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Mitsubishi MELSEC-A A6MD, Operating Manual, Page: 37 / 146

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Mitsubishi MELSEC-A A6MD Operating Manual Download Page 37

Summary of Contents for MELSEC-A A6MD

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Page 3: ...or choosing the Mitsubishi MELSEC A Series of General Purpose Programmable Controllers Please read this manual carefully so that the equipment is used to its optimum A copy of this manual should be fo...

Page 4: ...ata 8 Axes 5 2 5 2 Checking ErrorContents 5 4 5 4 Trace Monitoring of Servo Program 5 10 5 3 Positioning DataMonitor and ServoDataMonitor 5 7 6 TESTOPERATIONS TESTMODE 6 1 6 43 6 1 6 2 6 3 6 4 6 5 6 6...

Page 5: ...ing Parameter Blocks 8 6 8 4 Displaying a ParameterBlockList 8 8 8 5 Clearing a ParameterBlock 8 9 9 SETTINGLIMITSWITCHOUTPUTDATA 9 1 9 8 9 1 Setting ON OFFPatternforLimit Switch Output 9 2 9 2 Checki...

Page 6: ...ocks Servo programs Test operation Monitor operation 1 Servo amplifier L 1Servomotor Screen display I Parameters Parameter blocks Servo programs Present position datamonitor Error list monitor Servo d...

Page 7: ...The A73CPU displaystheservomotortestoperationresultson the AGMD screen 3 1 1 Features 1 Positioningdataandservoprogramscanbeprogrammedand W edited in the interactive mode Thepositioningdataandservopr...

Page 8: ...positioning address in the designated servo program This is only possible in the absolute system 6 MR SBservoamplifier data monitoring and testing are possible When an MR Sf3 servo amplifier is used t...

Page 9: ...by the user For details see the AGMD Monitor Display User s Manual Fig 2 1 General System Configuration 2 2 Module 1 The AGMD is connected to the A70MDF in the A73CPU system 2 3CautionsonSystemDesign...

Page 10: ...cannot execute the following operations simultaneously a Test operation b Torque trace monitor mode c Datawrite 4 To program a servo program orsetdata reset the A73CPU PC ready flag M2000 Servo progra...

Page 11: ...4 Axis data list 5 Axis data clear 6 All data clear Functions 1 Parameter block setting 2 Parameter block C O P Y 3 Parameter block check 4 Parameter block list 5 Parameter block clear 1 1 Limit switc...

Page 12: ...lect screen is displayed changes the screen to the Character Selection screen Fig 3 1 Character Selection Screen 2 Selectthecharactertouse a I CR Japanese b 2 CR English Model Selection The Mode Selec...

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Page 14: ...y display is given on the screen The touch panel key display and the A70MDF keys are ex plained below Touch Panel Key Display 1 No I Name I Contents 1 I ODerationauidemessaae I Thetouch Dane1keyfuncti...

Page 15: ...to the previous screen Switches monitoring stop and monitoring execu tion on the monitor mode screen Deletes keyed in data Deletes the message displayed in the message column Displays the Help screen...

Page 16: ...ctive key Displays A70MDF when theA6MD is connected to the A7OMDF Area 4 Mode Displays the modes which can be selected with the Mode Keys Fl to F4 Thecurrentlyexecutedfunctionisdisplayed in reverse Ar...

Page 17: ...d parameters Set and cross check the fixed parametersfor the axis to be controlled i 7 1 1 1 Setting servo parameters Set and cross check the servo parametersfor the axis to be controlled section 7 1...

Page 18: ...ram Check the following items in the servo program Set data Set items Section 10 6 Syntax b Programming a sequence program Program and write a sequence program Write a sequence program tothe A73CPU wi...

Page 19: ...I Section 6 2 1 1 Positioning loop gain check Section 6 2 2 Testing jog operation and MPG manual pulsegenerator operation Checking stroke limit Checking machine operation Sections 6 3 and 6 4 Zero ret...

Page 20: ...is Peak torque check Check if the acceleration deceleration torque at the peak torque islower than the set maximum torque I I Effectivetorque check I Check if the effective continuous load torque at t...

Page 21: ...followinginfor mation is displayed for each error in the order of error occur rence upto 15 er rors Axis number Program number Error code Error contents 2 Axis error list monitor The followinginfor ma...

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Page 23: ...e servo amplifier are displayed b If an error occurs the axis involved and the velocity active just before the occurrenceof the error are displayed the data will not be updatedafter this Program numbe...

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Page 25: ...6 7 8 Device number Status display I Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 3 Errorcodedisplay a Theerrorcodeoccurringaftertheleadingedge of the PC ready flag M2000 is displayed LOW m...

Page 26: ...osis position loop check 5 Axis errordefinitiondisplay a By designating an axis number l to 81 and pressing the CR key the definition of the errors for that axis is displayed To display the error list...

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Page 28: ...CR c When the Positioning Data Monitoring screen is initially dis played the positioning data for the axis that was last desig nated for this display is displayed If the power has just been turned on...

Page 29: ...Servo data monitoring is only possible when theMR SB servo amplifier is connected When a general purpose servo is con nected servo data monitoring is not possible 2 WhentheServoDataMonitorscreenisdisp...

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Page 31: ...ioning or zero return mode is displayed b Duringjog or MPG operation thecurrentcontrolmodeis indicated as shown below 1 Jog operation Blank no indication 2 MPG operation Blank no indication 3 Test mod...

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Page 35: ...tting Checking the designated servo program jeries start setting of servo programs can be Checking whether a series executed correctly by registering the servo dependent start check programs for which...

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Page 37: ...e monitored Type name check Theservoamplifierandthemotorspecifications of thedesig nated axis are checked Rotation direction check The start conditions and rotation directionof the designated axis are...

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Page 41: ...by pressing the f key Pressingthe t keywhentheRotationDirectionCheck screen forAxis 8 is displayed changes the screen to the Axis R F LS Check screen for Axis 1 Rotation Direction Check screen forAxis...

Page 42: ...TEST OPERATIONS TEST MODE MELSEC FLS RLS Check screen Motor Speed Check screen Jog speed setting key Set the required jog speed velocity with the following operation BS bog speed CR 6 9 IB NA 66235 A...

Page 43: ...een for Axis 81 1 1 b Press the or I key and the A73CPU will check the start conditions and execute the following processing if the condi tions are satisfied 1 Conditions satisfied Executes forward jo...

Page 44: ...ss the or I key and theA73CPU will check the start conditions and execute the following processing if the condi tions are satisfied 1 Conditions satisfied maximum rpm maximum rpm Executes forward jog...

Page 45: ...gain check Thisfunctioncheckstheresponsivenessandstability of the motor in response to an A73CPU command input based on the response time setting time and overshoot amount Position loop gain check Thi...

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Page 47: ...tion Loop Gain Check screen for Axis81 1 I 1 2 Velocityloopgaincheckexecution a Execute the velocity loop gain check by pressing the F R and CR keys 1 FI CRI The motor rotates in the forward direction...

Page 48: ...Press the E key to write thenew velocity loop gain setting to theservo parameter velocity loop gainarea POINT 1 Before velocityloop gain check execution the following conditions are checked If they a...

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Page 51: ...Test Mode Function Select screen 1 1 I 2 Position loop gaincheckexecution a Execute the position loop gain check by pressing the F R and CR keys The motor rotates in the forward direction addresses i...

Page 52: ...iii Press the E key to writethenewpositionloopgain setting to the servo parameter position loop gain area POINT j Beforepositionloopgaincheckexecution thefollowingcondi tions are checked If they are n...

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Page 55: ...to the Jog Operation screen c If jog operation is to be executed with the currently set jog speed jog speed change is not necessary 3 Jogoperationexecution a Forward jog 1 key The motor rotates in the...

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Page 57: ...licationratio a To set the pulse multiplication ratio display the Pulse Multi plication Ratio Setting screen by pressing the BS key b Setting range 1 to 100 c The MPG MonitorOperationscreenisdisplayed...

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Page 59: ...he corresponding b The START message is displayed when the axis number is number key 111 to a set 2 Zeroreturnoperationexecution a Zero return operation is enabled when the START message b Press the B...

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Page 61: ...rt Setting screen The designated servo program can be checked Series start Registered Start Setting screen Servo programs that have been checked independently are registered in the order they are actu...

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Page 63: ...ed up one point f key The displayed program is scrolled down one point 3 Axis change Changing the axis for which the listof input signals and errors is displayed 1 key Each time this key is pressed th...

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Page 66: ...position and shifts the ensuing programs forward Allclear Q VI CR keys clearsall of the registered program numbers I POINTI If ablankexistsintheprogramnumbersettingarea program executionstops at theb...

Page 67: ...Miscellaneous Function Operation 1 Displayingadesignatedservoprogram Thedesignatedservoprogramcanbedisplayed on the Registered Setting Start screen with the following procedure a Move the cursor to th...

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Page 69: ...ramnumberforwhichteachingshouldbe executed a Setting range 0 to 4095 b Pressthe CR key If thesetprogramnumberexists the program is read and displayed on the screen If the program number is not found t...

Page 70: ...s 1 Press the SIkey and the jog speed setting area appears as illustrated below Axis setting axis JOG speed setting Jog speed setting register for each axis Presentjog speed r L _ D 7 New jog speed JO...

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Page 72: ...the displaytotheTeachingSetting MPG operation screen b Pointset Set the axis for which the present position data obtained in the teaching operation is written Either of the following methods are used...

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Page 75: ...t is executed N CR Error reset is not executed c When the VI or N key and the CR key are pressed the display changes as described below 1 If the ErrorReset screen was accessed from the Test Mode Funct...

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Page 80: ...d in the cross check the letter E is dis played to the left of the item number Move the cursor to that number by pressing an Arrow key and correct the data Whenthecross checkisexecuted thecross checkr...

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Page 82: ...low Set the servo parameters with the A70MDF keys Move the cursor to the parameter for which data should be set with an Arrow key Press the CR key Setthedatawithintherangeindicated in the SETTING RANG...

Page 83: ...RELATIVE CHECK area check the fixed parameter data RELATED CHECK FIXED PARAMETER ERROR PLEASE CHECK FIXED PARAMETER Forsystemsetting thetype of servoamplifier MR SB or general purpose must be set Dash...

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Page 85: ...EUTED CHECK FIXED PARAMETER ERROR PLEASE CHECK FIXED PARAMETER d If a cross check error is found with the servo parameters the cross check will not be executed for the zero return data The following m...

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Page 87: ...area check the fixed parameter data RELATEDCHECK i FIXED PARAMETER ERROR PLEASE CHECK FIXED PARAMETER 1 d If a check error is found with the servo parameters the cross checkwillnotbeexecutedforthejog...

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Page 89: ...ey number display Cursor Returnto copy source setting I Copy destination 1 Setting copy destination CRI Copy destination key number display Cursor NI 1 1 Axis data copy execution request M CR Axis dat...

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Page 91: ...n Operation 1 Errorcodelistdisplay 9 The definition of an error code can be checked by pressing the F7 key h The I and keys change the error code list display 1 Fixed parameters error code list 2 Serv...

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Page 97: ...er INTERPOLATION CONTROL UNIT d The keyed in data is displayed in the KEY IN DATA column it is transferred to the SETTING DATA column when the CR key is pressed If the keyed in data is outside the set...

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Page 101: ...anerrorisfound theerrorcodeisdisplayedintheerror display area d Up to 5 error codes can be displayed e The block designated for the cross check is highlighted in the error display column I Example Err...

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Page 107: ...ttern by pressing the F9 key the STORED message is displayed In this case pressing the Fl to F4 key or the F8 key will change the mode the previous limit switch ON OFF pattern remains unchanged Operat...

Page 108: ...memory as the point addresses for setting the limit switch ON OFF pattern 3 Settinglimitswitch ON OFF pattern a Press the FlO key and the limit switch ON OFF pattern can be set in the table displayed...

Page 109: ...of the nextpointaddresscan be ex ecuted by pressing the CR key 3 Pressing the CR key when the cursor is located on the tenth point returnsthe cursor to the first point 4 Use an Arrow key tomovethecurs...

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Page 118: ...bedisplayed in the servo program display area the servo program is scrolled in units of points a J POINT NEXT The servo program is scrolled up to display the next point in the servo program display co...

Page 119: ...t side of the screen Press the f I 3 key to select the item a Error contents to be checked when the program is stored b Positioning and incremental feed servo instruction list c Circular interpolation...

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Page 125: ...and an error message is displayed 1 Data check syntax error check device number 2 Memory over check 3 PC ready signal M2000 is off check When the servo program iscorrectly stored the pro the Servo Pro...

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Page 138: ...a Setting range 0 to 4095 b Program number setting range condition Start program number I Last program number c t 1 The cursor returns to the previous setting item 2 Setting axis numbers for batch re...

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Page 140: ...OFF The start instruction is given for an axis for which the servo ready sig nal is OFF An attempt is made to execute the test mode for an axis which has been started An attempt is made to start an a...

Page 141: ...ming e Test Set data is outside the allowable range Set the data within the allowable range Programming Start up e Data setting Program ming Monitor e Test Condition error in program copy or batch re...

Page 142: ...change control mode No end point designating instruc Add the end point designating in tion ABS 1 to ABS 3 INC 1 to INC struction ABS 1 to ABS 3 INC 1 to 3 when designating the velocity INC 3 change c...

Page 143: ...ilable memory capacity is insuffi cient to store a program Available memory capacity is insuffi cient to copy a program Available memory capacity is insuffi cient to write or copy a program However th...

Page 144: ...codes stored in the 473CPU memory are not correct making decoding impossible Nith the constant velocity or velocity hange instruction repeat instructions are not used correctly The repeat in struction...

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