Mitsubishi MELSEC-A A1SD71-S2 User Manual Download Page 158

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Summary of Contents for MELSEC-A A1SD71-S2

Page 1: ......

Page 2: ...REVISIONS The manual number is given on the bottom left of the back cover Prlnt Date Nov 1992 Manual Number IB NA 66399 A Revision First edition ...

Page 3: ...for choosing the MitsubishiMELSEC A Series of General Purpose Programmable Control lers Please read this manual carefully so that the equipment is used to its optimum A copy of this manual should be forwarded to the end User ...

Page 4: ...872 to 7871 3 62 3 5 4 Parameter area X axis address 7872 to 7889 Y axis address 7892 to 7908 3 63 3 5 5 Zero w X axis address 7912 to 7918 Y axis address 7922 to 7928 3 64 3 6 I O Signals To andFrom A1S CPU 3 65 3 7 I OInterfacewithExternal Equipment 3 71 3 7 1 A1SO71 electricalspecifications 3 71 3 7 2Pulse leadinghailing edge times of AlSD71 output signals 3 72 3 7 3 Input output interface spec...

Page 5: ...rtprogram 6 15 6 3 4 Speed positioning control switching program 6 23 6 3 5 Speed control program 6 26 6 3 6 Jog operation program 6 28 6 3 7 Positioningaddressteachingprogram 6 30 6 3 8Zeroreturn 6 34 6 3 9 Present value change 6 36 6 3 10 Positioning stop 6 38 7 CHECK LISTS 7 1 7 3 7 1General CheckList 7 1 7 2 Tests and AdjustmentsProcedure 7 2 7 2 1Sequencecheck 7 2 7 2 2 Positioning operation ...

Page 6: ... 2 Positioning Data DataNo to APP 8 2 3 M code comments APP 9 3 1ConnectionwithMitsubishi MELSERVO A APP 11 3 2ConnectionwithMitsubishiMELSERVO SO APP 12 3 3ConnectionwithMitsubishi MELSERVO SA APP 13 3 4ConnectionwithMitsubishi MELSERVO SC APP 14 3 5 ConnectionwithMitsubishi MELSERVO J APP 15 3 6 Connection with Oriental s stepping motor APP 16 n 3 7 Connection with Oriental s AC servo motor APP ...

Page 7: ...he same asthose of the AD71 Sl except for the following Modules Itemr AlSD7142 AD71 S1 I Number of I O points 148 points empty 16 points 32 points I32 points I Applicable PC CPUs AlSCPU All MELSEC A series PC CPUs except the A2CCPU installation POsi Master station local station remote 1 1 0 Master station local Station tions in the data link system station Positioning control mode Speed positionin...

Page 8: ...base AlS3EB I Positioning module AlSD71 S2 II I I I I I I L I This manual covers this range I Extension cable A1SC B a I I Extension base A1S B n v Cable AC R4 l r r I 1 l I Drive unit I I Servo motor Pulse motor Stepping motor I The respective drive unit I manualsgivedetails I I i Fig 2 1 OverallConfiguration 2 1 ...

Page 9: ...2 SYSTEMCONFIGURATION MELSEGA AD71TU AGGPP I SWOGP AD71 P I n I 3 AGPHP AClOMD Cable L AC30R2 Cable L General purpose CRT Printer 2 2 ...

Page 10: ...idinstallingthe AlSD71 in anextensionbaseunit AlS52B A1S55BI AlS58B not equipped with apowersupply module since the power supply capacity may be insufficient b If it is necessary to installthe AlSD71in anextensionbaseunit which does not have a power supply mpdule select a power supply module main and extension base units and extension cables taking into consideration a the power supply capacity of...

Page 11: ...m disk I I I SWO GPPU I User disk 3 5 inch formatted I I I IAC30R4 ICable for connecting AlSD71 and AGPHPE 3 m 9 84 ft length I User disk SWO GPPU Floppy disk for storing user programs 3 5 inch formatted RS 422 cable Cable for connecting CPU and AGGPPE 3 m 9 84 ft length AC30R4 AC300R4 AClOMD Cable for connecting CPU and AGGPPE 30 m 98 4 ft length Cable for connecting GPP screen monitor display 1 ...

Page 12: ...p noise voltage 1 ps noise width and 25 Dielectric 5 MQ or larger by 500 V DC insulation resistance tester across AC ex Insulation 1500 V DC for 1 minute across AC external terminals and ground withstand voltage 500 V AC for 1 minute across DC external terminals and ground resistance ternal terminals and ground Grounding Operating ambience Cooling method Self cooling Class 3 grounding If appropria...

Page 13: ...mlPLS command unit 1 x to 0 001 inch PLS command unit 1 x los5 to 0 001 degreelPLS I 10 to 200000 PLS sec command unit 10 PLSlsec Positioning speed I10 to 120000 mm min commandunit 10 mmlmin 1 to 12000 inch min commandunit 1 inch min I 1 to 12000 idegreelmin commandunit 1 degreelmin Acceleration and deceleration IAutomatic trapezoidal acceleration and deceleration Acceleration and I64 to 50000 mse...

Page 14: ...efer to the AD71TU OperatingManual Positioning control functions are shown below Function I IError detection Set data read andwrite Present value and speed read Teaching positioning data write Sequence Program or A6GPP Two axis independent operation operation Two axis interpolation An error code is provided by the AlSD71 if a data setting or positioning control error occurs For details of the erro...

Page 15: ...ions in accordance with the positioningdatasetby a one timestart signal and stops operations due to a stop signal from the PC CPU externalSTOP signal from the AD71TU Operationscon signal the peripheraldevice or a stop tinue until a stopsignalisreceived The currentvalue management is not per formed Speed control mode An operation that is similar to a two axis simultaneously with two axes independen...

Page 16: ...log voltages by a D A converter and changed into speed commands The drive unit gives a speed command The motor begins torotate and the pulse generatorPG gives feedback pulses in proportion to the revolutionsof the motor to subtract accumulated pulses The motor rotation continues maintaining the constant deviation counter pulse value Whenthecommandpulseoutput fromthe AlSD71 ceases thedeviation coun...

Page 17: ...pulse VS K c Expression 1 indicates the travel per pulse i e the number of output pulses x A Using expression 2 calculate the command pulse frequency from the workspeedandpositiondetectionincrement Expression 3 indicatesthe relation between the command pulse frequency and deviation counter pulse value Any of the four positioning units mm inch degree and PULSE may be selected individually for the X...

Page 18: ...D71 test AlSD71 monitor etc via the AlSD71 s RS 422 connector Controlsignalcommunicationtoandfromthedriveunitandpulsetrain output from the AISD71 For the I O interface refer to Section 3 8 Communications between drive unit and AlSD71 AlSCPU AlSD71 7 1 Y2D AlSD71 ready I C xll PC ready Reversejog start Forward jogstart Zeroreturnrequest Zero return start Zero return complete y27 y29 y28 Y2A x16 x17...

Page 19: ... data See section 3 5 2 However those parameters acceleration de celeration time deceleration time for an m e r gency stop and positioning mode that cannot be set in the peripheral device or AD71TU 1 1 Setpositioning data See section 3 5 3 must be set withasequenceprogram Zero return start signal Y23 Y24 Yes Write positioning start data No into buffer memory Write start data numbers into X axis ad...

Page 20: ... signal output time 0 0 Pulse output mode I o I o I o l o I o Rotation direction setting 0 Positioning method 0 0 0 0 0 M code ON OFF timing I I I o 1 0 1 Deceleration time for emergency stop 0 0 0 0 Positioning mode 0 0 0 0 Zero return direction 0 0 0 0 Zero return address 0 Zero return method 0 0 0 0 Iero eturn data Zero return speed I I o 1 I I Zero return creep speed 0 Zero return dwell time 0...

Page 21: ...ore writing setting data use a peripheral device to do allclear processing of the memory However all clear of the following data cannot be done by using a peripheral device Therefore write 0 in the sequence program to clear the memory in thesecases 1 Deceleration time for an emergency stop 2 Positioning mode When using either the Xor Y axis write parameter and zero return data to the axis not used...

Page 22: ... an AlSD71 When setting by a peripheral device or AD71TU set any value inthe settingrange The following parameters in Table 3 5must be set with a sequence program refer to Section 6 1 Item No 11 1 AcceleratiorVdeceleration time 2 Item No 17 Deceleration time for an emergency stop 3 Item No 18 Positioning mode OFF to ON selected in theperipheral device or theAD7lTU When setting a valueof 5000 msec ...

Page 23: ...C CPUprogram Parameter data is explained as follows 1 Unit Selects the units mm inch degree or pulse for positioning control Can be set independently forX and Y axes e g X axis mm Y axis degree 2 Travel perpulse of the system A1SD71 Specifies the travel distance per pulse as determined by the mechanics Controlsthenumber of pulsescontainedinthepulsetrainfromthe 3 Speedlimitvalue Specifies the maxim...

Page 24: ...is whose travel distance is short 6 Backlash compensation Allows a backlash compensation seeFig 3 4 to be programmedinfor accuratepositioning Note thatthere is also anerrorcompensation facility to allow for tolerances within the mechanical drive see note 9 When backlashcompensation is set every timethetraveldirection changes during positioninginthe positioning control mode a feed pulse occurs whic...

Page 25: ...andmanualpulserinching thestrokelimitis ignored 8 Lowerstrokelimit Defines the lower limit value of machine travel The strokelimit is checkedbeforeeachpositioningoperationand if outside the allowed range positioning is halted Duringjog operationandmanualpulserinching the strokelimitis ignored The lower stroke limit during operations in the speed controlmode and the speed positioning control switch...

Page 26: ...e error Backlash compensation Backlashcompensationactualvalue x A Setvalue 10 Manual pulser inching travel increment The AlSD71 does not have a manual pulser inching function Therefore the travel distanceper pulse of a manual pulser isnot used When setting a parameterby a peripheral device or AD71TU an error occurs if a numerical value outside the setting range is set Therefore always set numerica...

Page 27: ...e SWOGP AD71P AD71TU 64 to 4999 msec can be set If the acceleration and deceleration times are set within the range of 5000 to 50000 msec data must be written to the parameterarea X axis address 7876 and Y axis address 7896 using a sequence program Hexadecimal input 17 Decelerationtimefor an emergency stopgivesdetailsaboutan emergency stopinashorter time thanthedecelerationtimesgiven above 12 Posi...

Page 28: ...des in the same axis e g X axis set 2 Inthis case the modeis controlled by the individual piece of positioning data Refer to Section 3 5 3 a M code ON OFF timing M codes are coge numbers 1 to 255 assigned by the user to control auxiliaryfunctions for example damp drillrotation stop and tool exchange commands etc at definedpointsinthepositioningcycle These are used by the PC CPU to co ordinate the ...

Page 29: ... Operation Dwell I I M code I BUSY I I I I I I I I M code ON I I I I I M code OFF Controlswitchingsignal I Fig 3 8 2 WITH Mode SignalTlming Note The WITH code ON signaldoes not turn ON during restarting intheswitching mode b AFTER mode The M code ON signal is given after the positioning operation has finished In this mode if theoperationisstopped before it is com plete the M code ON signal is not ...

Page 30: ...f the positioning pattern is 11 and the M code ON signal is not given For details of the positioning pattern refer to Section 3 4 3 The next positioning operation is not started until the M code ON signalisswitchedoff An errorconditionarises if the M code ON signal is on at the riseof the start signal and positioning is not started The M code ON signal is turned off when 1 M code OFF signal change...

Page 31: ...ing processing begins Start I I Pattern 11 M code set for patte 00 is set at this poi Mcode ON M code ON Mcode OFF Fig 3 10 M Code ON Signal Timing for Positioning Pattern 11 Fig 3 10 shows the M code ON signals in the WITH mode and the AFTER mode However this is only to explain the M code ON signal and either WITH mode or AFTER mode can actually be used POINT I Whenrestartpositioning is executed ...

Page 32: ...I I I H Emergency stop signal STOP signal ON from the drive unit PC READY signal YZD OFF Stop signals Y25 Y26 ON fromthe PC CPU Input of the BREAK key from the peripheral device or the STOP key from an AO71TU 18 Positioning mode Sets the control mode when executing positioning The same positioning mode to theX axis and Y axis in a parameterarea buffer memory address 7889 must be written with asequ...

Page 33: ...er is controlled by the initial value When an error occurs in the parameter the parameter is controlled as follows by the initialvalue Positioning mode Parameter other Ix axis 1 I With an error I IWithout an error Switches to the positioning I control mode The parameter of the X With an error and Y axes is controlled by Y axis initial value Without an error Without an error A parameter other than ...

Page 34: ...l timer time out Zero return method 3 Creep speed 5 mm min 1to12000 Zero return speed 4 x 10 prn 162 x 07 Zero return address 0 to 0 to 0 to 0 to 162x10 16252928 deg 162 x107 inch PLS x 10 x10 g m i n 1 to12000 y ch min 1to12000 pLS sec 1to12000 1 to12000 inch min 1to12000 mm min 1to12000 PLs sec x10 x1 x10 6 10 to 250 Torque limit 7 0 to 499 x10 msec Zero return dwell time POINTS I 1 No 3 to No 7...

Page 35: ...ero phase signal method This methodof stopping by a zero phase signal from the PG is shown in Fig 3 11 A PG with a zero phase signal is necessary Refer to Fig 3 12 Zero return speed Deceleration by near point dog ON cr Creep speed I Near Point dog MDrift in accordancewith the drive I u u U U I U e u s t the actuator so that the near point dog OFF position is near the center of the zero phase signa...

Page 36: ... 3 13 1 Zero return by Using Stopper Stop 1 c Mechanical stop 2 caused by an external stop command This is the method of stoppingbyinputting an external stop com mand when a servo motor interferes with the stopper Refer to Fig Forcibly input a zero phase signal stop command to the zero phase signal terminal by an external switch after the near point dog goes ON 3 13 2 When inputtingazero phasesign...

Page 37: ...the caseof zero return by stopper Therefore set the creep speed taking the error range and the size of an impact into consideration Zero return speed starts deceleration Actuator signal Creep speed I I Zero return dog Actuator Drift according to drive unit ON OFF U U J Zero phase signal t I Adjust the actuator so that its OFF position is near the center of the zero phase signal Torque limit valid ...

Page 38: ...o return POINTS A D A converter is necessary for torque limit Be sure to set it when doing a zero return operation by stopper stop Even if any value in thesettingrange is inputwhentorque is not 2 limited there is no problem Torque limit value Pulse Drive unit converter unit bv Droaram Analog amount t i 4 i I I 3 27 ...

Page 39: ...st Sotting Data b15 b8b7 d J bO Positionin pattern I 00 Positioning terminated 01 Positioning continued 11 Speed changed and positioning then continued Positioning method 0 Absolute 1 Incremental Valid only when incremental absolute combination is specified in parameter Positionin direction valid in incremental mode only 0 Forward direction address increase 1 Reverse direction address decrease Unu...

Page 40: ... After switching to positioningcontrol thecurrentvaluebeginswith 0 Therefore the same control is executed whether the absolute method or the incremental method is used 2 When M code not used is set by parameter this data is not used W Data without the 0 symbol in the table is not checked All values are ignored The data to be set as positioning data is explained below 1 Positioning information Sepa...

Page 41: ...uedafterchangingspeed at thespecified address Fig 3 16 shows how to specify bits in the buffer memory to specify the positioning pattern This pattern data is specified by the first two bits of the positioning information Bit 1 Bit 0 Positioning pattern 00 Positioning end 01 Positioning continued in any direction 11 Speed changed and positioning then continued 10 No setting in the same direction Fi...

Page 42: ...X14 I I I Speed graph P address t dwell time1 V speed Po v1 P1 I I v3 P3 j tl t2 t3 k Pattern 01 Pattern 00 Fig 3 18 Pattern 01 Pattern 00 should be set for the last position in a series of continuous operations Pattern 01 may be set for interpolationpositioning Inthiscase the patterns for the X and Y axes should be the same The X and Y axis patterns are checked before operation andany error will ...

Page 43: ...ositioning commenced X18 BUSY Xl4 4 I I P1 P2 P3 Po Pattern 11 11 01 I I M code M code ON 1 P address pulse V speed P S t dwell in 0 01 secondincrements I Fig 3 19 Pattern 11 Table 3 8 shows the positioning data for Fig 3 19 The following conditions apply M code ON OFF timing AFTER mode Incremental absolute method Incremental and absolute combined Table 3 8 Posltionlng Data 106 107 108 In the meth...

Page 44: ...fiedwhen pattern I 1 is being used 6 Pattern 11 and pattern 01 cannot be used in the speed positioning control switching mode If positioning patterns 11 and 01 are set during positioning control inthespeed positioningcontrolswitchingmode allpositioning patterns will be executed as pattern 00 Example 1 When positioningpattern 11 is set inthespeed posi tioning control switching mode During setting D...

Page 45: ...changed after pattern 00 or pattern01 c Positioningdirection For incremental mode positioning the direction of travel relative to the previous address must be specified 0 specifiesforward increasingaddressnumbersand 1 specifiesreverse decreasing address numbers In absolute mode the positioning direction is ignored Settheoperationdirectionwhenstartingpositioninginthe speed positioningcontrolswitchi...

Page 46: ...lue I 20 KPLSlsec I 50 KPLSlsec I IPositioning data set value positioning speed I 20 KPLSlsec 1 50 KPLSlsec I To move from point A address 0 0 to point B 100 kp 200 kp X axis travel is less than Y axis travel so Vy 50 kp s has precedence X axis positioning speed 50 x 25 KPLS sec 100 200 This speed exceeds the speed limit value which is ignored in this case kP i T z l 0 A O 100 X I W k P I Fig 3 20...

Page 47: ...ingtheincrementalmethod set thetraveldistanceinthe position control mode When using the absolute method set the target position Set the travel distance after receiving a control switching signal in the speed positioning control switching mode 4 Dwell time The dwell time is the period of time indicated in Fig 3 21 below BUSY X14 I I I I Speed graph I For pattern 00 U Dwell Fig 3 21 Pattern 00 Durin...

Page 48: ...r an AD71 Speed positioning control The AlSD71 operates in the speed control switching mode mode by a one time start signal Then when an external control mode switching signal is input it switches to the position ing control mode stop signal goes ON Speed control mode The AlSD71 continues operating until a 1 Positioningcontrol mode Section 3 4 3 gives details I 4 d I 3 37 ...

Page 49: ...rd direction 12 v 2 P2 Speed change No 82 I I I I I I I I Start signal Y20 Positioning I I commenced X18 Positioning complete X12 L I I I I BUSY X14 I M code ON WITH I I I AFTER I M code ON I I I I I I I I I M code OFF I I Current value Setting travel distance Control switching signal I I Enable signal I I to Positioning complete signal time Note If a control switching signal goes ON when the enab...

Page 50: ...a control switching signal is received when traveling within backlash the remaining amount of travel distance will fluctuate Afterastartcompletionsignalgoes ON whena BUSY signalis ON the control switching signal becomes valid It becomes invalid even if a control switching signal is input after that Start b Control switchingsignalvalid range BUSY I I Positioning commenced I 200 psec Positioning err...

Page 51: ...I Positioning address Controlswitchingsignal Setting travel distance area 0 x P1 Fig 3 23 Positioning Address Switch Timing POINTS I When data is writtenin a travel distance change area from a PC CPU witha sequenceprogram the OS recognizesatraveldistancere quest A travel distance change is valid until a control switch signal is input during BUSY in the speed positioning control switching mode If d...

Page 52: ...1 P1 Current value PI Positioning address P l P l Note When a stop signal is given after a control switching signal is input restart be comes valid Except for this case if restart is set an error occurs and starting does not lake place Fig 3 24 Timing of Temporary Stops and Restarts I X axis Positioningdata Direction Dwell time Speed Address 1 decrease direction t2 V 5000 Control switching signal ...

Page 53: ...ddress decrease 2 Current value setting travel distance Direction is the same Note When the current value is changed Positioning data positioning direction is not used The travel distance is decided by the current value and the setting travel distance Travel distance I Setting travel distance current value I Positioning data positioning address is not used M code is set again When the M code is us...

Page 54: ...signal and input of the BREAK key from an AD71TU and peripheral device are judged to be stop signals Section 6 3 10 gives details Fig 3 26 Speed Control Mode Setting Example I I Processing continues until a stop signal is received If the stop factors The current value is set to 0 when starting and does not change during The positioning complete signal M code ON signal does not go ON The speed can ...

Page 55: ...ecel eration timing of the two axes The positioningaxiswhosepositioning speed is faster becomes the priority axis master axis and thespeedisadjustedin accordance with the speed acceleration deceleration curve of the axis Positioning speeds 50 KPPS 20 KPPS X axis master axis I I I I I I I I Fig 3 27 Example of a Master Axis During interpolation 3 44 ...

Page 56: ...status of the A I SD71 General write conditions are shown in Fig 3 28 For further details refer to Section 3 5 1to 3 5 5 n Writingdatafromthe sequence program One word 16 bit or two word data canbe written by using the buffer write application instructions Writingdatafromtheperipheraldevice Data canbe written by storing datato a memory area in the peripheral device and transferring data in blocks ...

Page 57: ...g information follows Write enabled at speed 2 bytes 16 bits any time 2 bytes 16 bits 2 bytes 16 bits 4 bytes 32 bits address Block transfer of po sitioning data from peripheral device to A1 SD71 is only en abled when PC ready signal is off Y axis positioning data area des 400 positions cribedinSection3 5 3 MaximumWriteenabledat Data format as for X axis any time tion 3 5 1 X axis Parameter area e...

Page 58: ...40 41 I 341 42 I 342 I I I 43 343 44 I 344 45 345 46 I 346 1 I 47 I 347 I 40 I 340 8 49 349 I I I I l l I l l I 1 I l l 260 I 5b0 201 I 501 202 I 502 203 I 503 204 I 504 I I I I 205 I 505 Start data No 1st point Start data No 2nd point Start axis Start data No Start axis 3rd point I I Start data No Start axis Pointer 20th point Speed change data I Present value change Start data No area Jog speed ...

Page 59: ...annotbe force changed under the following circumstances after a deceleration start point after a stop command or after the jog signal is turned off or 0 during interpolation positioning 2 Presentvaluechangearea X axis address 41 42 Y axis address 341 342 To change the present value datain the AlSD71 write the new value to these addresses IPOINTI The present value cannot be changed while the AISD71...

Page 60: ...using a sequence program and displaying it externally 5 Status area X axis address 43 Y axis address 343 Is reserved for theinformationshownin Fig 3 31 andis setbythe AlSD71 OS Set to 0 L bO Bit ON Bit OFF Battery alarm Zero return request During dwell time During positioning BUSY All conditions and inching operations except bit ON conditions c but not zero return jog b Zero return complete I Zero...

Page 61: ... address It takes 20 to 30 msec to set an error code after outputting an error detection signal X1B be written here For error codes refer to Chapter 8 7 M code area X axis address 46 Y axis address 346 The M code specified in the positioning data for the current positioning operation is writtento these addresses The M code number can be used to co ordinate external equipment and processes I b15 b7...

Page 62: ...ockcurrentlybeing processed is written to these addresses bythe AlSO71 OS This number is retained until the next positioning operation begins Refer to Fig 3 33 I I Positioning I I complete j I I 0 I I k Control I I switchingsignal I Fig 3 33 Current Data No Update Timing POINTI Do not write data to these addresses I 3 51 ...

Page 63: ...ress Iaddress 0 I 300 1 I 301 2 I 302 3 I 303 4 I 304 I I 1 1 1 1 1 1 I l l 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 I l l I l l I l l I l l 37 I 337 I 38 338 39 339 I I I I I I I I I I I I I Start data No Start data No Start axis Start data No Start axis Start data No Start axis Pointer 1st point Start axis for this start data No depends on start signal Y20 to 3rd point J 7 For 2nd to 20th points set start ...

Page 64: ... b Data settingprecautions 1 When both axes are to be startedtogether Le interpolation setting 00 or independent setting 11 ensurethatthestartaxis data matches for both X and Y axes at that point Processing will stop if the data does not match Refer to Fig 3 36 X axis Address 0 1 I 200 I Y axis Address 300 I 100 1st point 301 2nd point 3rd point 304 305 306 4th point In the above example X axis Y ...

Page 65: ...1 305 306 Y axis 100 1st point I h l 2nd point Startaxis 1 0 3rd point specification 4th point If the 2nd and 3rd points of the X axis are set to the Y axis 10 as shown above the 2nd and 3rd points are ignored and the positioning of the 4th point is processed The 3rd point is ignored and positioning is switched to the 4th point be cause the 3rd point of the Y axis is set at the X axis 01 Point upd...

Page 66: ...03 210 304 interpolation 3rd point start Assumes that Y axis has started The X axis starts positioning automatically from the 3rd point because the 3rd point is set to interpolation start when the Y axis completes positioning of the 1st and 2nd points Start No 50 Y axis _ _ Dwell I Dwell Dwell I I 40 I 00 I I I I I I X axis Y axis start Y axis busyJ X axis busy I 1 I I 1 I 1 1 I I1 I I I I I1 I1 I...

Page 67: ...xis positioning processing is executed The X axis does not start interpolation positioning if the Y axis is perform ing zero return a JOG operation or BUSY using a manual pulse generator when positioning of the X axis is switched to the 3rd point Then an error is registered and positioning processing is stops P o i n t u p d a t e 1 V Start I t No 108 l I I I I Dwell Dwell t Y axis zero t return s...

Page 68: ...nt 302 number but processing waits until Y axis completes 1st seauence X axis Y axis Start data No 54 n Start data No 300 Start data No 54 r I 1st sequence I i2nd sequence I I I I I I f Start dat I I I I 1st sequence I 2nd sequence I I I I I I I X axis busy I I I I I Y axis busy The execution start number remains at itspreviousvaluewhile waiting for the other axis When the point of the other axis ...

Page 69: ...point I X axis start I I 1 I I I 1 I I l l I I 1 1 I I I 1 I I 1 1 I I I I I I I I I I I I I I I X axis busy Y axis start I I Y axis busy I IY axis switches to2ndDoint but I X axis has reached stait point 3 Positioning stops 1 Since the 2nd pointof the X axis is specifiedto the both axes start number 140 ofY axis 2nd point data starts 2 Data number 58 is started by a Y axis start command during ex...

Page 70: ...canbe selected in this area Valid during zero return JOG and positioning refer to Section 3 4 1 1 7 1 Emergency stop 0 Normal stop I The 15 bits of b l to 15 can be set at either 1 or 0 _ _ _ _ _ _ Fig 3 43 Emergency Stop Area Details POINTSI When setting an emergency stop area to emergency stop bo l it stops every time an emergency stop signal is input It canbedeceleratedandstopped by turning OFF...

Page 71: ...el distance change is valid only before control switching Travel distance change is ignored after control switching 13 Restart areas X axis 203 and 204 Y axis 503 and 504 Use this area to set restart when stopped halfway after a control change in the speed positioning control switching mode refer to Section 3 4 4 1 Restart setting setting with a sequence program 0 Restart processing completed sett...

Page 72: ...he value is stored during the torque limit in the zero return 607 Y axis torque limit value Ij E E stored in othercases X axis setting rank travel distance area 609 Y axis setting rank 611 I The setting travel distance after the control change is stored during execution in the speed positioning control switching mode 4 R E M A R K The outputspeed of the X and Y axes and the torque limit value be c...

Page 73: ...ress 3872 I 5872 3873 5873 3874 5874 I I I I I I I I I I I I I I 4271 6271 4272 i 6272 4273 6273 4274 1 6274 _ _ _ _ I I I I I I I I I I a 4671 i 6671 Data No l Positioning information details Positioning information Positioning speed Dwell time Positioning address Data No 3 b15 b8 b7 Data No l I Data No 2 Positioning pattern 00 Positioningterminated 01 Positioning continued 11 Patternchange 1 r L...

Page 74: ...ss 7872 7892 7873 7893 I I 7874 I 7894 I 7875 I 7895 7876 I 7896 7877 I 7897 7878 7898 7879 I 7899 7880 I 7900 7881 7901 7882 I 7902 7883 I 7903 7884 7904 7885 I 7905 7886 I 7906 7887 7907 7888 I 7908 7889 I I I I I I I I I I I I I 1 I l l I l l I l l 7891 7d11 b15 b7 Parameter data Travel Der Dulse 1 Speed limit value ignored 1 by os Jog speed limit value Accakration and decelerationtime Backlash...

Page 75: ... 7926 i 7927 I 7928 I 7929 i 7931 I I I I I I I 1 I 1 Zero address Zero return speed Zero return creep speed Zero return dwell time Torque limit b15 M bO t t t Zero return information Unused area should not be used L C ii LReturn method with mechanical stop 0 Mechanical stop 1 1 Mechanical stop 2 0 Forward direction 1 Reverse direction Zero return direction address increase address decrease Zero r...

Page 76: ...dog timer error x 11 x12 X13 X14 X axis Positioning complete X axis Y axis X15 X16 X axis Zero return request Y10 to Y1F Used by system Unavailable to the user X17 X18 x19 X1A X1B Error detection I x 1 c Zero return complete I Y axis X1D X1E X1F 20 to X2F X axis 1 M code ON Y axis X axis I I Y21 X axis Zero return start 1 Y25 X axis Y axis I Y26 Jnusable E Y2A X axis Forward jog start X axis Rever...

Page 77: ...oes ON Use this signal for the interlock in the sequence program PC ready signal Y2D AlSD71 ready signal X11 I I U I I 1 I t 1 5 sec 3 Positioningcomplete X12 X13 Switchesonforaperiod set in theparametersaftereach positionis reached Ignored if the positioning complete signal output time 0 Switched off at positioning start Zero return start inching start jog start and power on If positioningisstopp...

Page 78: ...ode by a peripheral device or AD71TU 7 Batteryerror X1A Switches on whenbattery voltage drops 8 Errordetection X1 B Switched on by any of theerrors in Chapter8 Switchedoffwhenthe error is reset For resetting refer to Section 3 3 2 7 9 Zero return complete X1C X1D Switches on to indicate the completion of zero return Switched off at the start of the next process 10 M code ON signals X1E X1F These a...

Page 79: ...ends the correct PC CPU operation to the AlSD71 At the start of positioning zero return jog operations other than those carried out in a peripheral device or AD71TU this signal must be ON However if one axis is in BUSY in the test mode when usinga peripheral device the leading edge of the PC ready signal is ignored Then when both axes are not in BUSY execution takes place 1 Parameter checking and ...

Page 80: ...I 1 I I 1 I I 1 I I t DWe II I I I I I I PC ready Y2D AlSD71 ready X1 1 Zero return complete XlC I Positioning complete X12 Stop Y25 Positioning commenced X15 BUSY X4 Start positioning Y20 M code M code ON XlE M code OFF Y2B Note If positioningoperation is shorterthan the positioningcompletesignal output time in the When a signal with a symbol is ON before the positioning start signal goes ON the ...

Page 81: ...OFF Y2B Note 1 When a positioning operation is shorter than the output time of a parameter s positioning completesignal the positioning complete signal is sometimes output continuously Zero return Zero return speed Speed graph I PC ready signal Y2D AlSD71 ready X11 3 j Zero return complete XlC 1 I Positioning complete X12 A I I I I I I I Stop Y25 1 Positioning commenced X18 BUSY X14 Zero return re...

Page 82: ...or more Low Supply power voltage 3V or less High Supply power voltage 1V or more Input current 0 3mA or less Input current 2 5mA or more Low Supply power voltage 3V or less Pulse width 50 ps or more Pulse rise time 3 ps or less Pulse fall time 3 ps or less 5 VDC Prepare 4 75 to 5 25 V stabilized power supply HIGH level Voltage 4 5 V or more Current 3 mA or more LOW level Voltage 1 OV or less Curre...

Page 83: ...I 200 50 0 5 50 0 5 50 0 4 10 48 0 5 48 0 5 48 0 4 100 45 0 5 46 0 5 46 0 4 50 0 1 0 1 0 1 Unit tf tr ps Duty o o 200 50 0 3 50 0 3 50 0 3 10 52 0 3 52 0 3 52 0 3 100 52 0 3 52 0 3 52 0 3 50 0 1 0 1 0 1 PulseIeadingArailingedge 3 7 3 input outputInterfacespecificationsof the AlSD71 and anexternaldevice The input output interface specifications of the AlSD71 and an external device are given in Tabl...

Page 84: ...witches thestartsignalOfF HIGH Whenswitch ing from HIGH to LOW positioning is not started Stop signal S T O P 1 Usedto detect near pointduringzeroreturn Switched to LOW by using thenear point actuator 2 Whenzero return by usingthe zero phasesignal The grid point is resolver p h u e angle 0 the zero point is away from the dog and becomes thefiratgridpointafterdetecting the near poin dog Zero point ...

Page 85: ...rnal supply 178 and 208 for 5 to 12 VDC to power 17A and 20A for 24 VDC feed pulse P Reverse Direction feed pulse sign PULSE R SIGN Y E Forward and reverse feed pulses The opera lion directionfollows thedirection sian SIGN 25 ms direction travel direction travel PULSE F m U u PULSE R v u Select the A or B type by parameter setting For details refer to Section 3 4 1 3 8 Battery Specifications Table...

Page 86: ... the two fixing screws When thedrive unit is not connected keep theconnectorareacover closed When the AlSD71 is not BUSY connect a peripheral device or AD71TU to the A1SD71 After confirmingthecorrectinsertiondirection inserttheconnector directly from the front Then tighten the two fixing screws When a peripheral device or AD71TU is not connected keep the connec tor area cover closed To install the...

Page 87: ......

Page 88: ...shipment to prevent battery drainage Always connect the battery leads before using the AlSD71 Refer to Section 9 for details about batteries Blue line side I IMPORTANTI I I I The components on the printed circuit board may be damaged by static electricity When handling the printed circuit board 1 Ground all tools the work bench etc 2 Do not touch conductive areas or electrical components 4 3 ...

Page 89: ...ecautionswhendoingwiringbetweenthe AlSD71 andexternaldevices including a drive unit are described below A connection examples is given in Appendix 3 1 Length of connection cable between the AlSD71 and drive unit The length of the connection cable between the AlSD71 and the drive unitis generally 1 to 3 meters 3 to 10 feet However thedistance depends on the driveunit specifications Make sure to con...

Page 90: ...s are minimized in length and separated from the other wiring run outside thewiring conduct When there is a lot of noise between the AlSD71 and servo amplifier provide wiring from the pulse string output terminal from the AlSD71 using shielded twisted pair cable that is different from other shielded cables X axis Y axis I I r Servo amplifier Pulse string 15A output PULSE F 15B c Pulse string 16A o...

Page 91: ...function will occur if a separate power supply is supplied externally Therefore do not usethe built inpower supply andexternal power supply together Wraparound circuit I 1 I I External power I T I r r 1 I I I I I I I r I E2 I I I I I I supply I i I I A I I I I I I T I E l E2 Even if the pulse output of AlSD71 is OFF the power supply flows in a servo unit pulse input line 5 3 ...

Page 92: ...ways keep track of small screws and nuts when disassembling Fig 5 1 Connector 5 2 3 Connectingelectricwiring Connector pin wiring isshown in Fig 5 2 Connect in accordance with theI O numbers refer to Section 3 7 2 1 Use 0 3 mm2 or less wires Thicker wires cannot pass through the cable 2 Solder the wires to the pins Remove electric wire insulation carefully Be clamps careful not to cause a short ci...

Page 93: ...polation 1 axis simultaneous 2 axes 1 axis 1 axis 2 axes simultaneous I I I Refer to the Operating Manual or AD71TU Operating Manual SWOGP AD71P Data read andwrite Refer to Section 6 3 2 1 axis Refer to Section 6 3 8 1 axis simultaneous 2 axes Refer to Section 6 3 3 H Spoedlpositioning control switchino 1 axis I Refer to Section 6 3 3 Refer to Section 6 3 4 I L 1 Speed control 1 axis operation Ref...

Page 94: ...refore execute I O allocations using the GPPfunction as follows First half slot Empty slot 16 points Second half slot Special function module 32 points number of the second half slot of AlSD71 is used 2 When executing an AlSD71 FROM TO instruction theheadI O Therefore the number to be set by the FROM TO instruction be comes the head I O number allocated to the AlSD71 0 1 0 3 If the first half A I ...

Page 95: ...2 K1 x 11 I X1B A1 SD71ready Provide start interlock Error detection Can be used for stop etc Resets an AlSD71 error by initialization after CPU RUN Battery error PC ready Set the positioning mode Set the following values to 1 0 Positioning control mode 1 Speed positioning switching 2 Deceleration control mode control mode Set the deceleration time for an emergency stop of the X axis The setting r...

Page 96: ...ability If the near point dog signal is not input during zero return themovement continues at the zero return speed Overrun processing Overrun is prevented in theupper lower strokes by limit setting However thisapplieswhenthe AlSD71 isoperatingnormally Forsafety Mitsubishi recommends setting a marginal limit switch andexternal circuit that turns OFF power to the motor power when the limit switch g...

Page 97: ...all a peripheral device or AD7lTU in the AlSD71 2 Operations are enabledindependently of the ON OFFstate of the PC ready signal Y2D and AlSD71 ready signal X11 3 Data cannot be read and written from tothe peripheral deviceor AD71TU during BUSY when operating a peripheral device or AD71TU in the test mode 4 ON OFF of the M code will be ignored Buffer memory M code area X axis 46 Y axis 346 is clear...

Page 98: ...when the PC ready signal Y2D changes from OFF to ON Positioning data is checked immediately beforeit is processed Any error will cause theerrorsignal XIB to switchonand inmostcases positioning to stop Pattern 00 Pattern 1 1 Pattern 01 I1 Pattern 00 Dwell P I Positioning Dwell operation I I I I Dwell I I I I I I I I I I I I I I I I Start BUSY I l d I d d I Data I check Data 2 check Data 3 check Fig...

Page 99: ...ch the AlSD71 has been assigned e g 4 when the head I O num 1 K H ber is X Y040 I n2 I Buffer head address of stored data I K H I D I Head number of devices to which data will be written 1 T C D W R I n3 I Number of words to be read I K H Flg 6 4 Read lnstructlon FROM Example To read onewordfrombuffermemoryaddress 600 X axis out put speed to D2 with the AlSD71 assigned to X130 to Xi 3F and Y140 to...

Page 100: ...of words to be written I K H I Fig 6 6 Write Instruction TO Example To writepositioninginformationtobuffermemoryaddress 3872 with the AlSD71 assigned to X20 to X2F and Y30 to 3F X axis data No 1 positioninginformationexample I Item Setting Data IPositioning pattern Continue with speed Ichange I 1 Positioning method IIncremental I 1 IPositioning direction Only incremental method IForward l o M code...

Page 101: ...ple Indication of X axis present value Notes 1 During positioning the present value as stored in the AlSD71 buffer mem ory lags behind the actual value by about 0 1 seconds 2 The present value is two words long Data transfer CPU data register AlSD71 buffer memory Written to D l 1 and 12 32bits Program P Read command I Converts the contents of D l 1 to D l 2 into BCD for display on a seven segment ...

Page 102: ...EC A 3 Speed read programexamplewhile BUSY Example Y axis speed read Note None Data transfer CPU data register AlSD71 buffer memory Stored into Dl4 16 bits Program I Speed read FROMP H1 K601 Dl4 K1 I 6 10 I ...

Page 103: ...r memory 1st point start data No 1 start data No 13 start axis X axis 2nd point Pointer 1 c3 Address E l I 39 I I I Program Write X axis BUSY command X14 MOVP K1 D35 Stores 1st point start data No into D35 Stores 2nd point start data No into D36 Stores2nd point startaxis X axis 01 into D37 Writes D35 to D37 to buffer memory addresses 0 to 2 Writes the constant 1 to buffer memory address 39 6 11 ...

Page 104: ...ravel per pulse I D l 7 I I I Speed limit value Jog speed limit value D l 8 020 Acceleration and deceleration times D l 9 I I Backlash compensation I D21 Upper stroke limit Lower stroke limit Address L 1 or 0 may be set ignored by OS I 1 Rotating direction setting Positioning method M code used not used M code ON OFF timing Pulse output mode Error compensation I Travel per inching input Starting b...

Page 105: ...er AiSD71 buffer memory To write speed change data 2 000 Address Program peed change Interpolation start command X14 Y22 H I 7 1 MOVP K2000 D62 X axis BUSY TOP K1 062 H1 K40 1 Sets speed to be changed 2 000 or peed change Interpolation start H t m m command X14 Y22 TOP H i K40 K2000 K i X axis BUSY POINT I IWhen the speed is changed to 2000 in a program it is internally processedas 2000 x 10 There...

Page 106: ...ss clears the error 2 The buffer memory error reset address 201 is used for both the X and Y Data transfer CPU data register AlSD71 buffermemory I w FROM V TO Program Error detection signal I Error reset Reads X axis error code to D65 Writing 1 to the buffer memory error reset address resets the error code and X1B The error reset address is then automatically changed to 0 1 6 14 ...

Page 107: ...smethod is recommendedwhen thepositioningdataiswithin 400 points and there are few setting data changes When setting data is externallyset When thereare a great many positioning data changes communications betweenthe CPU and AlSD71 andaprogramforthewritingheading to from the buffer memory are necessary Many data registers and programs must be utilized and the operations takes a long time Therefore...

Page 108: ...uted atthe range IY2D Turn on PC ready signal I Other Ipointer I 1speed limit value Zero address 1 Write start No to buffer memory I Monitor present value I 0 I present value s 16 252 928 After BREAK signal from the peripheral device or STOP signal from the AD71TU neither axis should be busy Write pointer to buffer memory I In peripheral device or AD71TU test mode X1 1 X18 X19 XlE XlF and Y2D shou...

Page 109: ... data register AlSD71 buffer memory To write start data No It Program M9038 T O K1 K1 K201 H1 Battery error X1A RUN Positioning mode M9039 setting command Interlock W n i I I Y I Y AI AI Positioningmode setting command X11 Interlock I1 IY I Y A I AI X axis H I IrY X IrHW l start X11 X14 X18 X1B X1E Interlock PLS M30 A T M30 SET Y20 Y20 X18 H I Y20 RST Resets an AD71 error by initial ization after ...

Page 110: ...rt axis 3rd point istart data No start axis X axis pointer Y axis 1st point start data No 2nd point start data No start axis 3rd point istart data No start axis v axis pointer X axis ositioning information data X axis ositioning speed data A1SD71 CPU dataregisterbuffer Dah already writbnl memon No 1 H D20 No 2 D21 N0 4 Q 1 No 3 D22 N0 5 D24 No 6 D25 3877 N0 7 D26 4272 4273 N0 3 D32 No 4 D33 No 5 D...

Page 111: ...o return speed Zero return creep speed Zero return dwell time Torque limit Zero return information 7872 7873 7874 7875 7876 7877 7878 7879 7880 7881 7882 7883 7884 7885 7886 7887 7888 7889 7892 D l43 D l44 7899 p p J D l46 D l55 Dl62 ID1631 pq D l 72 7903 7904 7905 Table 6 2 Data Register Contents Item X axis start data number 3points ID O to4 X axis pointer 2 Y axis start data number 3points ID l...

Page 112: ...e M9039 command IY AI PC ready Write W SET Data write M2 i t M2 Y2D TOP H1 K3872 D20 K10 X axis positioning informa tion Speed Dwell time Address X axis parameters X axis zero return data Write reset X axis start X i H 41 M3 X axis start data No TO H1 K39 D5 K1 X axis pointer X axis start i H t Y20 X18 X axis start reset Timing is same as on page 6 16 6 20 ...

Page 113: ...l AI PC readv Write W ommand X11 Interlock i l AI Kl SET I M2 Data write I Y IY M2 M2 Y1D Positioning information Speed Dwell time Address Positioning information Speed Dwell time Address i l TOP H1 K7872 Dl20 K18 Writes positioning data to buffer memory X axis Write Y axis Parameter write Y axis H1 K7922 Dl70 K7 X axis zero return data write Y axis iterpolation start X15 X19 X1F X11 X14 X18 X1E W...

Page 114: ...tart PLS M4 Zero Y axis axis start M4 i H l i H I Y21 SET Y24 SET Iero Y axis M4 Writes X axis start data No to buffer memory X axis pointer write Y axis start data No write Y axis pointer write X axis start Interpolation start X axis zero return start X axis start reset Interpolation start reset X axis zero return start reset Y axis start Y axis start Y axis zero return start Y axis start reset Y...

Page 115: ...ange Within Start data number Positioning data ON ON Within the The start data range be the same as the execution data number If the positioning speed the speed limit value is specified higher than operations are performed at the speed limit value 3thers Stop during operations after positioning has already been started This should be Timing Ithe initial start I after a STOP aignal h a been receive...

Page 116: ...l deviceor AD71TU However some data should be written to the parameter using a sequence program Example To start stop and restart X axis data number 1 Notes 1 Start conditions are shown in Table 6 3 Provide necessary interlock in ac cordance with its use 2 Speed positioning control operation after start follow the pattern specifica tion of data number 1 Data transfer CPU data register AiSD71 buffe...

Page 117: ... K1 D4 K7889 Writes the positioning mods to the buffer memory Speed positioning control Sets the X axis emergency to 1000 msec X axis deceleration Sets the start data number to 1 Writes the data number to buffer memory address 0 X axis start signal Stop signal Resets the X axis start positioning commenced signal Y20 X18 i H I RST Y20 signal by using the X axis Restart Interlock i I i I PLS M50 M50...

Page 118: ... If the positioning speed is specified higher than the speed limit value operations are performed at the speed limit value nals Y20 Y21 to the buffer memory Switch ON the PC ready signal Y2D I 1 Neither axis should be BUSY after a BREAK signal has been received from the peripheral device or after a STOP signal has been received from the AD71TU 1 Write the start number to the buffer memory I In the...

Page 119: ...number 1 Data transfer CPU data register AlSD71 buffer memory u To write the start data number Data transfer1 M9038 I X1A Battery error I PC RUN Positioning mode M9039 setting command Interlock I I P I Y TI I Positioning mode setting command X11 Interlock I 4 1 PLS I M2 I Y M2 X axis TO I H1 K788s KlOOq K1 H I I PLS I M30 Start X11 X14 X18 X1B Interlock I Y I Y 4 1 Stop command I PLS 1 Y25 Y20 I X...

Page 120: ...d specified is or performed at the jog higher speed limit value Others Neither axis should be BUSY after a BREAK signal has been received from the peripheral device and both axes have stopped Neither axis should be BUSY after a STOP signal has been received from the AD71TU and both axes have stopped In peripheral device or AD71TU test mode X11 X18 X19 XlE X1F and Y2D should not be checked 3 Timing...

Page 121: ...mory AlSD71 buffer memory X axis jog operation speed 2 000 Address 1 44 I H Program I M9038 Battery error X1A I PC RUN M9039 I Interlock Ir X I X axis forward jog X11 X14 X18 X1E Y25 t M51 X axis M51 forward jog Y28 Ir l H t X I H I M51 Reverse jog Y27 Ir I X axis X axis forward jog reverse jog RST M51 Resets AlSD71 error 1 scan after CPU RUN Battery error PC ready 1 Writes jog speed 2000 to buffe...

Page 122: ...rdjog if bothforward andreversejogcommandsare givensimultaneously POINT I 1 Whenthespeedischanged to 2000 inaprogram it is inter nallyprocessedas 2000 x l o 1 Therefore the actual speed becomes 20 000 mm min 6 3 7 Positlonlngaddressteachingprogram Positioning addresses can be written using devices 1 Usingthe jog operation Addressesset by usingthe jog operation are written to the target data number...

Page 123: ...g higher speed limit value Jog speed Others I I Write jog speed to buffer memory Neither axis should be BUSY after a BREAK signal has been received from the peripheral device and both axes have stopped Neither axis should be BUSY after a STOP signal has been received from the AD71TU and both axes have stopped Turn on jog start signal Y27 Y28 Y29 Y2A I In peripheral device or AD71TU test mode X11 X...

Page 124: ... speed 2 000 20 000 mm min Notes 1 Start conditions are shown in Table 6 6 2 A delay of approx 0 5 seconds occurs after positioning stops to allow the current value of the buffer memory to be updated Data transfer CPU data register X axis jog operation speed 2000 AlSD71 buffer memory 0 Address 0 1x axis present value FROM 1 n I X axis data No 1 positioning address I 6 32 ...

Page 125: ...Y28 IY 4 H t I H t XI M51ReversejogY27 I V dl X axis X axis forward jog reverse jog AI AI I RST I 1451 I I I I Write Resets AlSD71 error 1 scan after CPU RUN AlSD71 battery error PC ready Writes jog speed 2000 to buffer memory X axis forward jog X axis reverse jog 0 5 second timer Stores X axis presentvalue address 602 603 in data register Write to X axis data No address BCD display 6 33 ...

Page 126: ...lete XlC XlD Relevant axis zero ruturn com Relevant axis M code ON X1E X1F IOFF t o p Y25 Y26 I ON I PC ready Y2D 1 ON I 1 Zero return data I NO error I I Others Repetition of zero ruturn start Max twice consecutively I I Neither axis should be BUSY after BREAK peripheral device orSTOP AD71TU has been received and positioning has stopped In peripheral device or AD71TU test mode X11 X18 X19 XlE X1F...

Page 127: ...hen zero ruturn is stopped restart zero ruturn after a jog operationor positioning operation Program It 1 M9038 TO K1 K1 K201 H1 Battery error X1A n It PC RUN Reset I Y 41 X axis Yrum G 5 0 t 3 SET Y23 X11 X14 X18 X1C X1E Y25 A I X I X I A I Ir Ir Ir IY PLS M55 4 2 1 PY axis 8 1 RST Y23 zero ruturn It PLS M51 4 H t K X11 X15 X19 X1D X1F Y26 Ir tr Ir tr AI X I X I At PLS M56 M56 I SET Y24 RST Y24 R...

Page 128: ...t busy I Write present value to buffer memory I Table 6 8 Present Value Change Condition Signal Relevant axisBUSY I r c 3 Program c Example To changethecurrentvalue to 500 whentheX axiscurrentvaluechangecom Data transfer CPu data register AlSD71 buffer memory mand is switched form OFF to ON 6 36 I 0 c I i I ...

Page 129: ...t interlock MO Turns M2 OFF Reads the X axis current value from the OS data area Resets MO using the X axis current value change complete Executes the X axis start program by using the X axis start command when the current value change flag MO is reset 1 Data shouldbe written to two words of the upper and lower digits in the current value change area Writing to only one word causes an error and th...

Page 130: ...ey input from AD71TU 1 1 1 1 I BREAK key input from peripheral de 0 indicates that the signal is valid In peripheral device or AD71TU test mode positioning is not stopped if Y1D is ON or OFF 1 Note on use of stopsignal a Deceleration is valid after stop signal is received On receiving any of thestopcommands giveninTable 6 9 the system is decelerated to a stop All emergency stops and limitsmust be ...

Page 131: ...ved During Zero Return Deceleration In the case of a stop when the stop signal is turned ON after the near point dog for zero ruturn returnto the positionpriorto the zero point dog by jogoperation and retry Otherwise the AlSD71 can malfunction 2 When bit 0 in theemergency stop area is set to 1 in the speed po sitioning control switchingmode the deceleration curve changes to the emergency stop curv...

Page 132: ...ioning the stop signal is only valid for the self axis Point update Pattern 01 Pattern 00 L Dwell Dwell A B C 4 9 Interpolation operation Dual 0peration l I stop signal ON during A Both axes are stopped Stop signal ON during C Conditions The other axis is not BUSY Or theother axis is executing inde pendent positioning of B The self axis is stopped Both axes are stopped The other axis is not execut...

Page 133: ...sed Available Unavailable I Data number automatic switching is not used Unavailable Unavailable Apply the following processes for the unavailable mode Restart after zero ruturn Restart after resetting the positioning data When setting the data number to the 1st point X axis address 0 Y axis address 300 in the AlSD71 positioningstartdataarea datanumberautomaticswitchingisnot used When setting sever...

Page 134: ...X axis and 348 Y axis during positioning and kept until the next start This applies to the restart after stop Data transfer AlSD71 buffer memory CPU data register c3 Address Data number during X axis execution I I X axis start data number Program Stop RST Y25 I Restart PLS M51 Y25 I SET Y20 Resets the X axis stop Restart X axis start 6 42 ...

Page 135: ... after the following operations 1 Execute positioning from the correct data number 2 Executepositioningusingajogoperationwhenpositioningis d Positioningisstopped by usingtheBREAKkey on theperipheral device BREAK keyisvalid forthe X and Y axes Positioningcanbe restartedwhenboth axes are not BUSY If one axis is BUSY starting is disabled stopped near the zero point 6 43 ...

Page 136: ...k that parameters have been set Check that values are correct Check that zero return data has been set Check that values are correct Check that positioning data has been set Check that values are correct printed circuit board 3 Zero return data setting 4 Positioning data i a n POINT If only one axis X or Y axis is used parameters and zero return data must be written to the unused axis Otherwise ze...

Page 137: ...ththe feed pulse output stopped v Sequence check L ERR or HOLD YES A1SD71 fault Refer to Chapter 8 I 1 I No PC ready signal Y2D Check sequence program IAD71P Connect the peripheral device to the AlSD71 and start up the system using SWOGP I I Conduct the AlSD71 test procedure using the peripheral device I SERVO ERR YES Drive unit ready signal not received Check drive unit and wiring t After exeucin...

Page 138: ...tion aftersettingtheparameterspeedlimitvalue at slow speed and preparing for an emergency stop if a dangerous state occurs The positioning operation shouldbe checked after executing zero return The peripheral device SWOGP AD71P has a handy monitor function and is valid whentheoperation is faulty Take correctiveactionafterreadingthe error code and finding the cause of the error 0 I 1 7 3 ...

Page 139: ...ripheral device s screen 2 Error code 0 indicates no error 3 Error reset Errors are reset by writing a 1 to buffer address 201 See Section6 3 2 For resetting of errors using the peripheral device refer to the SWOGP AD71 P OperatingManual 7 4 Error detection X1B is the error detection flag Resetting the error also resets X1B Error codes are classified as shown in Table 8 1 Table 8 1 ErrorCodeClassi...

Page 140: ...og or inching has been selected in periph When parameters or zero return data has been transferred from the periph Parameters AlSD71 eral device test mode eral device to the AlSD71 Zero return data When PC ready signal Y2D changes from OFF to ON When positioning zero return jog or inching has been selected in periph eral device test mode Positioning Refer to the figure in Section 6 3 data At the s...

Page 141: ...mit Error compensation Positioning method 0 to 100 000 in mm inch or degree Positioning complete 00 01 or 10 in bits b4 and b3 to 20 000 signal duration 0 to 1 620 000 000 Zero address Starting bias speed to parameter 0 to 16 252 928 inPLS 2 in mm inch or degree Zero return speed speed limit Not 0 Creep speed Dwell time 0 to 499 Torque limit 10 to 250 1 Starting bias speed to parameter zero point ...

Page 142: ... jog speed limit Not 0 When two axes are to be started at the same time both must be set for interpolation start 00 or for dual axis start 11 The second axis must not be busy or must be behind the start point when an interpolation start 00 or a dual axis start 11 is called Start axis Start axis 1 If the set speed exceeds the parameter speed limit value positioning is controlled atthe parameter spe...

Page 143: ...ccess the data In theevent of any of the above errors occurring 1 turn off the AiSD71 ready Xi 1 and 2 force BUSY processing to stop The startsignalisthen not accepted 8 1 3 Buffermemorywrite errors Writingdatafromthe sequence program to prohibitedbufferaddressesor writing when the buffer cannot accept the data prompts the error codes shown in Table 8 5 The sequence program must be checked and cor...

Page 144: ...he BREAKkey from a peripheral device stops opera tions Zero return is repeated more than twice consecutively The zero return complete signal is ON when zero return is started Outside the range from 0 to 16252928 pulses Corrective Action Set the drive unit READY Turn OFF the stop signals 6A and 8A Turn ON the PC CPU power and set the PC CPU to RUN Check the hardware Do not start when BUSY Restart a...

Page 145: ...t zero return Error 2odo 1 Data Type 4Parameter processing Start error 4Start data error Buffer write pro tected Check Point Positioning mode Emergency deceleration time Restart area Start number Travel distance change area Setting travel distance area Corrective Action Data is set outside the range from 0 to 2 Data is set outside the range from 64 to 50000 msec Interpolation is started in the spe...

Page 146: ...ing See Section 8 2 3 Incorrect positioning 1 Positioning NO speed wrong Positioning speed OK See Section 8 2 4 Positioning speed wrong I Corrupted NO positioning data Positioning data OK See Section 8 2 5 Corrupted positioning data I Unrequested Positioning stops YES stop See Section 8 2 6 Unrequested stop I n NO I See Section 8 2 7 Zero return fault NO Refer to relevant instruction manuals I I C...

Page 147: ...el READY 0 0 XZERO SERVO X 0 OYZERO ERR Y 0 0 HOLD XBUSY 0 0 BAT YBUSY 0 0 WDT ERR SERVO ERR YES Turn on servo ready signal HOLD WDT ERR If CPU reset does not remedy error contact NO nearest Mitsubishi representative NO Switch on PC ready signal YZD I I I Check pulse output NO Reset parameter pulse output mode according to motor drive unit YES 8 9 ...

Page 148: ...re possible check AlSD71 pulse output using an oscilloscope 4 1 NO Check AlSD71 to drive unit wiring Contact Mitsubishi representative b AlSD71 error YES t 4 Recheck specifications of interface between motor drive unit and AlSD71 If they are inconsistent take appropriate steps Inspect the motor drive unit and replace if faulty 8 10 ...

Page 149: ...heck whether the positioning error error amount and error occurring posi tion is random or regular Check the set data and machine position correct if necessary YES Check the backlash compensa tion value correct if necessary tion value and error compensa Check the parameters and positioning d a t a correct if necessary Execute the test operation positioning using a peripheral device or AD71TU YES C...

Page 150: ...SD71 error Contact Mitsubishi representa tive Is there potential noise interference i YES Take appropriate measures to prevent noise interference Run signal cables away from power ca Use shielded twisted pair cable for the Ground the module correctly Install the module away from noise bles signal cable sources 8 12 ...

Page 151: ...are within parameters I YES Set speed within parameters 1 Interpolating NO control mode Actual speed of longer travel axis is about 5 lower than set speed Check for a PC instructed speed change I Check sequence program Check output pulse frequency using pulse counter or oscilloscope NO Contact Mitsubishi representative Check motor drive unit I 8 13 ...

Page 152: ...gram to which positioning data and zero return data are written I NO YES Check if the correct address and values are written to sequence program Correct sequence program F L LY t Check AlSD71 battery LED and battery voltage I NO c Change battery L 1 Contact Mitsubishi representative 8 14 ...

Page 153: ...t 1 Check for sources of noise welder power supply etc Potential noise NO interference A1SD71 or motor drive unit failure f Replace the unit AlSD71 error f Contact Mitsubishi representative Eliminate source of noise or screen A1SD71 cables etc I c Positioning stops Take appropriate measures to pre vent noise interference Runsignalcables away from power cables Use shielded twisted pair cable for th...

Page 154: ...ss with peripheral device or AD71TU I NO Check zero return switch wiring etc YES I Check the zero return method selected inthe parameters I INo I 1 Check that zero return signal switches on then off YES 4 c c System is OK timer times out 1 1 Checkpulsechain from AlSD71 I I Check motor drive unit 8 16 ...

Page 155: ...for near point dog chattering Replace if necessary i If zero return is completed check which near point signal stays ON YES Near point dog sensor contact or wiring is faulty Replace faulty equipment Check for a zero phase signal NO Check the zero phase signal circuit correct if nec essary Contact Mitsubishi representa Motor drive unit is faulty Replace it tive Note When using the stopper method ma...

Page 156: ... g due tosuddentemperaturechanges 4 No directexposuretosunlight 5 Freefromexcessive amounts of conductivepowdersuch as dust iron filings oil mist salt or organic solvent A two hour warming up period should be allowed if the AlSD71has notbeen powered up forover 12 months This is to allow the electrolyte in electrolytic capacitor to stabilize The battery should be replaced every 10 months if the uni...

Page 157: ...eriodduringoneweekis 1 I I I I I I I I I 14 hours x 5 days 70 hours I 24 hours x 2 days 48 hours I I 7200 hours 70 48 hours 61 weeks I I 61 weeks x 7 days 427 days I I Regarding one month as 30 days I I I 4 I I 427 days 30 days 14 2 months j Hence I I I it is necessary to chanaethebatteryevery 14 mdnths I I I I I I I The same battery is used for all MELSEC A series modules The battery can be store...

Page 158: ... the AlSD71 I Pull the used battery from the holder I Insert the new battery into the holder and set the battery s connector I I Reinstall the AlSD71 I Turn ON the power to the PC CPU Is the AlSD71 lit h L Battery fault Complete Replace the battery within 15 minutes If replacement takes 15 minutes or I more the backed up data can be lost Fig 9 1 Battery Replacement Procedure 9 3 ...

Page 159: ...ORTANT I The components on theprinted circuit board may be damaged by static electricity When handling the printed circuit board 1 Ground all tools work bench etc 2 Do not touch the conductive areas or electrical components 9 4 ...

Page 160: ...te signals XlC X1D I I t9 4 t n I I I Positioning in the positioning Zero return Positioning in the positioning in the control mode speed mode rwitching mode X axis I Y axis Ilnterpola tion Y axis X axis Y axis X axis X axis I Y axis I tl msec I 0 2 t 0 2 1 0 3 t 0 2 I 0 2 1 0 3 I 0 3 I 49 1 I 49 i I t2 msec I 0 3 1 0 3 1 0 6 I 0 3 I 0 3 I I I I 13 msec t5 msec 58 3 58 3 18 4 18 4 18 4 18 4 18 4 1...

Page 161: ... delay will occur 2 Operating state of the other axis If startprocessingisexecutedduringtheoperation of the other axis a delay of less than 100 msec will occur If the other axis is not in use no delay will occur 3 Intervention by a peripheral device during start processing If aperipheraldeviceintervenes adelay of severalmsecwill When no peripheral device is connected no delay will occur 4 The numb...

Page 162: ...ion 1 to becomes minimumwhen the X or Y axis starts underany of the following conditions 1 After zero return has been completed 2 After positioning has been completed 3 After a current value has been changed 2 to becomes maximum when X or Y axis starts under any of the following conditions 1 After zero return has been canceled 2 After positioning has been canceled 3 After an operation in the speed...

Page 163: ...imes The processing times for each pattern operation areas follows I I I I I I I I I I 4 I I to msec 2 msec to rnsec The above times donot include the processing time of the PC CPU represent ing the estimated processing time of the AlSD71 APP 4 ...

Page 164: ...APPENDICES w 1 1 1 1 APPENDIX 2 FORMAT SHEETS Y AXIS ADDRESS mm inch degree PLS 1 I f I ii APP 5 ...

Page 165: ...ke 162 000 mm 0 to 16 252 928 0 0 1 1 000 I I 162 000 mm 0 to I Lower stroke limit fO to jxlo l 100 000 per 1 m j w Error compensation inch deg I Travel per Acceleration times to i pLs 64 to 50 000msec I Set value Positioning output time 12 complete signal 0 to 20 000 msec 1 3 mode Pulse output 0 PLS SIGN 1 forwardpulse reversepulse Set value 0 present value increase with forward pulse output 1 pr...

Page 166: ... j pm O t o i PLS j x10 j x10 i x1 i x1 Zero return speed 1 to 12 000 j mm I sec I min I min j min 1to 20 000 j PLS 1 to 12 000 j degl 1 to 12 000 j inch 1 to 12000 j mm Creep speed 5 I sec I min j min i min 1 to 20 000 j PLS 1 to 12 000 j deg 1to12 000 j inch j x10 j x10 i x1 j x1 6 1 Dwell 1 I I 0 to 499 x 10 msec 7 I Trque limit I I I 10 to 250 Mechanical stop zero return 0 Mechanical stop 1 ti...

Page 167: ...ue 1 Inc 0 Address increase direction 0 Without M code 11 Chanqe 1 Address decrease direction 1 to 19 With comment Y AXIS I FL 0 00 END 0 Abs L F o r Inc 0 to255 01 Continue 1 Inc 0 Address increase direction 0 Without M code 11 Change 1 Address decrease direction 1 to 19 With comment ...

Page 168: ...APPENDICES MELSEC A 2 3 M Code Comments 16 19 19 18 18 17 17 16 4 f i Maximum 16 characters per comment APP 9 i i i ...

Page 169: ...ere can also be used CAUTION 1 The AlSD71 outputisasink output pulse chain The drive unit should be sink input 2 For use with source input drive units use the interface shown below 7 B AlSD71 9 I Drive unit I M54523 small Signal Reversing Example R1 0 5W 1kR R2 0 5W 47kR R3 by each drive units 3 The AlSD71 pin numbers in parentheses are for the Y axis 4 Forothersignalwires of thedriveunit Referto ...

Page 170: ...R A 0P servo amplifier position control L 1 I CON 1 I I I Grounding Servo ON On during operation External torque limit Proportional control Reset Forward stroke end Reverse stroke end Note 1 ____ ___ jI I j L J r indicates twisted pair shield 2 Use control common terminals wve SG 13 14 26 30 and shield terminal SD 37 as shown APP 11 ...

Page 171: ...D n V 0 0 1 ...

Page 172: ... I n 4 I Q c z n Q C ...

Page 173: ......

Page 174: ...it Torque limit command 10 Vlmax current Monitor Max 1 mA meter s pointer oscillating in either di rection Servo amplifier MR J f HA FEISC Servo motor U V W I i I 30 m or less Cable attached to the motor HA SE Servo motor Thermal protector I I I VDD VIN is externally Open collector output FPA FPB 100PIR Can be set in the range of 111 to indicates shielded twisted pair cable I 8 when necessary 2 Us...

Page 175: ... Power DOG STOP READY PGO 15A 16A 5A 9A 17A 6B 6A 58 9B UPD5913 A driver applicable for five phase stepping motor unit UPD series I I I Prepared on themachine Excitation timing output Overheat output COM Blue Red 0 0 White I I1 L I AC 1OOV tM Enable signal Control switch 2A 4A ing signal 0 lB 28 3B 4B T I Note 7 Use shielded twisted pair cable for wiring lo the AlSD71 APP 16 ...

Page 176: ... motor 15A 18A 12 I n 158 1 8B 16A 19A 10 198 19B 12A 14A Reverse Counter clear input 22 ICN 11 pulse input Dedicated cable v 1 Accessory Motor Servo ON input Encoder 5B 78 9A 1OA 9B lOB 1OOVAC 6 B 88 ON at positioning stop ON at near point detection Use multi core twisted pair cable for wiring Applicable AC servo unit number J APP 17 output W 200 750 IUnit number EX1080 ADZ EX4100 ALZ EX4200 ALZ ...

Page 177: ... PGO PULSE F PULSE R CLEAR c 5A 7A 6A 8A 1 r ON at near point detection I I 58 78 Y 98 108 I Power 178 208 r 1 15A 18A r 158 188 J r 5v 128 148 OV VLPR 2ZA CN12 6 ZP Zero point CN11 1 r FP I Forward command pulse J CN11 2 CN11 3 RP I Reverse command pulse J CN11 4 CN11 5 RESET 8 Reset pulse I I Twisted pair wire max 2 m CN12 1 CN12 2 Positioning complete 18 28 o b 4 Enable signal Control switching...

Page 178: ...sTopf DOG f READY f PGO f PULSE F PULSE R CLEAR START 5A 7A 4 4 6A 8A v ON at positioning stop d6B 8B ON at near point detection I I I I I t I Power 17B 208 at 12 V 17A 20A at 24 V Connector CNlA pin number NDS 3OOA 1 5 A 18A 158 188 FC W 1 6 A 19A 16B 198 RC Y I A12A 14A 128 148 CL b W l 11A 13A 138 max 1 m in Nikki Twisted pair wire Denso catalog Enable signal Control switching signal to rhe A l...

Page 179: ...tioning stop D ON at near point detection POSITION PACK Connector 1CN pin numbers h loA PS ALA T READY f 5 6 7B PGO Power 178 206 PULSE SIGN a 166 196 11A 13A 116 136 START ZERO PULSE The power supply to the servo amplifier is stoppedat thispoint A OVER Y rnax 3 rn in asukawa 1 TB ilectric cata 3a l 1 0 11 12 13 I IEnable signal l A 3A 2A 4A Control switching signal 12v ov 12v 5v Control power sou...

Page 180: ...APPENC Appendix 4 OUTSIDE DIMENSIONS c 71B 2 82 _ _ 22 0 87 6 5 93 q3 69 0 26 r I 4 0 26 n Unit mm inch i APP 21 ...

Page 181: ...1 17 5894 6294 6694 7116 7117 24 3895 4295 4695 51 18 51 19 5895 6295 6695 7118 7119 25 3896 4296 4696 5120 5121 5896 6296 6696 71 20 71 21 26 3897 4297 4697 51 22 5123 5897 6297 6697 71 22 71 23 27 3898 4298 4698 51 24 5125 5898 6298 6698 71 24 71 25 28 3899 4299 4699 51 26 51 27 5899 6299 6699 71 26 71 27 19 5890 6290 6690 71 oa 7109 3890 4290 4690 51oa 5109 21 3 9 2 6292 6692 71 12 7113 3892 42...

Page 182: ...6 51 97 63 3933 4333 4733 5194 5195 62 3932 4332 4732 5192 5193 61 3931 433 1 4731 5190 5191 60 3930 4330 4730 51 88 5189 59 3929 4329 4729 51 86 51 87 58 3928 4328 4728 51 84 5185 57 100 3971 4371 4771 5270 5271 A 23 V Axir Porill ahg Posltlodng D W l PorIUaning Addrosr 1nform lien S p o d Tlmr Lorror U w r 5922 6322 6722 7172 71 73 5923 6323 6723 7174 71 75 5924 6324 6724 71 76 7177 5925 6325 67...

Page 183: ... 4403 4803 5334 5335 132 4002 4402 4802 5332 5333 131 4001 4401 4801 5330 331 130 4000 4400 4800 5328 5329 129 3999 4399 4799 5326 5327 128 3998 4398 4790 5324 5325 127 3997 4397 4797 5322 5323 126 3996 4396 4796 5320 5321 125 3995 4395 4795 5318 5319 YAxis osltionlng Positioning DI U Positioning Addrns nformmlon S p e d nmr LOWW Upprr 5972 6372 6772 7272 7273 5973 6373 6773 7274 7275 5974 6374 67...

Page 184: ...53 6453 6853 7434 7435 4053 4453 4853 5434 5435 6052 6452 6852 7432 7433 4052 4452 4852 5432 5433 6051 6451 6851 7430 743 1 4051 4451 4851 5430 5431 6050 6450 6850 74 28 7429 4050 4450 4850 5428 5429 6049 6449 6849 7426 7427 4049 4449 4849 5426 5427 6048 6448 6848 7424 7425 4048 4448 4848 5424 5425 6047 6447 6847 7422 74 23 4047 4447 4847 5422 5423 6046 6446 6846 7420 7421 4046 4446 4846 5420 542 ...

Page 185: ...5552 5553 4113 4513 4913 5554 5555 41 14 4514 491 4 5556 5557 41 15 451 5 4915 5558 5559 4116 4516 491 6 5560 5561 41 17 451 7 491 7 5562 5563 41 18 4518 491 8 5564 5565 4119 451 9 4919 5566 5567 4120 4520 4920 5568 5569 4121 4521 4921 5570 5571 Y Axis ositioning Positioning Dwell Posttiming Addroes nlormation Speed limo Lower upp r 6072 6472 6872 7472 7473 6073 6473 6873 7474 74 75 6074 6474 6874...

Page 186: ...3 4163 4563 4963 5654 5655 4164 4564 4964 5656 5657 4165 4565 4965 5658 5659 4166 4566 4966 5660 5661 4167 4567 4967 5662 5663 4168 4568 4968 5664 5665 41 69 4569 4969 5666 5667 4170 45 70 4970 5668 5669 41 71 4571 4971 5670 5671 APP 27 Y Axis PoriUoniftg Poritionlng Droll Poritionlng Addroer Inforrnl lon S p e d Tirno L O U U UPPr 6122 6522 6922 7572 75 73 61 23 6523 6923 7574 7575 6124 6524 6924...

Page 187: ...6 6606 7006 7740 7741 4206 4606 5006 5740 5741 6205 6605 7005 7738 7739 4205 4605 5005 5738 5739 6204 6604 7004 7736 7737 4204 4604 5004 5736 5737 6203 6603 7003 7734 7735 4203 4603 5003 5734 5735 6202 6602 7002 7732 7733 4202 4602 5002 5732 5733 6201 6601 700 1 7730 7731 420 1 460 1 5001 5730 573 1 6200 6600 7000 7728 7729 4200 4600 5000 5728 5729 6199 6599 6999 7726 7727 4199 4599 4999 5726 5727...

Page 188: ...1 4661 5061 5850 5851 4262 4662 5062 5852 5853 4263 4663 5063 5854 5855 4264 4664 5064 5856 5857 4265 4665 5065 5858 5859 4266 4666 5066 5860 5861 4267 4667 5067 5862 5863 4268 4668 5068 5864 5865 4269 4669 5069 5866 5867 4270 4670 5070 5868 5869 4271 4671 5071 5870 5871 APP 29 Y Axis 1 Tim 6222 6622 7022 7772 7773 6223 6623 7023 7774 7775 6224 6624 70 24 7776 7777 6225 6625 7025 7778 7779 6226 66...

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