3rd point 0 End 50 7 NEXT start The con...

Page 378: ...nue 1 6 FOR condition 5 2nd point 1 Continue 10 0 Normal start 3rd point 0 End 50 7 NEXT start The condition data Nos have been set in Da 13 Parameter b Positioning data setting example Axis 1 positio...

Page 379: ...between 6 FOR condition and 7 NEXT start A warning FOR to NEXT nesting structure warning code 506 will occur if nesting is attempted Operating examples without nesting structure Operating examples wi...

Page 380: ...sponding to the different types of control The condition data settings in this chapter are assumed to be carried out using the AD75 software package Advanced positioning control Main positioning contr...

Page 381: ...ue Set only when Da 15 is 05H or 06H Low order 16 bits Axis 1 positioning data No Low order 16 bits Axis 3 positioning data No 05H Positioning data No 09H Axis 1 designation 0AH Axis 2 designation 0BH...

Page 382: ...d in buffer memory addresses 800 801 Md 29 Current feed value is 1000 or larger Da 14 Condition target Da 15 Condition operator Da 16 Address Da 17 Parameter 1 Da 18 Parameter 2 04H Buffer memory 2 wo...

Page 383: ...signated positioning data When carrying out a positioning start with the next scan after a positioning operation is completed input signal X1 as an interlock so that the start is carried out once the...

Page 384: ...8 Refer to section 5 7 List of control data for details on the setting details Start conditions The following conditions must be fulfilled when starting the control The required conditions must also b...

Page 385: ...trol 2 00 Positioning complete 10 11 Continuous path control 11 11 Continuous path control 12 00 Positioning complete c Start time chart Y10 PLC READY signal AD75 READY signal X1 X4 Positioning comple...

Page 386: ...H0 TO Write the positioning start point No K1 K7000 K1150 H0 TO Write the positioning data No 7000 for block positioning X1 Set the start block data beforehand Y10 Positioning start signal X1 Start c...

Page 387: ...10 24 MELSEC A 10 ADVANCED POSITIONING CONTROL MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 388: ...manual control 11 2 11 1 1 Two manual control methods 11 2 11 2 JOG operation 11 4 11 2 1 Outline of JOG operation 11 4 11 2 2 JOG operation execution procedure 11 7 11 2 3 Setting the required param...

Page 389: ...he limit signal OFF to confirm the positioning system connection and obtain the positioning data address refer to section 12 6 4 Teaching function M Movement continues while the JOG START signal is ON...

Page 390: ...g disabling of the manual pulse generator operation can be executed from the AD75 software package test mode Refer to the AD75 Software Package Operating Manual for details on manual control from the...

Page 391: ...eration acceleration time selection At this time the BUSY signal changes from OFF to ON 2 When the workpiece being accelerated reaches the speed set in Cd 19 JOG speed the movement continues at this s...

Page 392: ...ven if a warning JOG speed limit value warning code 301 has occurred 4 A JOG start signal OFF ON immediately after the stop signal ON OFF within 56 8ms will be ignored The operation will not start Err...

Page 393: ...al X7 X8 X9 Md 35 Axis operation status ON ON OFF OFF OFF OFF Standing by Fig 11 4 JOG operation timing and processing times Normal timing times Unit ms t1 t2 t3 t4 1 to 60 0 to 3 5 6 5 to 10 0 to 3 5...

Page 394: ...am TO command STEP 5 Create a sequence program in which the JOG start signal is turned ON by a JOG operation start command Using the GPP function software package set the control data and create a seq...

Page 395: ...0 Bias speed at start Unit pulse s 0 Pr 11 Stepping motor mode selection 0 standard mode Pr 12 Backlash compensation amount Unit pulse 0 Pr 13 Software stroke limit upper limit value Unit pulse 214748...

Page 396: ...eleration time selection 0 deceleration time 0 Pr 35 Acceleration deceleration process selection 0 automatic trapezoidal acceleration deceleration processing Pr 36 S curve ratio 100 Pr 37 Sudden stop...

Page 397: ...f control data for details on the setting details Start conditions The following conditions must be fulfilled when starting The required conditions must also be assembled in the sequence program and t...

Page 398: ...signal Error detection signal OFF OFF OFF OFF OFF ON ON ON ON ON OFF XA X4 PLC READY signal AD75 READY signal Reverse run JOG start signal Reverse JOG run Y16 Y17 X0 Y1D Fig 11 5 JOG operation start t...

Page 399: ...peration program JOG operation speed setting JOG operation speed write In JOG flag ON JOG operation completed Forward run JOG operation execution Reverse run JOG operation execution Artisan Technology...

Page 400: ...gnal OFF and turning the JOG start signal from OFF to ON again OFF ON BUSY signal X4 X5 X6 OFF ON A JOG start signal OFF ON while the stop signal is ON will be ignored Axis stop signal Y13 Y14 Y1C OFF...

Page 401: ...case the reverse run JOG start signal is validated when the AD75 BUSY signal is turned OFF OFF ON OFF ON BUSY signal X4 X5 X6 OFF ON Forward run JOG operation t The reverse run JOG start signal is ign...

Page 402: ...l is turned ON during deceleration When the JOG start signal is turned ON during a peripheral device test mode When the JOG start signal is turned ON during a peripheral device test mode it will be ig...

Page 403: ...nored and the JOG operation will not be carried out ON Axis stop signal Y13 Y14 Y1C OFF ON OFF 56 8ms A JOG start signal OFF ON while the stop signal is ON will be ignored Forward run JOG operation Fo...

Page 404: ...ag is set to 1 the BUSY signal turns ON and the manual pulse generator operation is enabled 2 The workpiece is moved corresponding to the No of pulses input from the manual pulse generator 3 The workp...

Page 405: ...nate the stop factor Once eliminated the operation can be carried out again by turning the Cd 22 Manual pulse generator enable flag ON OFF ON 4 Pulses will not be output if an error occurs when the ma...

Page 406: ...g by In manual pulse generator operation The start complete signal does not turn ON in manual pulse generator operation Fig 11 12 Manual pulse generator operation timing and processing times Normal ti...

Page 407: ...generator input pulse Cd 23 Manual pulse generator 1 pulse input magnification Command speed Manual pulse generator input frequency Cd 23 Manual pulse generator 1 pulse input magnification When the m...

Page 408: ...lse generator and issue a command to disable the manual pulse Manual pulse generator operation stop STEP 6 Monitor the manual pulse generator operation Preparation Refer to Chapter 5 and section 11 3...

Page 409: ...Stepping motor mode selection 0 standard mode Pr 12 Backlash compensation amount Unit pulse 0 Pr 13 Software stroke limit upper limit value Unit pulse 2147483647 Pr 14 Software stroke limit lower lim...

Page 410: ...manual pulse generator 1 pulse input magnification 1168 1169 1218 1219 1268 1269 Refer to section 5 7 List of control data for details on the setting details Start conditions The following conditions...

Page 411: ...SY signal AD75 READY signal PLC READY signal Start complete signal Error detection signal Y1D X0 X1 X4 XA Cd 22 Manual pulse generator enable flag Cd 23 Manual pulse generator 1 pulse input magnificat...

Page 412: ...ification write Manual pulse generator operation enable write Manual pulse generator operation disable command pulse Manual pulse generator operation flag ON Manual pulse generator 1 pulse input magni...

Page 413: ...11 26 MELSEC A 11 MANUAL CONTROL MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 414: ...12 4 12 2 2 Zero point shift function 12 8 12 3 Functions for compensating the control 12 11 12 3 1 Backlash compensation function 12 11 12 3 2 Electronic gear function 12 13 12 3 3 Near pass mode fun...

Page 415: ...esses the machine vibration when the speed changes during continuous path control in the interpolation control Speed limit function If the command speed exceeds Pr 7 Speed limit value during control t...

Page 416: ...l into the positioning address Da 5 Positioning address movement amount having the designated positioning data No Command in position function At each automatic deceleration this function calculates t...

Page 417: ...e zero point return retry function 1 Control details 2 Precautions during control 3 Setting the zero point return retry function 1 Control details The following drawing shows the operation of the zero...

Page 418: ...point return in the direction set in Pr 46 Zero point return direction Pr 46 Zero point return direction Near point dog Movement range Machine zero point return start Zero point Zero point signal Uppe...

Page 419: ...o point return retry is made valid when the operation stops in position A of the following figure The dwell times in positions A and B are the same values Machine zero point return executed again Stop...

Page 420: ...limit switches connected to the AD75 If the drive unit power is turned OFF the zero point return retry cannot be carried out 3 Setting the zero point return retry function To use the zero point return...

Page 421: ...below explain about the zero point shift function 1 Control details 2 Setting range for the zero point shift amount 3 Movement speed during zero point shift 4 Precautions during control 5 Setting the...

Page 422: ...the zero point shift is set in Pr 57 Speed designation during zero point shift The movement speed during the zero point shift is selected from either the Pr 48 Zero point return speed or the Pr 49 Cre...

Page 423: ...shift function set the required details in the parameters shown in the following table and write them to the AD75 When the parameters are set the zero point shift function will be added to the machine...

Page 424: ...n the mechanical system When the backlash compensation amount is set an extra amount of pulses equivalent to the set backlash amount is output every time the movement direction changes The details sho...

Page 425: ...e if a large amount of pulses is output at once Backlash compensation amount 0 Movement amount per pulse 255 Omit values after the decimal point 3 Setting the backlash compensation function To use the...

Page 426: ...rol continues the same machine movement amount is always used for the control C When the current value is changed the accumulated value not reaching one pulse is reset to zero D The function compensat...

Page 427: ...ed with the following equation Movement amount per pulse is A Pr 2 No of pulses per rotation is Ap Pr 3 Movement amount per rotation is Al and Pr 4 Unit magnification is Am Al A Ap Am b Procedure 1 Se...

Page 428: ...n Pr 2 No of pulses per rotation Ap Pr 3 Movement amount per rotation Al and Pr 4 Unit magnification Am in the parameters and write them to the AD75 The set details are validated at the rising edge OF...

Page 429: ...The command frequency at that time is represented by f Relation of the command speed and actual speed 1 Movement amount per pulse 1 V V f f The actual speed becomes faster than the command speed 2 Mov...

Page 430: ...not more than 200kpps when the open collector is connected If the setting of the movement amount per pulse is a value that will make the pulse output frequency to the drive unit more than 400kpps whe...

Page 431: ...position set in Da 5 Positioning address movement amount of each positioning data unit being continuously executed B Near pass mode The extra movement amount occurring at the end of each positioning d...

Page 432: ...ositioning data No 4 V t Positioning data No 3 Speed dropping occurs Path of positioning data No 3 Positioning data No 4 Da 5 Positioning address Path of positioning data No 3 V t Positioning data No...

Page 433: ...control When the reference axis movement direction changes in the positioning address pass mode the operation automatically decelerates Path during continuous path control Axis 2 Axis 1 reference axi...

Page 434: ...inuous path designation in the near pass mode and the positioning address and starting point address of that arc are the same address the path will make one circle using the two data items This is bec...

Page 435: ...The following table shows the relation of the speed limit function and various controls Control type Speed limit function Speed limit value Machine zero point return control Zero point return control...

Page 436: ...ory set initial value Pr 7 Speed limit value Set the speed limit value max speed during control 0 Pr 32 JOG speed limit value Set the speed limit value during JOG operation max speed during control No...

Page 437: ...limit function Torque limit value Machine zero point return control Zero point return control High speed zero pint return control 1 axis linear control 2 axis linear interpolation control 1 axis fixe...

Page 438: ...If this parameter is set to a value besides 0 the Cd 30 New torque value will be validated and the torque will be limited at that value Refer to section 12 5 4 Torque change function for details abou...

Page 439: ...e D A converter module and the torque is limited PLC CPU Buffer memory Drive unit Writing by a TO command Stored torque limit value 826 D A convertor module Reading by a FROM command AD75 Torque limit...

Page 440: ...set in Pr 13 Software stroke limit upper limit value Pr 14 Software stroke limit lower limit value The details shown below explain about the software stroke limit function 1 Differences in the moveabl...

Page 441: ...machine feed value of 5000 current feed value 4000 becomes the upper stroke limit 4000 5000 5000 6000 Upper stroke limit 1000 2000 Moveable range Md 29 Current feed value Md 30 Machine feed value 2 Wh...

Page 442: ...are carried out For position control The axis comes to an immediate stop when it exceeds the software stroke limit range Current value change When the current value is changed an error will not occur...

Page 443: ...ot carried out Starting address The software stroke limit check is carried out for the following addresses during circular interpolation control Current value end point address Da 5 arc address Da 6 A...

Page 444: ...enerator operation 0 Invalid Refer to section 5 2 List of parameters for setting details 6 Invalidating the software stroke limit To invalidate the software stroke limit set the following parameters a...

Page 445: ...alidated When the software stroke limit is to be validated set the upper limit value in a clockwise direction from the lower limit value Section A 315 Set in a clockwise direction Upper limit Lower li...

Page 446: ...drive unit side is reached The details shown below explain about the hardware stroke limit function 1 Control details 2 Wiring the hardware stroke limit 3 Precautions during control 4 When the hardwar...

Page 447: ...outside the upper lower limit switches or if stopped by hardware stroke limit detection the zero point return control main positioning control and advanced positioning control cannot start To carry o...

Page 448: ...w speed is directly set Override function The speed is changed for all control to be executed Note that this excludes manual pulse generator operation The new speed is set as a percent of the command...

Page 449: ...s controlled at the Cd 16 New speed value 2 When a speed designation current speed is provided in the next positioning data The next positioning data is controlled at its command speed Da 7 Positionin...

Page 450: ...1000 0 ON OFF ON OFF ON OFF ON OFF Speed change 0 flag Y10 Y11 Y12 X4 X5 X6 Fig 12 24 Speed change at new speed value 0 d A warning deceleration and stop speed change warning code 500 occurs and the s...

Page 451: ...3 Cd 16 New speed value 2000 Set the new speed 1156 1157 1206 1207 1256 1257 Cd 17 Speed change request 1 Set 1 Change the speed 1158 1208 1258 Refer to section 5 7 List of control data for details o...

Page 452: ...the PLC CPU No 13 Speed change program Example Speed change command pulse New speed value setting Speed change command hold Speed change request setting Speed change write Speed change result read Spe...

Page 453: ...election 1 Set 1 External speed change request 62 212 362 Cd 16 New speed value 1000000 Set the new speed 1156 1157 1206 1207 1256 1257 Cd 25 External start valid 1 Set 1 Validate the external start 1...

Page 454: ...essing Speed change processing Write the new speed K1 D108 K1156 H0 DTOP K1 K1 K1171 H0 TOP Set the external start signal input to valid K1 K1 K62 H0 TOP Input the external start signal Set the extern...

Page 455: ...1 at the time Md 31 Feedrate becomes a value of 1 or less 4 If there is not enough remaining distance to change the speed when the speed is changed during the position control of speed position chang...

Page 456: ...1 to 200 a Set the following data Use the start time chart shown in section 2 below as a reference and set using the sequence program shown in section 3 Buffer memory address Setting item Setting val...

Page 457: ...ing sequence program to the control program and write it to the PLC CPU No 14 Override program Example Override command pulse Override value setting Override value write Artisan Technology Group Quali...

Page 458: ...deceleration time change is enabled the speed will be changed with the new acceleration deceleration time Cd 33 Cd 34 The details shown below explain about the acceleration deceleration time change fu...

Page 459: ...celeration time at the changeover to the next positioning data even if the acceleration deceleration time is changed to the new acceleration deceleration time Cd 33 Cd 34 c Even if the acceleration de...

Page 460: ...ation deceleration time remains valid until the changeover to the next positioning data The automatic deceleration processing at the completion of the positioning will also be controlled by the new ac...

Page 461: ...following drawing shows the torque change operation 50 100 0 Torque is limited by the torque limit setting value 50 of the parameters Various operations PLC READY signal Y1D 25 0 OFF ON V t Pr 18 Tor...

Page 462: ...sequence program The set details are validated when written to the AD75 Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Cd 30 New torque value Set the new torque...

Page 463: ...out the step function 1 Relation between the step function and various controls 2 Step mode 3 Step start information 4 Using the step operation 5 Control details 6 Precautions during control 7 Step fu...

Page 464: ...p start information during step operation Warnings will only be output when the step valid flag is ON Stop status in the step operation Md 35 Axis operation status Cd 28 Step start information Step st...

Page 465: ...An error occurred and the control stopped Take appropriate measures go to step c e Write 2 restart to Cd 28 Step start information and check that the positioning data where the control stopped operat...

Page 466: ...9 Fig 12 31 Operation during step execution by deceleration unit step b The following drawing shows a step operation during a data No unit step Cd 28 Step start information Cd 26 Step valid flag No 10...

Page 467: ...ttings To use the step function write the data shown in the following table to the AD75 using the sequence program Refer to section 4 Using the step operation for the timing of the settings The set de...

Page 468: ...2 33 Operation when a skip signal is input during positioning control 2 Precautions during control a If the skip signal is turned ON at the last of an operation a deceleration stop will occur and the...

Page 469: ...Axis 3 Cd 29 Skip command 1 Set 1 Skip request 1175 1225 1275 Refer to section 5 7 List of control data for details on the setting details b Add the following sequence program to the control program a...

Page 470: ...on 2 Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Pr 43 External start function selection 2 Set 2 Skip request 62 212 362 Cd 25 External start valid 1 Set 1 Va...

Page 471: ...t timing 2 M code OFF request 3 Precautions during control 4 Setting the M code output function 5 Reading M codes 1 M code ON signal output timing The timing for outputting storing the M codes can be...

Page 472: ...request Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Cd 14 M code OFF request 1 Set 1 Turn OFF the M code ON signal 1153 1203 1253 Refer to section 5 7 List o...

Page 473: ...not turn ON if 0 is set in Da 9 M code The M code will not be output and the previously output value will be held in Md 32 Valid M code c If the M code ON signal is ON at the positioning start an erro...

Page 474: ...section 5 2 List of parameters for setting details 5 Reading M codes M codes are stored in the following buffer memory when the M code ON signal turns ON Buffer memory address Monitor item Monitor va...

Page 475: ...which teaching is possible The addresses for which teaching is possible are Md 29 Current feed value having the zero point as a reference The settings of the movement amount used in increment system...

Page 476: ...ble after 100 000 times 3 Data used in teaching The following control data is used in teaching Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Cd 4 Target axis Se...

Page 477: ...l be carried out Turn OFF the PLC READY signal Y1D Carry out a writing request to the flash ROM Confirm the completion of the writing End teaching Select Set the current feed value to Da 5 Positioning...

Page 478: ...o the circular interpolation end point position using a manual operation Set the target axis in the buffer memory address 1103 Set the positioning data No in the buffer memory address 1104 Set 60FH in...

Page 479: ...y out a writing request to the flash ROM End teaching Confirm the completion of the writing Confirm that the buffer memory address 1106 has become 0 Confirm that the buffer memory address 1138 has bec...

Page 480: ...data 1 positioning amount Axis 1 1103 D27 1 Data No 1 1104 D28 1 1105 D29 0500H 1106 D30 1107 Open Deceleration time Use No 0 1108 D40 Positioning identifier M code No 1109 D41 M code ms 1110 D42 100...

Page 481: ...n or a manual pulse generator operation PLC READY signal AD75 READY signal V t Forward run JOG start signal Target position BUSY signal XA n2 n1 nx Md 29 Current feed value Example Error detection sig...

Page 482: ...g Teaching data write Teaching result read Teaching command storage OFF POINT 1 Use the address 1103 to 1137 areas in the system control data area as the buffer memory for the positioning data interfa...

Page 483: ...No 2 1104 D112 2 2 When the arc auxiliary point is set 1551 060FH 801 Address AD75 buffer memory When the positioning address is set 1295 050FH 1105 1106 D113 D114 Writing request 901 900 PLC CPU data...

Page 484: ...Teaching command 1 storage OFF Teaching command 2 pulse Interface data setting Teaching command 2 hold Teaching result end point read Teaching command 2 storage OFF Position the workpiece to the auxi...

Page 485: ...Confirming the command in position flag 1 Control details The following shows control details of the command in position function a When the remaining distance to the stop position during the automati...

Page 486: ...mmand in position width setting value Execution of the command in position width check Fig 12 38 Command in position width check b The command in position flag will be turned OFF in the following case...

Page 487: ...rameters for setting details 4 Confirming the command in position flag The command in position flag is stored in the following buffer memory Buffer memory address Monitor item Monitor value Storage de...

Page 488: ...g motor mode carry out control within the setting range of the mode b Circular interpolation control use is not possible Circular interpolation cannot be designated in the stepping motor mode Circular...

Page 489: ...direction is carried out by INC command after JOG operation stop or positioning stop it may be positioned 1 pulse more than the command pulses g Restrictions on electronic gears Vibration may occur if...

Page 490: ...initial value Pr 10 Bias speed at start Set the minimum speed during start 0 Pr 11 Stepping motor mode selection 1 Set 1 stepping motor mode 0 Refer to section 5 2 List of parameters for setting detai...

Page 491: ...and setting In the acceleration deceleration time size selection the sizes setting ranges of the acceleration time deceleration time and sudden stop deceleration time are selected and set Acceleratio...

Page 492: ...time 1000 Pr 9 Deceleration time 0 1000 Pr 29 Deceleration time 1 1000 Pr 30 Deceleration time 2 1000 Pr 31 Deceleration time 3 Set the deceleration time within the setting value range set in Pr 25 S...

Page 493: ...r Velocity Time Fig 12 40 S curve acceleration deceleration processing method When a speed change request is given during S curve acceleration deceleration processing S curve acceleration deceleration...

Page 494: ...eleration deceleration method 1 S curve acceleration deceleration processing 0 Pr 36 S curve ratio Set the acceleration deceleration curve when 1 is set in Pr 35 Acceleration deceleration processing s...

Page 495: ...ta No for indirectly specification No 8003 Set the positioning data No 1 to 600 whose execution will be started when 8003 is set as the positioning start No and started Positioning data No for indirec...

Page 496: ...1 indirectly specification data Buffer memory address Indirectly speccification No 8050 Setting item 4751 Positioning data No 1 to 600 Axis 1 indirectly specification data Buffer memory address Indire...

Page 497: ...sitioning start at the scan next to positioning completion provide X1 as an interlock to make a start after Y10 is turned OFF and X1 then turns OFF 1 Set 8001 to Cd 11 Positioning start No 2 Set the p...

Page 498: ...e sequence program and the data must be disabled from starting if the conditions are not satisfied Device Signal name Signal state Axis 1 Axis 2 Axis 3 PLC READY signal ON PLC CPU preparation complete...

Page 499: ...01 Continuous positioning control 3 11 Continuous path control 4 11 Continuous path control 5 00 Positioning complete c Start time chart Positioning start signal PLC READY signal AD75 READY signal Sta...

Page 500: ...ialization and execution data backup Read the setting and execution procedures for each common function thoroughly and execute the appropriate function where required 13 1 Outline of common functions...

Page 501: ...ash ROM to the factory set initial value There are two methods for this function 1 Method using the sequence program 2 Method using the AD75 software package Execution data backup function This functi...

Page 502: ...hod using the AD75 software package The execution method using the sequence program is explained in this section Refer to the AD75 Software Package Operating Manual for details on the execution method...

Page 503: ...to 30 seconds are sometimes required Do not turn the power ON OFF reset the PLC CPU etc during parameter initialization The flash ROM data may be corrupted 3 Initializing the parameters To use the par...

Page 504: ...software package The details shown below explain about the execution data backup function 1 Control details 2 Precautions during control 3 Backing up the execution data 1 Control details The followin...

Page 505: ...data is written to the AD75 Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Cd 9 Flash ROM write request 1 Set 1 flash ROM write request 1138 Refer to section 5...

Page 506: ...Display details 3 Changing the display details 1 LED display position The various types of information are displayed on the 17 segment LED and axis display LED on the front of the main unit The displa...

Page 507: ...ks IDL standing by OFF When an error occurs Operation monitor 1 The following is displayed Display ERR The LED of the axis in which the error occurred is flickering Operation monitor 2 The operation s...

Page 508: ...is c Input output information n display details The status of each signal is displayed in the input output information n mode The displayed signal is changed over in the following order every time the...

Page 509: ...ge over in the following order every time the mode switch is pressed Operation monitor 1 Operation monitor 2 Internal information 1 Internal information 2 Input output information n SVON Z ON ULMT LLM...

Page 510: ...ata Therefore synchronize it with the PLC CPU clock data about once a day c Data indicating the date in the PLC CPU clock data will be ignored 2 Setting the clock data The following shows the setting...

Page 511: ...ting program CPU clock data read command ON Clock data write command ON Date hour minute and second data transmission Clock data writing set Clock data write Clock data write command hold Clock data w...

Page 512: ...5 LED display and peripheral devices When an error or warning is detected confirm the detection details and carry out the required measures 14 1 Error and warning details 14 2 14 2 List of errors 14 6...

Page 513: ...interpolation control If the error occurred at the simultaneous start of a positioning operation the axis error storage details will differ depending on whether the error occurred before or after the...

Page 514: ...ll occur Note that a warning will occur for the following axes when an interpolation designation or axis setting error occurs During axis 1 and axis 2 interpolation control Axis 1 During axis 2 and ax...

Page 515: ...operation status from error occurring to standing by Changing of the operation status from step error occurring to standing by 4 Invalid operations For the following operations the setting details wil...

Page 516: ...14 5 MELSEC A 14 TROUBLESHOOTING MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 517: ...tor mode The command speed setting in the positioning data is out of the setting range for the stepping motor mode The AD75 READY signal X0 does not turn OFF Failure to start 100 Peripheral device sto...

Page 518: ...5 2 6 and 5 3 Speed data of parameter and command speed of positioning data 1 to 62500 pulse s 1 to 37500000 mm min etc Correct the speed data of the parameter to within the setting range for the ste...

Page 519: ...ording to sudden stop stopping group 1 setting deceleration and stop sudden stop selected in detail parameter 2 However deceleration and stop only during manual pulse generator operation 106 Stop sign...

Page 520: ...FF statuses of the stop command output signal external input issued to AD75 and turn OFF the active stop commands Output signals issued to AD75 Axis 1 Y13 Axis 2 Y14 Axis 3 Y1C External inputs Externa...

Page 521: ...oint return start is not carried out High speed zero point return start is not carried out 208 Outside creep speed range The value specified as a creep speed exceeds the value specified as a zero poin...

Page 522: ...amount after activation at the near point dog becomes longer Refer to sections 8 2 7 and 8 2 8 1150 1200 1250 Positioning start No 1 to 600 7000 to 7010 8001 to 8050 9001 to 9003 Execute mechanical ze...

Page 523: ...mand speed of the positioning data to be executed first in positioning start Operation at the start is not carried out 504 Outside linear movement amount range The movement amount in each axis for eac...

Page 524: ...000 mm min etc Correct the positioning data Examine the positioning address Refer to section 5 3 List of positioning data Positioning address movement amount In standard mode mm inch pulse degree INC...

Page 525: ...mpletion of preceding positioning data during continuous path control 514 Outside current value change range The address of current value change is outside the range between 0 and 359 99999 in the deg...

Page 526: ...17727 degree 0 to 35999999 Correct the positioning address movement amount of the positioning data to within the range of the software stroke limit Refer to section 5 3 Da 5 1154 1155 1204 1205 1254 1...

Page 527: ...stopping group 3 setting deceleration and stop sudden stop selected in detail parameter 2 However deceleration and stop only during manual pulse generator operation 525 Auxiliary point setting error...

Page 528: ...each of positioning data No 1 to 600 Command speed In standard mode 1 to 1000000 pulse s 1 to 600000000 mm min etc In stepping motor mode 1 to 62500 pulse s 1 to 37500000 mm min etc Correct the comma...

Page 529: ...icable when condition data is referred to for a conditional start wait start or JUMP command The target condition setting is out of the setting range The condition operator setting is out of the setti...

Page 530: ...ve the causes of the errors Correct the start block data and positioning data Correct the start block data Refer to section 5 4 Start block data Special command 00H to 07H Correct the special start da...

Page 531: ...does not start During operation Immediate stop 910 Outside speed limit value range The setting range of speed limit value in basic parameter 2 is out of the setting range 911 Outside acceleration time...

Page 532: ...to 65535 Two word type 1 to 8388608 12 13 162 163 312 313 In standard mode 1 to 1000000 pulse s 1 to 600000000 mm min etc In stepping motor mode 1 to 62500 pulse s 1 to 37500000 mm min etc Change the...

Page 533: ...ter 1 is out of the setting range 926 Command in position range The setting range of the command in position range in detail parameter 1 is out of the setting range 927 M code ON timing error The sett...

Page 534: ...than degree 20 170 320 0 1 21 171 321 0 1 22 23 172 173 322 323 In standard mode mm inch pulse 1 to 32767000 degree 1 to 32767 In stepping motor mode mm inch pulse 1to 2047937 degree 1 to 2047 24 174...

Page 535: ...rameter 2 is out of the setting range 953 Deceleration time 1 setting error The setting range of deceleration time 1 in detail parameter 2 is out of the setting range 954 Deceleration time 2 setting e...

Page 536: ...pe 1 to 65535 Two word type 1 to 8388608 42 43 192 193 342 343 One word type 1 to 65535 Two word type 1 to 8388608 44 45 194 195 344 345 One word type 1 to 65535 Two word type 1 to 8388608 46 47 196 1...

Page 537: ...r 2 is out of the setting range 966 Outside allowable circular interpolation error width range The setting range of the allowable circular interpolation error width range in detail parameter 2 is out...

Page 538: ...1 In standard mode 1 to 100000 In stepping motor mode 62 212 362 0 1 2 66 216 366 0 Positioning address pass mode 1 Near pass mode 70 220 370 0 1 2 3 4 5 71 221 371 0 1 72 73 222 223 372 373 In standa...

Page 539: ...celeration selection error The setting range of the zero point return acceleration time selection zero point return detail parameter is out of the setting range 994 Zero point return deceleration sele...

Page 540: ...000 pulse s 1 to 600000000 mm min etc In stepping motor mode 1 to 62500 pulse s 1 to 37500000 mm min etc 78 228 378 0 1 86 236 386 1 to 300 80 81 230 231 380 381 In standard mode 0 to 2147483647 In st...

Page 541: ...is issued when the axis is busy The deviation counter clear request is ignored 104 Restart not possible A restart command is issued in other than the stopped axis status Operation continues 105 Illega...

Page 542: ...r 8 1152 1202 1252 Restart command 1 Restart Correct the start request issuance timing Refer to section 6 5 5 Do not issue a restart command in other than the stopped axis operation status 1103 Target...

Page 543: ...300 Speed change during deceleration A speed change request is issued during deceleration and stop caused by turned OFF of the JOG start signal Speed change is not made JOG 301 JOG speed limit value...

Page 544: ...lue 1156 1157 1206 1207 1256 1257 JOG speed limit value 48 49 198 199 348 349 New speed value or JOG speed limit value In standard mode 0 to 1000000 pulse s 0 to 600000000 mm min etc In stepping motor...

Page 545: ...a speed change request is insufficient A speed change occurs at the nearest value However the request is ignored if the operation pattern is continuous path control 2 Restart is specified for the ste...

Page 546: ...ucture to one Refer to section 10 3 9 Do not turn ON the speed position changeover signal during acceleration Refer to section 9 2 9 Issue a speed change request at a position where the sufficient rem...

Page 547: ...be stored in the start during error history area The previous history items are cleared in order from No 1 when the No of history items is exceeded The start during error history can be monitored wit...

Page 548: ...examples with servo amplifiers manufactured by Matsushita Electric Industrial Co Ltd Appendix 20 Appendix 6 1 Connection example of A1SD75 AD75 and MINAS A series Differential driver Appendix 20 Appe...

Page 549: ...1 External dimension drawing 1 AD75P1 S3 AD75P2 S3 AD75P3 S3 AX1 AX2 AX3 MODE RS 422 AX1 2 37 5 4 2 250 4 2 106 52 PCB AX2 AX3 D75P3 S3 A Unit mm Artisan Technology Group Quality Instrumentation Guar...

Page 550: ...CES 2 A1SD75P2 S3 A1SD75P2 S3 A1SD75P3 S3 A1SD75P3 S3 AX1 6 5 93 6 52 PCB AX2 AX3 AX3 AX2 RS 422 AX1 MODE 34 5 130 1SD75P3 S3 A Unit mm Artisan Technology Group Quality Instrumentation Guaranteed 888...

Page 551: ...ppendix 2 Format sheets Appendix 2 1 Positioning module operation chart Axis address mm inch degree pulse Axis address mm inch degree pulse Artisan Technology Group Quality Instrumentation Guaranteed...

Page 552: ...Appendix 5 MELSEC A APPENDICES Axis address mm inch degree pulse Axis address mm inch degree pulse Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 553: ...unt 1 to 65535 10 1 m 1 to 65535 10 5 inch 1 to 65535 10 5 degree 1 to 65535 pulse Pr 13 Software stroke limit upper limit value Pr 14 Software stroke limit lower limit value 2147483648 to 2147483647...

Page 554: ...DICES Initial value Axis 1 Axis 2 Axis 3 Remarks 3 20000 20000 1 1 0 200000 1000 1000 0 0 0 2147483647 2147483648 0 0 100 300 0 0 0 0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Page 555: ...3 inch min 1 to 600000000 10 3 degree min 1 to 600000000 pulse Pr 33 JOG operation acceleration time selection Pr 34 JOG operation deceleration time selection 0 to 3 Pr 35 Acceleration deceleration pr...

Page 556: ...itial value Axis 1 Axis 2 Axis 3 Remarks Axis 1 1 Axis 2 2 Axis 3 3 0 0 1000 1000 1000 1000 1000 1000 20000 0 0 0 100 1000 0 0 0 300 100 0 0 Artisan Technology Group Quality Instrumentation Guaranteed...

Page 557: ...int return retry 0 Do not retry zero point return with limit switch 1 Retry zero point return with limit switch Pr 51 Zero point return dwell time 0 to 65535ms Pr 52 Setting for the movement amount af...

Page 558: ...Appendix 11 MELSEC A APPENDICES Initial value Axis 1 Axis 2 Axis 3 Remarks 0 0 0 1 1 0 0 0 0 0 0 300 0 0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 559: ...Da 3 Accelera tion time No Da 4 Decelera tion time No Da 5 Positioning address movement amount Da 6 Arc address Da 7 Command speed Da 8 Dwell time Da 9 M code 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0...

Page 560: ...1525 1526 1527 1528 1529 73 2020 2021 2022 2024 2025 2026 2027 2028 2029 24 1530 1531 1532 1534 1535 1536 1537 1538 1539 74 2030 2031 2032 2034 2035 2036 2037 2038 2039 25 1540 1541 1542 1544 1545 154...

Page 561: ...1 3022 3024 3025 3026 3027 3028 3029 24 2530 2531 2532 2534 2535 2536 2537 2538 2539 74 3030 3031 3032 3034 3035 3036 3037 3038 3039 25 2540 2541 2542 2544 2545 2546 2547 2548 2549 75 3040 3041 3042 3...

Page 562: ...1 4022 4024 4025 4026 4027 4028 4029 24 3530 3531 3532 3534 3535 3536 3537 3538 3539 74 4030 4031 4032 4034 4035 4036 4037 4038 4039 25 3540 3541 3542 3544 3545 3546 3547 3548 3549 75 4040 4041 4042 4...

Page 563: ...eviation CN3 A 10k 4 7 8 2 2 5 4 PULSE F 1 PULSE COM 19 PULSE R 2 PULSE COM 20 PP0 18 SG 47 NP0 19 A1SD75 AD75 CN1 When connected with an open collector wire the sections indicated by as shown below M...

Page 564: ...troke end 10V max current Upper limit Lower limit Stop Plate Plate Plate During torque limiting Manual pulse generator MR HDP 01 6 7 2 2 4 3 3 1 MR J2 A When connected with an open collector wire the...

Page 565: ...tive resistor is an external option 6 2 2 4 3 3 1 MR C A or MR C A1 When connected with an open collector wire the sections indicated by as shown below Reverse run stroke end 1 Assignment of the pin n...

Page 566: ...the A1SD75 AD75 is the same for axes 1 to 3 2 The upper limit FLS and lower limit RLS of the A1SD75 AD75 are used for the zero point return retry function 3 For cable connections on the stepping moto...

Page 567: ...Stop Speed position changeover 1 Assignment of the pin numbers of the connector of the A1SD75 AD75 is the same for axes 1 to 3 2 The upper limit FLS and lower limit RLS of the A1SD75 AD75 are used fo...

Page 568: ...p Speed position changeover 1 Assignment of the pin numbers of the connector of the A1SD75 AD75 is the same for axes 1 to 3 2 The upper limit FLS and lower limit RLS of the A1SD75 AD75 are used for th...

Page 569: ...it Stop Speed position changeover 1 Assignment of the pin numbers of the connector of the A1SD75 AD75 is the same for axes 1 to 3 2 The upper limit FLS and lower limit RLS of the A1SD75 AD75 are used...

Page 570: ...ion processing S curve acceleration deceleration Acceleration deceleration time Acceleration time and deceleration time setting possible 4 patterns each Acceleration deceleration time same Compensatio...

Page 571: ...setting 1 to 65535ms 1 to 8388608ms changeover possible 1 to 65535ms Pr 25 JUMP command Provided Not provided Section 9 2 11 Continuous operation interrupt function Provided Not provided Section 6 5 4...

Page 572: ...rence Differential driver 0 78A 0 7A Internal current consumption 5VDC Open collector 0 7A 0 7A Section 3 2 2 Function comparisons A1SD75P S3 and AD75P S3 software version Item F and subsequent versio...

Page 573: ...If the B phase were to lag behind the A phase in a forward run B phase turns ON after the A phase the A phase would lag behind the B phase in a reverse run A phase turns ON after the B phase In this w...

Page 574: ...plifier and positioning module compatible with an absolute position detection system are required to configure this system ABSOLUTE SYSTEM This is one system for expressing a positioning address Absol...

Page 575: ...ll not be sufficient to return the machine to its original position The machine cannot be positioned to its original position without an extra feed equivalent to the backlash amount This function comp...

Page 576: ...de Also refer to CW CHANGE signal The CHANGE signal is an external signal used to change the speed position control from the speed control being executed to position control CIRCULAR INTERPOLATION Aut...

Page 577: ...lue has been lost due to accidents etc If a machine zero point return is carried out after that the AD75 will recognize the zero point In fixed dimension feed etc rewriting the current value to 0 afte...

Page 578: ...pulse trains In general the transmission side is called the driver the reception side is called the receiver and a dedicated IC is used Command device Servo amplifier Driver Receiver DIGITAL BUS CONNE...

Page 579: ...btained Because electromagnetic brakes have no holding power they are used in combination with mechanical brakes to prevent dropping of the vertical axis ELECTROMAGNETIC BRAKE This function is supplie...

Page 580: ...e train to confirm whether the machine faithfully operated according to the commands issued in automatic control If the machine did not faithfully operate according to the commands a correction comman...

Page 581: ...ly outputs ON OFF pulses by the rotation of the axis 1 phase types output only A pulses and do not indicate the axis rotation direction 2 phase types output both A and B pulse trains and can judge the...

Page 582: ...to moving the tool in small steps at a time Inching Parameter setting is required when carrying out JOG operation kPPS This is the abbreviation for kilopulses per second 80kPPS equals 80 000 pulses p...

Page 583: ...reference Even if the current value is changed this value will not change MANUAL PULSE GENERATOR The handle of this device is manually rotated to generate pulses This device is used when manually carr...

Page 584: ...ositioning operations current speed can be varied between 1 and 300 The speed can also be changed by the same variable rate for continuous positioning with differing designated speeds P RATE Pulse Rat...

Page 585: ...Speed control Cur rent control Inverter Current feedback Speed feedback Position feedback Interface POSITIONING Accurately moving the machine from a point to a determined point The distance direction...

Page 586: ...e difference From 600 to 1 000 000 pulses can be output per shaft rotation Generators with a ZERO POINT signal function to output 1 or 2 pulses per shaft rotation Abbreviated as PLG Refer to the term...

Page 587: ...pattern the acceleration and deceleration follow a sine curve and the movement is smooth The S curve ratio can be set from 1 to 100 Acceleration Deceleration SERVO AMPLIFIER Refer to the term DRIVE UN...

Page 588: ...large This compensation is set in ms units SPEED LIMIT VALUE This is the max speed for positioning Even if other data is mistakenly set to a higher speed than this the positioning will be carried out...

Page 589: ...ositioning error to increase Motor Motor torque Load STEPPING MOTOR A motor that rotates a given angle example 0 15 when 1 pulse is generated For that reason a rotation proportional to the No of pulse...

Page 590: ...y stop circuit outside the PLC should be created Refer to the term LIMIT SWITCH Lower limit 0 Upper limit 3m Limit switch for emergency stop Positioning possible in a 3m range SUDDEN STOP A stop carri...

Page 591: ...re handled differently than errors WITH MODE This is the mode that outputs the M code before the start of the positioning This mode turns ON at the positioning start enabling voltage to be applied to...

Page 592: ...rent value will be rewritten to the zero point address Data cannot be written during positioning With the AD75 data is always written for all axes from 1 to 3 axes Refer to the term NEAR POINT DOG ZER...

Page 593: ...en the machine exceeded the hardware stroke limit range positioning toward inside the range was started but the machine did not start Use a JOG operation or Manual pulse generator operation to return...

Page 594: ...when the Pr 25 Size selection for acceleration deceleration time is set to 1 15 Simplified absolute position detection system Are simplified absolute position detection system possible in the A1SD75P...

Page 595: ...he following measures 1 Separate the near point dog signal and zero point signal detection positions 2 Lower the values in Pr 48 Zero point return speed and Pr 49 Creep speed 3 Confirm whether the zer...

Page 596: ...y but a vertically oblong circle results when INC type circular interpolation is carried out The address designation may be incorrect When carrying out INC type circular interpolation designate the re...

Page 597: ...r signal 10ms 44 Is a deviation counter clear signal output when the positioning is complete A signal is not output The only time the AD75 outputs a deviation counter clear signal is for a machine zer...

Page 598: ...nt shift Review the set sequence program and reset the correct parameters 59 When the start signal was turned ON immediately after the stop signal ON warning 100 start during operation was detected an...

Page 599: ...166 167 316 317 Pr 13 Software stroke limit upper limit value 18 19 168 169 318 319 Pr 14 Software stroke limit lower limit value 20 170 320 Pr 15 Software stroke limit selection 21 171 321 Pr 16 Soft...

Page 600: ...6 216 366 Pr 44 Near pass mode selection for path control Detailed parameters 2 Positioning parameters 70 220 370 Pr 45 Zero point return method 71 221 371 Pr 46 Zero point return direction 72 73 222...

Page 601: ...91 596 601 606 611 616 621 Md 16 Start time Second 100 ms 537 552 557 562 567 572 577 582 587 592 597 602 607 612 617 622 Md 17 Error judgment 623 Md 18 Start history pointer at error Start history du...

Page 602: ...rget speed 822 823 922 923 1022 1023 Md 43 Zero point absolute position 824 825 924 925 1024 1025 Md 44 Movement amount after near point dog ON 826 926 1026 Md 45 Torque limit stored value 827 927 102...

Page 603: ...3 1213 1253 Cd 20 Speed position changeover enable flag 1164 1165 1214 1215 1264 1265 Cd 21 Speed position changeover control movement amount change register 1167 1217 1267 Cd 22 Manual pulse generato...

Page 604: ...o 2299 3290 to 3299 4290 to 3299 No 100 Positioning data Da 10 Shape Da 11 Start data No Da 12 Special start command 4300 4350 4550 4600 4800 4850 Da 13 Parameter 1st point 4301 4351 4551 4601 4801 48...

Page 605: ...pecification data Positioning start information 5050 5099 Condition judgment target data of the condition data PLC CPU memory area Positioning data 5100 Target axis 5101 Head positioning data No 5102...

Page 606: ...nation of terms Appendix 27 AD75 A 16 AD75 READY signal 3 13 AD75 software package A 16 2 4 ADDRESS explanation of terms Appendix 27 AFTER mode 12 59 AFTER mode explanation of terms Appendix 27 AUTO T...

Page 607: ...ion of terms Appendix 29 CIRCULAR INTERPOLATION explanation of terms Appendix 29 COMMAND PULSE explanation of terms Appendix 29 COMPOSITE SPEED explanation of terms Appendix 29 CONTINUOUS POSITIONING...

Page 608: ...planation of terms Appendix 31 DIGITAL BUS CONNECTION explanation of terms Appendix 31 DOG SIGNAL explanation of terms Appendix 31 DOS V personal computer A 16 DRIVE UNIT explanation of terms Appendix...

Page 609: ...ading speed changeover mode 9 12 Functions for compensating the control 12 11 Functions to change the control details 12 35 Functions to limit the control 12 22 G GAIN explanation of terms Appendix 33...

Page 610: ...2 List of monitor data 5 82 List of parameters 5 18 List of positioning data 5 56 List of start block data 5 71 List of warnings 14 30 Logic selection for pulse output to the drive unit Pr 24 5 35 Low...

Page 611: ...planation of terms Appendix 37 OVERRIDE FUNCTION explanation of terms Appendix 37 Operation monitor 1 13 8 Operation monitor 2 13 8 Operation pattern Da 1 5 59 Operation patterns 9 4 Operation timing...

Page 612: ...ositioning start No setting program 6 14 Positioning start information area No 7000 7 3 Positioning start information area No 7001 to 7010 7 3 Positioning start signal 3 15 Positioning start signal in...

Page 613: ...BLE explanation of terms Appendix 40 RS 422 cable 2 4 Read write positioning data I F Cd 8 5 110 Read write request Cd 7 5 108 Reference axis 9 19 Reference axis speed 5 34 Relatively safe stop 6 36 R...

Page 614: ...ation deceleration time Pr 25 5 35 Skip command Cd 29 5 120 Skip function 12 55 Skip program 6 18 Software stroke limit lower limit value Pr 14 5 29 Software stroke limit selection Pr 15 5 30 Software...

Page 615: ...planation of terms Appendix 43 TORQUE CONTROL explanation of terms Appendix 43 TORQUE LOOP MODE explanation of terms Appendix 43 TORQUE RIPPLE explanation of terms Appendix 44 TRACKING FUNCTION explan...

Page 616: ...Appendix 45 ZERO POINT SIGNAL explanation of terms Appendix 45 Zero point absolute position Md 43 5 100 Zero point absolute position overflow underflow flag 5 98 Zero point address Pr 47 5 49 Zero poi...

Page 617: ...Index 12 MEMO Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 618: ...rm after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notifi...

Page 619: ...poration in the United States and other countries Other company and product names herein may be either trademarks or registered trademarks of their respective owners IB NA 66716 J Artisan Technology G...

Page 620: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 621: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 622: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...

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