Mitsubishi MELSEC-Q QD77MS User Manual Download Page 356 | Manualshive

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Chapter 6 Sequence Program Used for Positioning Control

Position
ing star
t comman
d storag

*<Positioning start command storag >

*<Positioning start command pulse

>

*<Positioning start command storag >

Position
ing star
t comman
d pulse

Position
ing star
t signal

Start co
mplete s
ignal

M code O
N signal

In-JOG/i
nching o
peration
flag

*<Setting of Positioning start No.

>

*<Positioning start execution

>

*<Positioning start command storag >

Use the direct access input as BUSY signal
to use this program example.

*<Positioning start signal OFF

>

PLS

M5

X4E

Position
ing star
t comman
d

930

SET

M6

M5

944

Y10

X10

X4

M7

M3

M4

M3

M6

957

*
*(2) When positioning start signal [Y10] is used
*     (When fast OPR is not made, contacts of M5 and M6 are not
*      needed)
*     (When M code is not used, contact of X04 is not needed)
*     (When JOG operation/inching operation is not perfomed,
*      contact of M7 is not needed)
*     (When manual pulse generator is not performed, contacts of
*      M9 is not needed)
*

RST

M6

SET

Y10

RST

M6

Y10

967

RST

Y10

Position
ing star
t comman
d storag

Position
ing star
t comman
d pulse

Position
ing star
t comman
d storag

MOVP D32

U0\
G1500
Position
ing star
t No.

Position
ing star
t signal

Position
ing star
t comman
d storag

Position
ing star
t signal

Start No
.

Position
ing star
t signal

Start co
mplete s
ignal

BUSY sig
nal (Axi
s 1)

X10

DX0C

M9

Manual p
ulse gen
erater o
peration

Fast OPR
command

Fast OPR
command

Fast OPR
command
hold

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Summary of Contents for MELSEC-Q QD77MS

Page 1: ......

Page 2: ...s manual the safety instructions are ranked as DANGER and CAUTION DANGER Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury CAUTION Indicates that inc...

Page 3: ...servomotor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things...

Page 4: ...p circuit externally so that the operation can be stopped immediately and the power shut off Use the module servo amplifier servomotor and regenerative resistor with the correct combinations listed in...

Page 5: ...tion mode and servo amplifier The protective functions may not function if the settings are incorrect Set the mechanical brake output and dynamic brake output validity parameters to values that are co...

Page 6: ...he front case as it may fall off When transporting installing or removing the module or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the m...

Page 7: ...e disconnect the power line from the module or servo amplifier Place the module and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact wi...

Page 8: ...the cables combing off during operation Do not bundle the power line or cables Use applicable solderless terminals and tighten them with the specified torque If any solderless spade terminal is used...

Page 9: ...ds etc Electromagnetic obstacles may affect the electronic devices used near the module or servo amplifier When using the CE Mark compliant equipment design refer to the EMC Installation Guidelines da...

Page 10: ...ne restarts suddenly 8 Maintenance inspection and part replacement CAUTION Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backi...

Page 11: ...ve the module and base or terminal block more than 50 times IEC61131 2 compliant after the first use of the product Failure to do so may cause malfunction Do not burn or break a module and servo ampli...

Page 12: ...e of the PRODUCT in Nuclear Power Plants and any other power plants operated by Power companies and or any other cases in which the public could be affected if any problem or fault occurs in the PRODU...

Page 13: ...ram examples introduced in this manual to the actual system ensure the applicability and confirm that it will not cause system control problems Please make sure that the end users read this manual REM...

Page 14: ...ual Version IB 0300184 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsib...

Page 15: ...QD77MS and each module 1 20 1 2 Flow of system operation 1 24 1 2 1 Flow of all processes 1 24 1 2 2 Outline of starting 1 26 1 2 3 Outline of stopping 1 28 1 2 4 Outline for restarting 1 30 2 System...

Page 16: ...autions for maintenance 4 20 4 5 2 Disposal instructions 4 20 5 Data Used for Positioning Control 5 1 to 5 194 5 1 Types of data 5 2 5 1 1 Parameters and data required for control 5 2 5 1 2 Setting it...

Page 17: ...program 6 16 6 3 2 Positioning control operation program 6 17 6 4 Positioning program examples 6 21 6 5 Program details 6 53 6 5 1 Initialization program 6 53 6 5 2 Start details setting program 6 54...

Page 18: ...ing the current value 9 16 9 1 5 Control unit degree handling 9 18 9 1 6 Interpolation control 9 21 9 2 Setting the positioning data 9 26 9 2 1 Relation between each control and positioning data 9 26...

Page 19: ...arting high level positioning control 10 26 10 6 2 Example of a start program for high level positioning control 10 27 11 Manual Control 11 1 to 11 32 11 1 Outline of manual control 11 2 11 1 1 Three...

Page 20: ...nge function 13 42 13 5 2 Override function 13 49 13 5 3 Acceleration deceleration time change function 13 52 13 5 4 Torque change function 13 57 13 5 5 Target position change function 13 61 13 6 Abso...

Page 21: ...and warning details 16 9 16 5 List of errors 16 16 16 5 1 QD77MS detection error 16 16 16 5 2 Servo amplifier detection error 16 48 16 6 List of warnings 16 62 16 6 1 QD77MS detection warning 16 62 1...

Page 22: ...l Name Manual number model code Description MELSEC Q QD77MS Simple Motion Module User s Manual Positioning Control IB 0300185ENG 1XB947 Specifications of the QD77MS and information on how to establish...

Page 23: ...fier SSCNET interface MR J3 B Servo amplifier Instruction Manual SH 030051 1CW202 This manual explains the I O signals parts names parameters start up procedure and others for MR J3 B Servo amplifier...

Page 24: ...s monitor data item Cd Symbol that indicates control data item Chapter 5 QD77MS2 Symbol that indicates correspondence to only QD77MS2 QD77MS4 Symbol that indicates correspondence to only QD77MS4 QD77M...

Page 25: ...the MELSEC programmable controllers Version 1 77F or later MR Configurator2 Product name of the setup software for the servo amplifier Version 1 09K or later Intelligent function module A MELSEC Q L s...

Page 26: ...at all the items are included 1 QD77MS2 QD77MS2 RUN ERR AX1 AX2 QD77MS2 AX2 AX1 Before Using the Product QD77MS2 2 QD77MS4 QD77MS4 RUN ERR AX1 AX4 AX2 AX3 QD77MS4 AX2 AX1 AX4 AX3 Before Using the Prod...

Page 27: ...A 26 MEMO...

Page 28: ...and data transmission process When diverting any of the program examples introduced in this manual to the actual system fully verify that there are no problems in the controllability of the target sys...

Page 29: ...MEMO...

Page 30: ...se beforehand the positioning system can be structured smoothly 1 1 Positioning control 1 2 1 1 1 Features of QD77MS 1 2 1 1 2 Purpose and applications of positioning control 1 6 1 1 3 Mechanism of po...

Page 31: ...e OPR retry function is provided so that the machine OPR control can be performed from any position regardless of the machine stop position when the system is powered on b Wide variety of control meth...

Page 32: ...ction function The mark detection to latch any data by the external command signal DI1 to DI4 can be performed 5 High maintainability Maintainability is enhanced in the QD77MS a Data retention without...

Page 33: ...ced stop input signal can be selected by the parameters 10 Connection between the QD77MS and servo amplifier with high speed synchronous network by SSCNET H The QD77MS can be directly connected to the...

Page 34: ...nnecting the battery for absolute position system to the servo amplifier b Once the OP have been established the OPR operation is unnecessary at the system s power supply ON c With the absolute positi...

Page 35: ...attern is changed Palletizer Servo amplifier Conveyor Servomotor with brakes Reduction gears Ball screw Palletizer G Conveyor control Unloader control Position detector QD77MS Using the servo for one...

Page 36: ...ars Index table Digital switch Servo amplifier QD77MS The index table is positioned at a high accuracy using the 1 axis servo Inner surface grinder QD77MS Servomotor Servo amplifier 220VAC 60Hz Invert...

Page 37: ...gnal external command signal and switching signal to the QD77MS QD77MS Simple Motion module External signal Manual pulse generator Incremental synchronous encoder Issues commands by pulse output Sets...

Page 38: ...The following figure shows the operations when the start point address is 5000 and the positioning address are 2000 and 8000 2000 5000 8000 Positioning when the specified address is 2000 Start point...

Page 39: ...ied increment of travel from the start point address 2 The sign of the travel increment determines the direction of travel For positive travel increment Positioning in the positive direction direction...

Page 40: ...t End point Reverse direction Forward direction b Circular interpolation with the specified center point Circular interpolation is performed using the specified endpoint address and center point addre...

Page 41: ...ement direction for a positive movement amount Positioning direction Travel along axis 1 2 axis fixed feed control Forward direction Reverse direction Forward direction Forward direction Reverse direc...

Page 42: ...he input of the QD77MS speed position switching signal and perform positioning for the specified increment of travel V Speed control Position control Specified travel increment Dwell time t ON ON ON O...

Page 43: ...by the user determines whether to perform positioning operation with one positioning data item or to perform continuous positioning operation with multiple positioning data items 1 Independent positio...

Page 44: ...number This is specified when performing positioning in which the direction changes because of multiple positioning data items having consecutive positioning data numbers V Address direction Address...

Page 45: ...tinues positioning This is specified when continuously executing multiple positioning data items having consecutive positioning data numbers at a specified speed ON ON ON OFF OFF OFF OFF V Address dir...

Page 46: ...start command from the PLC CPU or external complex positioning control can be performed The block positioning control can be performed by specifying the positioning start number and positioning start...

Page 47: ...ng method This is a method in which linear acceleration deceleration is carried out based on the acceleration time deceleration time and speed limit value set by the user Velocity Time b S curve accel...

Page 48: ...Note RLS Lower limit signal Note DI External command signal Switching signal STOP STOP signal DOG Near point dog signal Note SSCNET H Positioning command Control command Monitor data External input si...

Page 49: ...XF X10 X11 X12 X13 Y4 Y5 Y6 Y7 X4 X5 X6 X7 X8 X9 XA XB Synchronization flag X1 Execution prohibition flag Y14 Y15 Y16 Y17 All axis servo ON signal Y1 Reverse run JOG start signal Positioning complete...

Page 50: ...ter External input signal of the servo amplifier Manual pulse generator Incremental synchronous encoder A phase Manual pulse generator Incremental synchronous encoder B phase POINT 1 For QD77MS16 M co...

Page 51: ...Works2 The QD77MS and GX Works2 communicate the following data via the PLC CPU Direction Communication QD77MS GX Works2 GX Works2 QD77MS Data read write Parameter Positioning data Parameter Positioni...

Page 52: ...enerator Incremental synchronous encoder QD77MS Pulse signal Manual pulse generator Incremental synchronous encoder A phase Manual pulse generator Incremental synchronous encoder B phase QD77MS Extern...

Page 53: ...ation wiring Writing of program 4 Creation of sequence program for operation 3 5 6 Connection confirmation Test operation Actual operation Maintenance Disposal Monitor 9 10 11 8 7 Monitoring and debug...

Page 54: ...eters and positioning data etc created with GX Works2 into the QD77MS Chapter 7 Simple Motion Module Setting Tool Help 6 Using GX Works2 write the created sequence program into the PLC CPU Chapter 7 G...

Page 55: ...ration Manual pulse generator operation Turn the All axis servo ON signal ON Y1 ON Turn the PLC READY signal ON Y0 ON Pr 100 Set the servo parameters PA PB PC PD PE PS PF Po PL Set the expansion param...

Page 56: ...ol mode to Cd 144 Cd 146 Write Set with Simple Motion Module Setting Tool Create sequence program for setting data Operation sequence program Create sequence program for executing main function Set th...

Page 57: ...operation status after stopping Md 26 Machine OPR control Fast OPR control Major positioning control High level positioning control JOG Inching operation Manual pulse generator operation Forced stop...

Page 58: ...ning control uses multiple positioning successively it automatically decelerates at the previous positioning data It does not stop suddenly even the setting value is sudden stop in stop group 3 If any...

Page 59: ...a The restart operation when the axis 1 movement amount is 300 and the axis 2 movement amount is 600 is shown below Start point address Stop position due to stop cause Designated end point position A...

Page 60: ...ing control using QD77MS the configuration devices applicable CPU and the precautions of configuring the system are explained Prepare the required configuration devices to match the positioning contro...

Page 61: ...signals of servo amplifier Upper stroke limit Lower stroke limit Near point dog I O module Intelligent function module Upper stroke limit 4 points Forced stop input 24VDC Manual pulse generator Incre...

Page 62: ...anual pulse generator Prepared by user Recommended MR HDP01 Mitsubishi Electric 10 SSCNET cable Note 2 Prepared by user Cables are needed to connect the QD77MS with the servo amplifier or between serv...

Page 63: ...er magnification by 4 Output method Voltage output power supply voltage 1V or more Output current Max 20mA Power supply voltage 4 5 to 13 2VDC Current consumption 60mA Output level H level Power suppl...

Page 64: ...CPU type CPU model No of modules Note 1 Main base unit Extension base unit Q00JCPU Up to 8 modules Q00CPU Basic model QCPU Q01CPU Up to 24 modules Q02CPU Q02HCPU Q06HCPU Q12HCPU High performance mode...

Page 65: ...U cannot configure the MELSECNET H remote I O network 2 Compatibility with Multiple PLC system When using the QD77MS in a Multiple PLC system first refer to the QCPU User s Manual Multiple CPU system...

Page 66: ...five digits Function version KCC REI M EK TC510A796051 DATE 2011 12 131210000000000 B MITSUBISHI ELECTRIC CORPORATION M ADE I N JAPAN See Q D 77M S16 I nst r uct i on m anual SERIAL MELSEC Q MITSUBISH...

Page 67: ...onfiguration 3 Confirming by the software Check the function version and SERIAL No in Product Information displayed on System monitor Product Information List of GX Works2 a Check on System monitor Pr...

Page 68: ...2 3 2 List of functions 3 4 3 2 1 QD77MS control functions 3 4 3 2 2 QD77MS main functions 3 7 3 2 3 QD77MS sub functions 3 9 3 2 4 QD77MS common functions 3 11 3 2 5 Combination of QD77MS main funct...

Page 69: ...ystem Note 1 Position speed switching control Incremental system Path control Incremental system absolute system In absolute system 214748364 8 to 214748364 7 m 21474 83648 to 21474 83647 inch 0 to 35...

Page 70: ...J3 W B MR J4 W B MR J3 W B MR J4 W B MR J3 W B Standard cable for outside panel 5m 16 40ft 10m 32 81ft 20m 65 62ft SSCNET cable MR J3BUS M B Note 4 Note 5 QD77MS MR J4 W B MR J3 W B MR J4 W B MR J3 W...

Page 71: ...ositioning control This control executes the positioning data stored in the QD77MS using the block start data The following types of applied positioning control can be carried out Random blocks handli...

Page 72: ...main functions control compensation limits and functions can be added Refer to Chapter 13 Control Sub Functions Common functions Common control using the QD77MS for parameter initialization or backup...

Page 73: ...History monitor function External I O signal logic switching function Parameter initialization function Virtual servo amplifier function Optional data monitor function Module error collection functio...

Page 74: ...he address set in the positioning data or to the position designated with the movement amount sub point or center point 9 2 10 9 2 11 Speed control Speed control 1 axis speed control 2 axis speed cont...

Page 75: ...G operation Outputs a command to servo amplifier while the JOG start signal is ON 11 2 Inching operation Outputs commands corresponding to minute movement amount by manual operation to servo amplifier...

Page 76: ...the commanded speed to within the Pr 8 Speed limit value setting range 13 4 1 Torque limit function If the torque generated by the servomotor exceeds Pr 17 Torque limit setting value during control t...

Page 77: ...s function as a trigger for the sub work 13 7 5 Acceleration deceleration processing function This function adjusts the acceleration deceleration 13 7 6 Continuous operation interrupt function This fu...

Page 78: ...monitor function This function monitors errors warnings and start history of all axes 14 6 Amplifier less operation function This function executes the positioning control of QD77MS without connectin...

Page 79: ...control can be set Current value changing Continuous path control cannot be set NOP instruction JUMP instruction Major positioning control Other control LOOP to LEND 2 JOG operation inching operation...

Page 80: ...Torque change function Target position change function Step function Skip function M code output function Teaching function Command in position function Acceleration deceleration processing function P...

Page 81: ...o ON X2 Y2 X3 Use prohibited Y3 Use prohibited X4 Axis 1 Y4 Axis 1 X5 Axis 2 M code ON Y5 Axis 2 Axis stop X6 Y6 X7 Use prohibited Y7 Use prohibited X8 Axis 1 Y8 Forward run JOG start X9 Axis 2 Error...

Page 82: ...Axis 2 Reverse run JOG start XC Axis 1 YC Forward run JOG start XD Axis 2 YD Axis 3 Reverse run JOG start XE Axis 3 YE Forward run JOG start XF Axis 4 BUSY YF Axis 4 Reverse run JOG start X10 Axis 1 Y...

Page 83: ...8 Y17 Axis 8 X18 Axis 9 Y18 Axis 9 X19 Axis 10 Y19 Axis 10 X1A Axis 11 Y1A Axis 11 X1B Axis 12 Y1B Axis 12 X1C Axis 13 Y1C Axis 13 X1D Axis 14 Y1D Axis 14 X1E Axis 15 Y1E Axis 15 X1F Axis 16 BUSY Y1F...

Page 84: ...F If operation is started while the M code is ON an error will occur X8 X9 XA XB Axis 1 Axis 2 Axis 3 Axis 4 Error detection OFF No error ON Error occurrence This signal turns ON when an error listed...

Page 85: ...ON Module access enabled After the PLC is turned ON or the CPU module is reset this signal turns ON if the access from the CPU module to the QD77MS is possible When Asynchronous is selected in the mod...

Page 86: ...OG operation inching operation manual pulse generator operation and speed torque control etc will stop By turning the axis stop signal ON during positioning operation the positioning operation will be...

Page 87: ...ON to OFF In these cases the OFF time should be set to 100ms or more The QD77 READY signal X0 turns OFF The operating axis stops The M code ON signal Md 31 Status b12 for each axis turns OFF and 0 is...

Page 88: ...oltage range 19 2 to 26 4VDC 24VDC 10 20 ripple ratio 5 or less ON voltage current 17 5VDC or more 3 5mA or more OFF voltage current 7VDC or less 1 0mA or less Input resistance Approx 6 8k OFF to ON R...

Page 89: ...r more Maximum input pulse frequency 200kpps After magnification by 4 up to 800kpps Note 2 Pulse width 5 s or more Leading edge trailing edge time 1 2 s or less Phase difference 1 2 s or more High vol...

Page 90: ...nal connector The specifications of the connector section which is the input output interface for the QD77MS and external device are shown below QD77MS2 RUN ERR AX1 AX2 QD77MS2 AX2 AX1 QD77MS16 RUN ER...

Page 91: ...Note 8 B20 B19 B18 B17 B16 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 A20 A19 A18 A17 A16 A15 A14 A13 A12 A11 A10 A9 A8 A7 A6 A5 A4 A3 A2 A1 Front view of the module 2B1 FLS Note 8 2A1 FLS No...

Page 92: ...ncoder A phase and B phase If the A phase leads the B phase the positioning address will increase at the rising and falling edges of each phase If the B phase leads the A phase the positioning address...

Page 93: ...ing the increased decreased pulse in the pulse input PLS Input the signal for controlling forward run and reverse run in the direction sign SIGN 1 Pr 22 Input signal logic selection is positive logic...

Page 94: ...l stop the positioning being executed After that even if this signal is turned from ON to OFF the system will not start DI1 1A5 DI2 1B5 DI3 2A5 External command Switching signal DI4 2B5 Input a contro...

Page 95: ...pn 13 4 4 for wiring of upper lower limit signal and Section 8 1 1 for wiring of near point dog signal Note 2 indicates 1A AX1 1B AX2 2A AX3 or 2B AX4 Note 3 As for the 24VDC sign both and are possibl...

Page 96: ...may cause a failure Pr 24 Pr 89 1 Positioning address increases if Phase A leads Phase B 2 Positioning address decreases if Phase B leads Phase A 5V Note 3 b Interface between manual pulse generator I...

Page 97: ...r MCCB The outline diagrams of the internal circuits for the external device connection interface are shown below 1 Example when using the forced stop of the QD77MS CP2 24V 24G 24VDC Power supply MC1...

Page 98: ...tromagnetic contactor 7 7 The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor MC near the servo amplifier Refer to the servo amplifier instruction manual for se...

Page 99: ...DC Power supply Emergency Stop EMG Alarm Ra1 1 3 phase 200 to 230VAC CP1 MCCB1 R S T INPUT 100 240VAC FG LG Power Supply Q61P QnCPU PLC CPU QD77MS EMI EMI COM Forced stop Output module QY41P Ra1 Yn CO...

Page 100: ...it is also not possible to communicate with the servo amplifier C If only a specific servo amplifier main circuit power supply is shut off be sure to shut off the main circuit power supply L1 L2 L3 a...

Page 101: ...3 34 Chapter 3 Specifications and Functions MEMO...

Page 102: ...roughly before starting installation wiring or maintenance and always following the precautions 4 1 Outline of installation wiring and maintenance 4 2 4 1 1 Installation wiring and maintenance procedu...

Page 103: ...fer to Section 4 2 Installation Checking wiring Check wiring with GX Works2 Start Module mounting Mount the QD77MS to the base unit Wiring Connect external devices to the QD77MS Perform parameter and...

Page 104: ...1 7 7 No Name Description 1 RUN indicator LED ERR indicator LED 2 Axis display LED AX1 to AX2 3 Axis display LED AX1 to AX4 4 Axis display LED AX Refer to this section 2 5 External input signal conne...

Page 105: ...of the stopping axis standby axis is OFF In the QD77MS16 AX LED is OFF when all axes are stopping or standby RUN ERR AX1 AX2 RUN ERR AX1 AX2 AX3 AX4 RUN ERR AX During axis stop during axis standby AX...

Page 106: ...ule s conductive parts and electronic components Doing so may could cause an operation failure or give damage to the module Be sure there are no foreign matters such as sawdust or wiring debris inside...

Page 107: ...s on the cable Do not damage the cable sheath 3 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...

Page 108: ...r in an environment that meets the general specifications in the manual Safety Guidelines the manual supplied with the main base unit Using the programmable controller in an environment outside the ra...

Page 109: ...the film to provide adequate ventilation Securely connect the connector for SSCNET cable to the bottom connector on the module When removing the cable from the module do not pull the cable Hold the c...

Page 110: ...diator or regenerative option of servo amplifier or servomotor When laying the SSCNET cable be sure to secure the minimum cable bend radius or more Refer to this Section 2 Precautions for SSCNET cable...

Page 111: ...ut a cap to protect light device inside connector from dust For this reason do not remove a cap until just before connecting SSCNET cable Then when removing SSCNET cable make sure to put a cap Keep th...

Page 112: ...or more The shielded must be grounded on the QD77MS side The following figure shows a wiring example 5 Use separate shielded cables of the forced stop input signal EMI EMI COM limit signal FLS RLS DOG...

Page 113: ...4 12 Chapter 4 Installation Wiring and Maintenance of the Product Grounding of FG wire Ground the FG wire securely to the panel Panel Base unit...

Page 114: ...of FG wire and each shielded cable Coat the wire with insulating tape Remove the covering from all shielded cables and bind the appeared shield with a conductive tape Solder the shield of any one of t...

Page 115: ...inch QD77MS Inside control box How to ground shielded cable using AD75CK Shielded cable Shield Installation screw to control box M4 screw Ground terminal Ground terminal installation screw M4 8 screw...

Page 116: ...gement of QD77MS or servo amplifier When closing the door of control panel pay careful attention for avoiding the case that SSCNET cable is hold down by the door and the cable bend becomes smaller tha...

Page 117: ...incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas 6 Wiring process of SSCNET cable Put the SSCNET cable in the duct or fix the cable at the closest part to the QD77MS...

Page 118: ...rom becoming smaller than the minimum bend radius and it should not be twisted When laying cable fix and hold it in position with using cushioning such as sponge or rubber which does not contain plast...

Page 119: ...short as possible using the cable of approx 2mm2 and ground to the control panel Q62P PO W ER INPUT 100 240VAC 50 60Hz 105VA OUTPUT 5VDC3A 24VDC 0 6A N L INPUT 100 240VAC FG LG L ERR 24VDC 0 5A 24G 2...

Page 120: ...nd external devices input signals correctly connected Are the servo amplifier and external wiring FLS RLS DOG correctly connected Refer to the Simple Motion Module Setting Tool Help of GX Works2 for d...

Page 121: ...electric shock damage to the module or operation failure 4 5 2 Disposal instructions When you discard QD77MS servo amplifier a battery primary battery and other option articles please follow the law...

Page 122: ...Setting items for OPR parameters 5 7 5 1 4 Setting items for expansion parameters 5 8 5 1 5 Setting items for servo parameters 5 8 5 1 6 Setting items for positioning data 5 9 5 1 7 Setting items for...

Page 123: ...rect the rotation direction may be reversed or no operation may take place Set according to the machine and applicable motor when system is started up Servo parameters OPR basic parameters OPR detaile...

Page 124: ...nsion parameter and servo parameter is transmitted from QD77MS to the servo amplifier when the initialized communication carried out after the power supply is turned ON or the PLC CPU is reset The pow...

Page 125: ...trol data Output signals Axis stop signal JOG start signal and execution prohibition flag from PLC CPU to QD77MS Expansion axis control data Writes initializes the setting data in the module Sets the...

Page 126: ...unt per rotation AL Pr 4 Unit magnification AM 13 3 2 Basic parameters 1 Pr 7 Bias speed at start Pr 8 Speed limit value 13 4 1 Pr 9 Acceleration time 0 Basic parameters 2 Pr 10 Deceleration time 0 13...

Page 127: ...up 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning complete signal output time Pr 41 Allowable circular interpolation error width Pr 42 External command function sel...

Page 128: ...oint dog ON Pr 51 OPR acceleration time selection Pr 52 OPR deceleration time selection Pr 53 OP shift amount S S S S Pr 54 OPR torque limit value Preset parameters are used for machine OPR control Pr...

Page 129: ...monitor Data type setting 4 14 10 Pr 96 Operation cycle setting QD77MS16 Pr 97 SSCNET setting 5 1 5 Setting items for servo parameters The servo parameters are used to control the servo motor and the...

Page 130: ...ol system Linear 1 Linear 2 Linear 3 Linear 4 Fixed feed 1 Fixed feed 2 Fixed feed 3 Fixed feed 4 Circular sub Circular right Circular left Forward run speed 1 Reverse run speed 1 Forward run speed 2...

Page 131: ...e interpolated 1 QD77MS16 2 axes 3 axes 4 axes 1 axis Da 21 Axis to be interpolated 2 QD77MS16 3 axes 4 axes 1 axis 2 axes Da 22 Axis to be interpolated 3 QD77MS16 4 axes 1 axis 2 axes 3 axes Always s...

Page 132: ...ck start data for details on each setting item High level positioning control Block start data Block start Normal start Condition start Wait start Simultaneous start Repeated start FOR loop Repeated s...

Page 133: ...P instruction JUMP instruction Block start Normal start Condition start Wait start Simul taneous start Repeated start FOR loop Repeated start FOR condition Da 15 Condition target Da 16 Condition opera...

Page 134: ...t Year month Day hour Md 5 Start Day hour Start Minute second Md 6 Start Minute second Error upon starting Md 7 Error judgment History of data that started an operation Pointer No next to the pointer...

Page 135: ...Communication between amplifiers axes searching flag Monitor the connect disconnect status of SSCNET communication Md 53 SSCNET control status Monitor the first five digits of product information Md 1...

Page 136: ...axis When 0 Composite speed is set for Pr 20 Interpolation speed designation method Indicates the composite speed During interpolation control When 1 Reference axis speed is set for Pr 20 Interpolatio...

Page 137: ...Data type setting 3 at optional data monitor data type setting Md 111 Peak torque ratio Optional data monitor output 3 Monitor the content of Pr 94 Optional data monitor Data type setting 4 at optiona...

Page 138: ...ial start data instruction parameter setting value Monitor the start data No of the special start data when using special start Md 38 Start positioning data No setting value Monitor the positioning da...

Page 139: ...2 Controlling the operation Setting operation parameters changing speed during operation interrupting or restarting operation through the system control data Cd 41 Cd 42 Cd 44 Cd 47 Cd 102 Cd 137 axi...

Page 140: ...axis start data No QD77MS16 Set axis 2 start data Nos for axes that start up simultaneously Simultaneous starting axis start data No axis 2 start data No QD77MS2 QD77MS4 Set start data No 1 for axes t...

Page 141: ...ovement amount change register Validate switching signal set in Cd 45 Speed position switching device selection Cd 26 Position speed switching enable flag Change speed for speed control during positio...

Page 142: ...rque control mode Cd 144 Torque time constant at torque control mode Forward direction Set the time constant at regeneration of torque control mode Cd 145 Torque time constant at torque control mode N...

Page 143: ...he range from axis No 1 to 2 n 0 to 1 is valid in the QD77MS2 Note 3 The range from axis No 1 to 4 n 0 to 3 is valid in the QD77MS4 5 2 1 Basic parameters 1 Setting value setting range Setting value b...

Page 144: ...The settings are made using Pr 2 to Pr 4 The electronic gear is expressed by the following equation Electronic gear Number of pulses per rotation AP Movement amount per rotation AL Unit magnification...

Page 145: ...on so that the movement amount per rotation AL does not exceed 20000000 0 m 20m 1 Refer to Section 13 3 2 Electric gear function information about electric gear Pr 1 setting value Value set with GX Wo...

Page 146: ...ultiplier setting for degree axis is set to valid 0 01 to 20000000 00 degree min 2 Range of speed limit value when Pr 83 Speed control 10 x multiplier setting for degree axis is set to valid 1 to 2000...

Page 147: ...ring JOG operation inching operation and manual pulse generator operation 0 Pr 15 Software stroke limit valid invalid setting 1 Software stroke limit invalid during JOG operation inching operation and...

Page 148: ...1 150n 0 External input signal of QD77MS QD77MS2 QD77MS4 0 1 External input signal of servo amplifier 1 2 Buffer memory of QD77MS 2 3 External input signal 1 of QD77MS QD77MS16 3 4 External input sign...

Page 149: ...ses per rotation 0 Pr 3 Movement amount per rotation Pr 4 Unit magnification A 65535 PLS 1 An error error code 920 occurs when Pr 2 Number of pulses per rotation Pr 3 Movement amount per rotation Pr 4...

Page 150: ...ee 3 PLS 2147483648 to 2147483647 PLS 2147483648 to 2147483647 PLS Pr 13 Software stroke limit lower limit value Set the lower limit for the machine s movement range during positioning control Softwar...

Page 151: ...as a front loading signal of the positioning complete signal When positioning control is started the Command in position flag Md 31 Status b2 turns OFF and the command in position flag turns ON at th...

Page 152: ...peration completes m1 m2 01 continuous 00 end Positioning complete signal X14 X15 X16 X17 BUSY signal XC XD XE XF Positioning M code ON signal X4 X5 X6 X7 M code OFF request 1504 1604 1704 1804 Cd 7 O...

Page 153: ...0 Composite speed The movement speed for the control target is designated and the speed for each axis is calculated by the QD77MS 1 Reference axis speed The axis speed set for the reference axis is de...

Page 154: ...22 Input signal logic selection Set the input signal logic that matches the signaling specification of the connected external device Cd 44 External input signal operation device or external input sign...

Page 155: ...al signal selection error error code 936 will occur when the PLC READY signal Y0 is turned ON and the QD77 READY signal X0 will not be turned ON Set 3 to 6 to use the external input signal of QD77MS16...

Page 156: ...hase A B phase B 1 1 1 1 1 1 1 1 Positioning address Reverse run Forward run A phase A B phase B 1 1 1 1 1 1 1 1 Positioning address c A phase B phase multiplied by 1 The positioning address increases...

Page 157: ...81 Speed position function selection Select the mode of speed position switching control 0 INC mode 2 ABS mode Note1 If the setting is other than 0 and 2 operation is performed in the INC mode with th...

Page 158: ...2 Pr 32 JOG operation acceleration time selection 3 Pr 27 Acceleration time 3 3 0 50 150n 0 Pr 10 Deceleration time 0 0 1 Pr 28 Deceleration time 1 1 2 Pr 29 Deceleration time 2 2 Pr 33 JOG operation...

Page 159: ...tput type 0 Pr 89 Manual pulse generator Incremental synchronous encoder input type selection 1 Voltage output open collector type 1 1 67 b0 to b3 Not used b4 to b7 Torque initial value selection 0 Co...

Page 160: ...d limit value setting range is 0 001 to 2000000 000 degree min but it will be decupled and become 0 01 to 20000000 00 degree min by setting Pr 83 Speed control 10 x multiplier setting for degree axis...

Page 161: ...on are linear Velocity Time Trapezoid acceleration deceleration The acceleration and deceleration follow a Sin curve Velocity Time S curve acceleration deceleration Pr 35 S curve ratio Set the S curve...

Page 162: ...peed Da 8 Pr 36 Sudden stop deceleration time Acceleration time 0 Pr 9 Acceleration time 1 Pr 25 Acceleration time 2 Pr 26 Acceleration time 3 Pr 27 Deceleration time 0 Pr 10 Deceleration time 1 Pr 28...

Page 163: ...trol the positioning completed signal of interpolation axis is output only during the time set to the reference axis QD77MS4 operation example M QD77MS Y10 Y11 Y12 Y13 PLC PLC CPU Positining Start sig...

Page 164: ...reference axis set in the axis 1 buffer memory address 60 61 If axis 4 is the reference axis set in the axis 4 buffer memory address 510 511 Path with spiral interpolation Error End point address with...

Page 165: ...rnal command signal input is used to execute the mark detection And also set to use the external command signal in the synchronous control POINT To enable the external command signal set the Cd 8 Exte...

Page 166: ...command position of the QD77MS at the time the servo stop signal turned ON and the present value at the time the servo stop signal turned OFF is greater than the value set in the buffer memory for th...

Page 167: ...servo OFF changes to ON to a value where the mechanical system will not be affected by a signal output b The restart servo OFF changes to ON is valid only for the first time servo OFF changes to ON F...

Page 168: ...on when a restart is performed Emergency stop input Last command position Stop position at the time of servo OFF Movement while servo is OFF Restart operation Last command position Output once at the...

Page 169: ...control mode to continuous operation to torque control mode 0 Command speed Speed that position command at switching is converted into the motor speed 1 Feedback speed Motor speed received from servo...

Page 170: ...ultiple axes 5 2 5 OPR basic parameters Setting value setting range Setting value buffer memory address Item Value set with GX Works2 Value set with sequence program Default value QD77MS2 QD77MS4 QD77...

Page 171: ...d 2 After decelerating at the near point dog ON move the designated distance and complete the machine OPR 6 Data set method The position where the machine OPR has been made will be the OP 7 Scale orig...

Page 172: ...hod 1 1 Start machine OPR Start movement at the Pr 46 OPR speed in the Pr 44 OPR direction 2 Detect the near point dog ON and start deceleration 3 Decelerate to Pr 47 Creep speed and move with the cre...

Page 173: ...rvo amplifier has been turned ON and the servomotor has been rotated at least once using the JOG or similar operation However if selecting 1 Not need to pass motor Z phase after the power supply is sw...

Page 174: ...ess decrements Arrow 1 Normally the OP is set near the lower limit or the upper limit so Pr 44 OPR direction is set as shown below Address decrement direction Lower limit OP Upper limit Address increm...

Page 175: ...lue If the speed limit value is exceeded the error outside speed limit value range error code 910 will occur and OPR will not be executed The OPR speed should be equal to or faster than the Pr 7 Bias...

Page 176: ...m 0 01 to 20000000 00 mm min 1 to 2000000000 10 2 mm min 1 inch 0 001 to 2000000 000 inch min 1 to 2000000000 10 3 inch min 2 degree 0 001 to 2000000 000 degree min 1 1 to 2000000000 10 3 degree min 2...

Page 177: ...he axis will decelerate to a stop 4 and then will carry out machine OPR again 5 6 ON Start position Near point dog signal Limit switch OFF state Zero signal 5 4 6 1 2 3 Operation for OPR retry functio...

Page 178: ...tion time 3 3 0 82 150n 0 Pr 10 Deceleration time 0 0 1 Pr 28 Deceleration time 1 1 2 Pr 29 Deceleration time 2 2 Pr 52 OPR deceleration time selection 3 Pr 30 Deceleration time 3 3 0 83 150n Pr 53 OP...

Page 179: ...S s and deceleration time to 300 ms the minimum value of Pr 50 Setting for the movement amount after near point dog ON is calculated as follows Deceleration distance 1 2 Vz 1000 t 0 01 Vz Movement amo...

Page 180: ...t with machine OPR If there is a physical limit to the OP position due to the relation of the near point dog installation position use this function to compensate the OP to an optimum position OPR dir...

Page 181: ...t restart or not when selecting 0 Positioning control is not executed a Start possible Machine OPR JOG operation inching operation manual pulse generator operation current value changing using current...

Page 182: ...6 OPR speed or Pr 47 Creep speed 0 Designate Pr 46 OPR speed as the setting value 1 Designate Pr 47 Creep speed as the setting value Pr 57 Dwell time during OPR retry When OPR retry is validated when...

Page 183: ...t power consumption 10 Instantaneous torque 12 Motor thermistor temperature 13 Torque equivalent to disturbance 14 Overload alarm margin 15 Excessive error alarm margin 16 Settling time 17 Overshoot a...

Page 184: ...antaneous torque 12 Motor thermistor temperature 13 Torque equivalent to disturbance 14 Overload alarm margin 15 Excessive error alarm margin 16 Settling time 17 Overshoot amount 1 word 20 Position fe...

Page 185: ...a monitor Data type setting 2 when the data type of used point 2 words is set in Pr 91 Optional data monitor Data type setting 1 and set 0 in Pr 94 Optional data monitor Data type setting 4 when the d...

Page 186: ...rvo amplifier differs by this parameter When unconnectable servo amplifier is set in Pr 100 Servo series SSCNET setting error error code 1003 occurs and communication with the servo amplifier is not e...

Page 187: ...04 For liner servo 6 MR J3 B RJ080 For direct drive motor 32 MR J4 B MR J4W B 2 axis type and 3 axis type 4097 Virtual servo amplifier MR J3 4128 Virtual servo amplifier MR J4 0 30100 200n 28400 100n...

Page 188: ...PA21 64401 250n 64401 70n PA06 30106 200n 28406 100n PA22 64402 250n 64402 70n PA07 30107 200n 28407 100n PA23 64403 250n 64403 70n PA08 30108 200n 28408 100n PA24 64404 250n 64404 70n PA09 30109 200...

Page 189: ...100n PB13 30131 200n 28431 100n PB45 30163 200n 28463 100n PB14 30132 200n 28432 100n PB46 64413 250n 64413 70n PB15 30133 200n 28433 100n PB47 64414 250n 64414 70n PB16 30134 200n 28434 100n PB48 644...

Page 190: ...13 30176 200n 28476 100n PC45 64444 250n 64444 70n PC14 30177 200n 28477 100n PC46 64445 250n 64445 70n PC15 30178 200n 28478 100n PC47 64446 250n 64446 70n PC16 30179 200n 28479 100n PC48 64447 250n...

Page 191: ...30202 200n PD31 30226 200n PD08 30203 200n PD32 30227 200n PD09 30204 200n PD33 64464 250n PD10 30205 200n PD34 64465 250n PD11 30206 200n PD35 64466 250n PD12 30207 200n PD36 64467 250n PD13 30208 2...

Page 192: ...PE11 30238 200n PE43 64482 250n PE12 30239 200n PE44 64483 250n PE13 30240 200n PE45 64484 250n PE14 30241 200n PE46 64485 250n PE15 30242 200n PE47 64486 250n PE16 30243 200n PE48 64487 250n PE17 302...

Page 193: ...1 g Extension setting 3 parameters Buffer memory address Buffer memory address Servo amplifier Parameter No QD77MS2 QD77MS4 QD77MS16 Servo amplifier Parameter No QD77MS2 QD77MS4 QD77MS16 PF01 30900 5...

Page 194: ...D motor setting parameters Buffer memory address Buffer memory address Servo amplifier Parameter No QD77MS2 QD77MS4 QD77MS16 Servo amplifier Parameter No QD77MS2 QD77MS4 QD77MS16 PL01 64552 250n PL25...

Page 195: ...on Manual SH 030051 MR J3W B SSCNET interface 2 axis AC Servo amplifier MR J3W B Servo amplifier Instruction Manual SH 030073 MR J3 B RJ004 SSCNET Compatible Linear Servo MR J3 B RJ004 Instruction Man...

Page 196: ...442 100n PB02 30120 200n 28420 100n PB25 30143 200n 28443 100n PB03 30121 200n 28421 100n PB26 30144 200n 28444 100n PB04 30122 200n 28422 100n PB27 30145 200n 28445 100n PB05 30123 200n 28423 100n PB...

Page 197: ...12 30175 200n 28475 100n PC28 30191 200n 28491 100n PC13 30176 200n 28476 100n PC29 30192 200n 28492 100n PC14 30177 200n 28477 100n PC30 30193 200n 28493 100n PC15 30178 200n 28478 100n PC31 30194 20...

Page 198: ...30263 200n PE17 30244 200n PE37 30264 200n PE18 30245 200n PE38 30265 200n PE19 30246 200n PE39 30266 200n PE20 30247 200n Set with GX Works2 PE40 30267 200n Set with GX Works2 n Axis No 1 f Special...

Page 199: ...PF14 30913 50n PF07 30906 50n PF15 30914 50n PF08 30907 50n Set with GX Works2 PF16 30915 50n Set with GX Works2 n Axis No 1 h Option unit parameters Buffer memory address Buffer memory address Servo...

Page 200: ...8 Command speed Da 9 Dwell time Da 10 M code Da 6 Positioning address movement amount Positioning data No 1 QD77MS16 Positioning data No 100 6990 1000n 6991 1000n 6992 1000n 6994 1000n 6995 1000n 699...

Page 201: ...value corresponding to axis No such as the following table Axis No n Axis No n Axis No n Axis No n 1 0 5 4 9 8 13 12 2 1 6 5 10 9 14 13 3 2 7 6 11 10 15 14 4 3 8 7 12 11 16 15 Note 1 Calculate as foll...

Page 202: ...trol with center point specified INC CCW 12H VF2 2 axis speed control forward run 13H VR2 2 axis speed control reverse run 14H ABS3 3 axis linear interpolation control ABS 15H INC3 3 axis linear inter...

Page 203: ...n positioning data No JUMP destination positioning data No 0 2002 6000n 6002 1000n M code Condition data No Da 10 M code Number of LOOP to LEND repetitions The setting value range differs according to...

Page 204: ...path control Positioning is carried out successively in order of data Nos with one start signal The operation does not stop at each positioning data Da 2 Control system Set the control system for carr...

Page 205: ...3 as the target axis partner axis 3 Selects the axis 4 as the target axis partner axis Note Do not specify the own axis number or any number except the above If you do the Illegal interpolation descr...

Page 206: ...position Movement amount 30000 Movement amount 30000 Moves in negative direction Moves in positive direction 3 Speed position switching control INC mode Set the amount of movement after the switching...

Page 207: ...H INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 214748364 8 to 214748364 7 Set the movement amount 2147483648 to 2147483...

Page 208: ...1 02H INC Linear 2 0BH INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 21474 83648 to 21474 83647 Set the movement amount...

Page 209: ...address 2147483648 to 2147483647 INC Linear 1 02H INC Linear 2 0BH INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 2147483...

Page 210: ...ular sub 0DH ABS circular right 0FH ABS circular left 10H Set the address 21474 83648 to 21474 83647 Set the address 2147483648 to 2147483647 INC circular sub 0EH INC circular right 11H INC circular l...

Page 211: ...control is possible is 536870912 10 1 m although the setting value can be input within the range shown in the above table as an arc address When Pr 1 Unit Setting is degree No control system requires...

Page 212: ...t 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 for uniform speed...

Page 213: ...he positioning ends to when the positioning complete signal turns ON as the dwell time Positioning control Positioning complete signal OFF 2 When Da 1 Operation pattern is 01 Continuous positioning co...

Page 214: ...tional JUMP to the positioning data specified by Da 9 1 to 10 JUMP performed according to the condition data No specified a number between 1 and 10 Make sure that you specify the number of LOOP to LEN...

Page 215: ...set as axis to be interpolated 0 Axis 1 8 Axis 9 1 Axis 2 9 Axis 10 2 Axis 3 A Axis 11 3 Axis 4 B Axis 12 4 Axis 5 C Axis 13 5 Axis 6 D Axis 14 6 Axis 7 E Axis 15 7 Axis 8 F Axis 16 Note Do not speci...

Page 216: ...Each axis has five start blocks block Nos 0 to 4 Note For information on the organization of the buffer memory addresses assigned to the start blocks 1 to 4 refer to Appendix 1 List of buffer memory a...

Page 217: ...orresponding to axis No such as the following table Axis No n Axis No n Axis No n Axis No n 1 0 5 4 9 8 13 12 2 1 6 5 10 9 14 13 3 2 7 6 11 10 15 14 4 3 8 7 12 11 16 15 Note 1 Calculate as follows for...

Page 218: ...start data Condition Buffer memory GX Works2 Axis 1 Condition data 1 to 10 7000 Axis 2 Start block 0 Condition data 1 to 10 Axis 1 Condition data 1 to 10 7001 Axis 2 Start block 1 Condition data 1 to...

Page 219: ...Axis 3 Condition data 1 to 10 7004 Axis 4 Start block 4 Condition data 1 to 10 Supports the settings Supports the settings QD77MS16 Block No 1 Axis Block start data Condition Buffer memory GX Works2...

Page 220: ...600 01H to 258H 01H to 258H b15 b0 b3 b7 b11 0 0 0 Start data No Shape 0000H 26000 1000n 22000 400n 0 Block start normal start 00H 1 Condition start 01H 2 Wait start 02H 3 Simultaneous start 03H 4 FOR...

Page 221: ...conditions are established execute the block start data If not established stop the control wait until the conditions are established 03H Simultaneous start Simultaneous execute output command at same...

Page 222: ...ganization of the buffer memory addresses assigned to the start blocks 1 to 4 refer to Appendix 1 List of buffer memory addresses QD77MS16 22190 400n 22191 400n 22192 400n 22193 400n 22194 400n 22195...

Page 223: ...ue corresponding to axis No such as the following table Axis No n Axis No n Axis No n Axis No n 1 0 5 4 9 8 13 12 2 1 6 5 10 9 14 13 3 2 7 6 11 10 15 14 4 3 8 7 12 11 16 15 Note 1 Calculate as follows...

Page 224: ...start data Condition Buffer memory GX Works2 Axis 1 Condition data 1 to 10 7000 Axis 2 Start block 0 Condition data 1 to 10 Axis 1 Condition data 1 to 10 7001 Axis 2 Start block 1 Condition data 1 to...

Page 225: ...0 Axis 3 Condition data 1 to 10 7004 Axis 4 Start block 4 Condition data 1 to 10 Supports the settings Supports the settings QD77MS16 Block No 1 Axis Block start data Condition Buffer memory GX Works2...

Page 226: ...elected 70H 80 Axis 4 selected 80H 90 Axis 1 and 4 selected 90H A0 Axis 2 and 4 selected A0H B0 Axis 1 2 and 4 selected B0H C0 Axis 3 and 4 selected C0H D0 Axis 1 3 and 4 selected D0H Condition identi...

Page 227: ...Da 25 Simultaneously starting axis No 2 QD77MS16 Simultaneously starting axis Da 26 Simultaneously starting axis No 3 QD77MS16 0 Axis 1 selected 1 Axis 2 selected 2 Axis 3 selected 3 Axis 4 selected 4...

Page 228: ...2 03H Buffer memory 1 word 04H Buffer memory 2 word 06H P1 P2 Select how to use the value in the buffer memory as a part of the condition 10H Axis 1 selected 20H Axis 2 selected 30H Axis 1 and 2 selec...

Page 229: ...2 positioning data No 1 to 600 01H to 258H QD77MS16 Set the parameters as required for the Da 16 Condition operator and Da 23 Number of simultaneously starting axes Da 16 Condition operator Da 23 Numb...

Page 230: ...E0H Axis 2 3 and 4 selected Value positioning data No Set the positioning data No for starting axis 3 and or axis 4 Low order 16 bit Axis 3 positioning data No 1 to 600 01H to 258H High order 16 bit...

Page 231: ...starting axis No 1 3 axis interpolation Set the target axis number in Da 24 Simultaneously starting axis No 1 and Da 25 Simultaneously starting axis No 2 4 axis interpolation Set the target axis numbe...

Page 232: ...5 111 Chapter 5 Data Used for Positioning Control MEMO...

Page 233: ...4 3 8 7 12 11 16 15 Note 1 Calculate as follows for the buffer memory address corresponding to each axis Example For axis No 16 2406 100n Md 23 Axis error No 2406 100 15 3906 2494 100n Md 123 Torque d...

Page 234: ...dress common for all axes Reading the monitor value Default value QD77MS2 QD77MS4 QD77MS16 Monitoring is carried out with a decimal Storage value 0 Not in test mode 1 In test mode Monitor value 0 1200...

Page 235: ...st OPR Current value changing b15 b12 b8 b4 b0 B A C D Buffer memory Monitor value Positioning operation Stored contents Storage value Reference Decimal Start No A 0 0 0 to B C D 1 001 2 3 2 C 9004 2...

Page 236: ...older record when a pointer No is reassigned Start history pointer Md 3 Start information Start Year month Start Day hour Start Minute second Error judgment 4092 Start No Indicates a pointer No that...

Page 237: ...alue 9 4 0 7 Md 7 Error judgment Storage details This area stores the following results of the error judgment performed upon starting Warning flag BUSY start Control mode switching during BUSY Control...

Page 238: ...older record when a pointer No is reassigned Start history pointer Md 3 Start information Start Year month Start Day hour Start Minute second Error judgment 4092 Start No Indicates a pointer No that...

Page 239: ...error occurrence Year month Stores the time Year month at which an axis error was detected Refresh cycle Immediate Monitoring is carried out with a hexadecimal display 0 b15 b12 0 0 0 1 0 0 0 0 0 0 0...

Page 240: ...1333 1334 1466 1335 1336 11 1337 1338 1467 1339 1340 12 1341 1342 1468 1343 1344 13 1345 1346 1469 1347 1348 14 1349 1350 1470 1351 1352 15 1353 1354 1471 1355 1356 QD77MS2 QD77MS4 Pointer No 15 Buffe...

Page 241: ...s warning occurrence Year month Stores the time Year month at which an axis warning was detected Refresh cycle Immediate Monitoring is carried out with a hexadecimal display 0 b15 b12 0 0 0 1 0 0 0 0...

Page 242: ...Each history record is assigned a pointer No in the range between 0 and 15 If the pointer No 15 has been assigned to a new record the next record will be assigned the pointer number 0 A new record re...

Page 243: ...etection status of axis that set communication between amplifiers Refresh cycle Immediate Monitoring is carried out with a decimal display Monitor value Storage value 0 Search end 1 Searching Md 53 SS...

Page 244: ...s Default value QD77MS2 QD77MS4 QD77MS16 0 1424 1425 4224 4225 0 1431 4231 0 1432 4232 0 1434 4234 0 1433 4233 QD77MS2 1000H QD77MS4 1001H QD77MS16 1002H 31332 Monitors this buffer memory address too...

Page 245: ...ith a decimal display Monitor value Storage value 0 OFF 1 ON Operation cycle over occurred POINT Latch status of operation cycle over is indicated When this flag turns ON correct the positioning detai...

Page 246: ...5 125 Chapter 5 Data Used for Positioning Control Storage buffer memory address common for all axes Default value QD77MS2 QD77MS4 QD77MS16 0 4238 0 4239 0 1208 4008 0 1209 4009...

Page 247: ...become a cumulative value They will not have a ring structure for values between 0 and 359 99999 degrees However the machine feed value is restored within the range of 0 to 359 99999 degrees at the co...

Page 248: ...rting Decimal integer value Converted from hexadecimal to decimal 1 5 5 0 m m inch degree PLS Unit mm min inch min degree min m 2 3 0 PLS s Unit Unit conversion table Unit conversion Actual value High...

Page 249: ...ata relating to the current operation When the PLC READY signal Y0 goes OFF the value is set to 0 Refresh cycle Immediate Md 26 Axis operation status This area stores the axis operation status Refresh...

Page 250: ...PR 8 Position control 9 Speed control 10 Speed control in speed position switching control 11 Position control in speed position switching control 12 Position control in position speed switching contr...

Page 251: ...o end after changing to position control with the speed position switching control is stored When the control method is Reverse run position speed the negative value is stored Refresh cycle Immediate...

Page 252: ...e min m 2 3 3 0 PLS s Unit Unit conversion table Unit conversion Actual value High order buffer memory Low order buffer memory R 10m Unit conversion table Md 29 Axis feedrate Md 28 Md 28 Speed positio...

Page 253: ...omplete flag This signal comes ON when a machine OPR operation completes normally This signal goes OFF when the operation start Position speed switching latch flag This signal is used during the posit...

Page 254: ...0 0 0 OFF 1 ON b0 b1 b2 b3 b4 b5 b9 b10 Monitor value Buffer memory Not used Stored items Meaning Not used In speed control flag Speed position switching latch flag Command in position flag OPR reque...

Page 255: ...ddress During interpolation of speed control The target speeds of each axis are stored in the monitor of the reference axis and interpolation axis During JOG operation The actual target speed consider...

Page 256: ...mal display A B C D A B C D E F G H E R F G H b15 b12 b4 b0 b8 E F G H b31 b28 b20 b16 b24 A B C D Monitor value Low order buffer memory Example 820 High order buffer memory Example 821 Sorting Decima...

Page 257: ...R The Pr 17 Torque limit setting value or Cd 101 Torque output setting value is stored But Pr 54 OPR torque limit value is stored after the Pr 47 Creep speed completion Refresh cycle Immediate Md 36 S...

Page 258: ...art Normal start 01 Condition start 02 Wait start 03 Simultaneous start 04 FOR loop 05 FOR condition 06 NEXT Storage value Monitor value 0 827 100n 2427 100n Monitoring is carried out with a decimal d...

Page 259: ...ount is decremented by one 1 at the loop end The control comes out of the loop when the count reaches 0 This area stores 0 within an infinite loop Refresh cycle Immediate Md 42 Control system repetiti...

Page 260: ...change ON 0 831 100n 2431 100n Monitoring is carried out with a decimal display Monitor value Storage value 0 to 255 0 832 100n 2432 100n Monitoring is carried out with a hexadecimal display Monitor v...

Page 261: ...ioning data being executed The addresses shown to the right store details of the positioning data currently being executed positioning data No given by Md 44 Refresh cycle Immediate Md 48 Deceleration...

Page 262: ...ning identifier Da 1 to Da 5 Da 1 to Da 4 839 100n 2439 100n M code Da 10 Da 10 840 100n 2440 100n Dwell time Da 9 Da 9 2441 100n Axis to be interpolated Da 20 to Da 22 842 100n 2442 100n 843 100n 244...

Page 263: ...alue This area stores the difference between the feed current and the real current value Buffer memory details PLS Refresh cycle Operation cycle Md 103 Motor rotation speed This area stores the motor...

Page 264: ...value High order buffer memory Low order buffer memory R 10m Md 100 Md 101 Unit conversion table Md 102 Md 100 OPR re travel value Md 101 Real current value Md 102 Deviation counter value Md 103 Motor...

Page 265: ...assed even once Zero speed Turns ON when the motor speed is lower than the servo parameter zero speed Speed limit Turn ON during the speed limit in torque control mode PID control Turn ON when the ser...

Page 266: ...16 200 to 231 PS01 to PS32 232 PA19 577 to 640 PT01 to PT64 0 870 100n 2470 100n Monitoring is carried out with a hexadecimal display b15 b12 b8 b4 b0 b0 b3 0 OFF 1 ON Zero point pass Zero speed Store...

Page 267: ...tting Refresh cycle Operation cycle Md 111 Peak torque ratio Optional data monitor output 3 The maximum torque is indicated Holding value The peak values for the past 15 seconds are indicated rated to...

Page 268: ...rried out with a decimal display Monitor value Peek torque ratio Optional data monitor output 3 0 880 100n 2480 100n Monitoring is carried out with a decimal display Monitor value Optional data monito...

Page 269: ...At the positioning start JOG operation start manual pulse generator operation The Pr 17 Torque limit setting value or Cd 101 Torque output setting value is stored When a value is set in Cd 22 New torq...

Page 270: ...inction for magnetism type encoder Stored items Details b15 b12 b8 b4 b0 Connecting to single revolution ABS encoder Connecting to magnetism type encoder 0 Multi revolution ABS INC 1 Single revolution...

Page 271: ...This area stores the command torque during torque control mode Buffer memory 0 1 This area stores the command torque during continuous operation to torque control mode 0 is stored other than during t...

Page 272: ...Md 123 When Pr 83 Speed control 10 x multiplier setting for degree axis is valid 2 0 894 100n 2494 100n Monitoring is carried out with a decimal display Control mode switching status 0 Not during con...

Page 273: ...rs positioning data and block start data from the buffer memory to the flash ROM Fetch cycle 103 ms POINT 1 Do not turn the power OFF or reset the PLC CPU while writing to the flash ROM If the power i...

Page 274: ...rite access to flash ROM The QD77MS resets the value to 0 automatically when the write access completes This indicates the completion of write operation 1 0 1900 5900 Set with a decimal Setting value...

Page 275: ...d Fetch cycle At PLC READY ON POINT The Cd 41 Deceleration start flag valid become valid when the PLC READY signal Y0 turns from OFF to ON Cd 42 Stop command processing for deceleration stop selection...

Page 276: ...2 QD77MS4 QD77MS16 Set with a decimal Setting value K Deceleration start flag valid 0 Deceleration start flag invalid 1 Deceleration start flag valid 0 1905 5905 Set with a decimal Setting value K Sto...

Page 277: ...item Setting details Cd 44 External input signal operation device Operate the external input signal status Upper lower limit signal near point dog signal stop signal of QD77MS when 2 is set in Pr 80 E...

Page 278: ...er limit signal FLS Axis 12 Lower limit signal RLS Axis 12 Near point dog signal DOG Axis 12 STOP signal STOP Axis 13 Upper limit signal FLS Axis 13 Lower limit signal RLS Axis 13 Near point dog signa...

Page 279: ...initialized setting data Fetch cycle 103 ms Note After completing the initialization of setting data switch the power ON or reset the PLC CPU Cd 102 SSCNET control command Set the connect disconnect c...

Page 280: ...initial value setting 0 1909 5909 Set with a decimal SSCNET control command 0 No command Axis No Note 1 Disconnect command of SSCNET communication Axis No to be disconnected 2 Execute command 10 Conne...

Page 281: ...g detection and axis warning No When the QD77MS axis operation state is in error occurrence the error is cleared and the QD77MS is returned to the waiting state Clears the both of QD77MS errors and se...

Page 282: ...ioning starting point No The QD77MS resets the value to 0 automatically when the continuous operation is interrupted 1 to 50 0 1501 100n 4301 100n Set with a decimal K 1 Error reset request Setting va...

Page 283: ...etting mm 10 1 m inch 10 5 inch degree 10 5 degree PLS PLS Setting range 2147483648 to 2147483647 2147483648 to 2147483647 0 to 35999999 2147483648 to 2147483647 Cd 9 New current value Fetch cycle At...

Page 284: ...valid 0 Invalidates an external command 1 Validates an external command K 0 1505 100n 4305 100n Set with a decimal Actual value Conversion into an integer value Cd 9 New current value 10m Unit convers...

Page 285: ...the minimum unit the speed is raised to make a complete unit and the warning No 110 is output Fetch cycle Operation cycle When changing the speed use this data item to specify a new speed The operatio...

Page 286: ...100n Set with a decimal Actual value Conversion into an integer value Cd 14 New speed value 10m Unit conversion table Cd 14 m mm min inch min degree min 2 3 3 0 PLS s Unit R Setting value Decimal Exa...

Page 287: ...o set the JOG speed Set a value within the following range Pr 1 Unit setting mm 10 2 mm min inch 10 3 inch min Degree 10 3 degree min PLS PLS s Setting range 1 to 2000000000 1 to 2000000000 1 to 20000...

Page 288: ...Cd 17 JOG speed 10m Unit conversion table Cd 17 mm min inch min degree min m 2 3 3 0 PLS s Unit R Setting value Decimal Example When the Cd 17 JOG speed is set as 20000 00mm min the buffer memory stor...

Page 289: ...al pulse generator enable flag This data item enables or disables operations using a manual pulse generator Fetch cycle Operation cycle Cd 22 New torque value forward new torque value When 0 is set to...

Page 290: ...tes the completion of OPR request flag OFF request 1 0 1521 100n 4321 100n Set with a decimal K Manul pulse generator 1 pulse input magnification 1 to 10000 Setting value 1 1522 100n 1523 100n 4322 10...

Page 291: ...Cd 24 Speed position switching enable flag Set whether the switching signal set in Cd 45 Speed position switching device selection is enabled or not Fetch cycle At switching request During the positio...

Page 292: ...flag 0 Speed control will not be taken over by position control even when the signal set in Speed position switching device selection comes ON 1 Speed control will be taken over by position control e...

Page 293: ...3647 2147483648 to 2147483647 2147483648 to 2147483647 Cd 27 Target position change value New address Fetch cycle At change request When changing the target position during a positioning operation use...

Page 294: ...m inch degree m 1 5 5 0 PLS Unit mm min inch min degree min m 2 3 3 0 PLS s Unit Conversion into an integer value Unit conversion table Cd 27 Unit conversion table Cd 28 Cd 27 Target position change v...

Page 295: ...a No axis 3 start data No QD77MS4 Use these data items to specify an axis 3 start data No for each axis that has to start simultaneously Set 0 to any axis that should not start simultaneously Cd 32 Si...

Page 296: ...lue K QD77MS4 use Cd 30 Cd 33 to Simultaneous starting axis start data No 1 to 600 QD77MS16 use Cd 30 Simultaneous starting own axis start data No Cd 31 Cd 33 to Simultaneous starting axis start data...

Page 297: ...et 1 in this data item Fetch cycle Operation cycle During positioning operation Cd 38 Teaching data selection This data item specifies the teaching result write destination Data are cleared to zero wh...

Page 298: ...essing of the step start request completes 0 1546 100n 4346 100n Set with a decimal Setting value Skip request 1 K The QD77MS resets the value to 0 automatically when processing of the skip request co...

Page 299: ...xis No or the value outside the range is set to the number of simultaneous starting axes Error before simultaneous start error code 501 will occur and the operation is not executed Note Do not set the...

Page 300: ...al for switching from speed control to position control 1 Use the near point dog signal for switching from speed control to position control 2 Use Speed position switching command for switching from s...

Page 301: ...rameter becomes effective at the PLC ready signal rising edge The Cd 101 Torque output setting value refer to the start axis control data can be changed at all times Therefore in the Cd 101 Torque out...

Page 302: ...n 4351 100n Set with a decimal Setting value K Torque output setting 0 to 1000 0 1552 100n 4352 100n Set with a decimal Setting value Gain changing command 0 Gain changing command OFF 1 Gain changing...

Page 303: ...e limit setting value Fetch cycle Operation cycle Cd 130 Parameter write request Set the write request of servo parameter Set 1 after setting Cd 131 Parameter No and Cd 132 Change data Fetch cycle Mai...

Page 304: ...rite access completes The QD77MS resets the value to 3 at writing failure 0 1554 100n 4354 100n Set with a hexadecimal Writing mode 0 Write to RAM Setting value H Parameter No setting 01h to 40h 0 Par...

Page 305: ...and speed at speed control mode Set a value within the following range Pr 1 Unit setting mm 10 2 mm min inch 10 3 inch min degree 10 3 degree min PLS PLS s Setting range 2000000000 to 2000000000 20000...

Page 306: ...Setting value K Control mode setting 0 Position control mode 10 Speed control mode 20 Torque control mode 30 Continuous operation to torque control mode 0 1575 100n 4375 100n Set with a decimal Actual...

Page 307: ...que to increase from 0 to Pr 17 Torque limit setting value 0 to 65535 ms Fetch cycle At control mode switching Cd 145 Torque time constant at torque control mode Negative direction Set the time consta...

Page 308: ...value K Torque time constant at torque control mode Forward direction ms 0 to 65535 1000 1581 100n 4381 100n Set with a decimal Setting value K Torque time constant at torque control mode Negative di...

Page 309: ...rque control mode Set the time for the speed to increase from 0 to Pr 8 Speed limit value 0 to 65535 ms Fetch cycle At control mode switching Cd 149 Deceleration time at continuous operation to torque...

Page 310: ...rol mode 0 1586 100n 1587 100n 4386 100n 4387 100n Set with a decimal Setting value K Acceleration time at continuous operation to torque control mode ms 0 to 65535 1000 1588 100n 4388 100n Set with a...

Page 311: ...ddress set in Cd 154 Control mode auto shift parameter after switching request to continuous operation to torque control mode 2 Real current value pass Switching is executed when Md 101 Real current v...

Page 312: ...n ms 0 to 65535 1000 1592 100n 4392 100n Set with a decimal Setting value K Control mode auto shift selection 0 No switching condition 1 Current feed value pass 2 Real current value pass 0 1593 100n 4...

Page 313: ...l of any axis turns ON all axes in the interpolation control will decelerate and stop Fetch cycle Operation cycle Cd 181 Forward run JOG start QD77MS16 Cd 182 Reverse run JOG start QD77MS16 When the J...

Page 314: ...Axis stop requested Other than 1 Axis stop not requested 0 30100 10n 0 30101 10n Set with a decimal Setting value K Forward run JOG start Reverse run JOG start 1 JOG started Other than 1 JOG not star...

Page 315: ...5 194 Chapter 5 Data Used for Positioning Control MEMO...

Page 316: ...g the various control must be created The first half of this chapter explains the program configuration of general control and the latter half explains the program details Create the required program...

Page 317: ...e When rewriting the positioning data during continuous path control or continuous positioning control rewrite the data four positioning data items before the actual execution If the positioning data...

Page 318: ...ere are two methods for communication with QD77MS using the sequence program a method using an intelligent function device and a method using a FROM TO command In the sequence program in this chapter...

Page 319: ...100 K1 H6 K1 X0C X0C U0 Set the same device 0 0 c When the circuit uses the intelligent function device for a COMPARISON command change the command to a FROM command and a COMPARISON command RST M0 M0...

Page 320: ...U0 G30100 0 M29 0 X10 Stop com mand pul se BUSY sig nal QD7 7MS16 ax is 1 b When using index modification Axis sto p signal QD77MS1 6 axis 1 M29 SET Y4Z0 0 X0CZ0 Stop com mand pul se Axis sto p signal...

Page 321: ...Y1 All axis servo ON signal All axis servo ON signal Y4 Y5 Y6 Y7 Axis stop signal Requesting stop Y8 YA YC YE Forward run JOG start signal Starting forward run JOG Y9 YB YD YF Reverse run JOG start s...

Page 322: ...ching X3A Continuous operation interrupt command Commanding continuous operation interrupt X3B Restart command Commanding restart X3C Parameter initialization command Commanding parameter initializati...

Page 323: ...celeration deceleration time change command Requesting acceleration deceleration time change M15 Torque change command Requesting torque change M16 Step operation command pulse Step operation commande...

Page 324: ...e Axis 1 Axis 2 Axis 3 Axis 4 Application Details of storage D0 OPR request flag Md 31 Status b3 D1 Speed low order 16 bits D2 Speed high order 16 bits Cd 25 Position speed switching control speed cha...

Page 325: ...Cd 35 Step valid flag D22 Step start information D23 Target position low order 16 bits D24 Target position high order 16 bits Cd 27 Target position change value new address D25 Target speed low order...

Page 326: ...on D76 Point 4 special start instruction D77 Block start data Block 0 Point 5 special start instruction Da 11 Shape Da 12 Start data No Da 13 Special start instruction Da 14 Parameter D78 Torque chang...

Page 327: ...5 Command speed high order 16 bits D126 Positioning address low order 16 bits D127 Positioning address high order 16 bits D128 Arc address low order 16 bits D129 Arc address high order 16 bits Data No...

Page 328: ...5 Command speed high order 16 bits D156 Positioning address low order 16 bits D157 Positioning address high order 16 bits D158 Arc address low order 16 bits D159 Arc address high order 16 bits Data No...

Page 329: ...lated Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time Da 10 M code D240 Positioning identifier D241 M code D242 Dwell time D243 Unused D244 Command speed l...

Page 330: ...nching movement amount U0 G1520 Interrupt request during continuous operation Cd 18 Interrupt request during continuous operation U0 G1521 OPR request flag OFF request Cd 19 OPR request flag OFF reque...

Page 331: ...of the positioning control operation program is shown below Parameter and data are Set using GX Works2 Set using the sequence program Initialization program Parameter and data setting program Start d...

Page 332: ...ion program that matches the positioning system Numbers are assigned to the following programs Configuring the program in the order of these numbers is recommended No 1 No 2 No 3 Start of program crea...

Page 333: ...No 28 Error reset program Yes Absolute system No Continued on next page Carried out OPR request OFF program External command function valid setting program PLC READY signal Y0 ON program Refer to Sec...

Page 334: ...4 Refer to Section 11 4 4 Program to turn the M code ON signal OFF Start details setting program Start program JOG operation program Manual pulse generator operation program Continued on next page No...

Page 335: ...ation interrupt program Refer to Section 13 5 1 Refer to Section 13 5 3 Refer to Section 13 5 4 Refer to Section 13 7 1 Refer to Section 13 7 2 Refer to Section 13 7 4 Refer to Section 6 5 4 Refer to...

Page 336: ...VP K50000 Movement amount low ord er 16 bi Changing of movement amount Setting of unit No 1 Parameter setting program For basic parameters Axis 1 OPR parameter DMOVP K9000 Speed low orde r 16 bit s Ch...

Page 337: ...6 22 Chapter 6 Sequence Program Used for Positioning Control...

Page 338: ...6 23 Chapter 6 Sequence Program Used for Positioning Control...

Page 339: ...6 24 Chapter 6 Sequence Program Used for Positioning Control...

Page 340: ...6 25 Chapter 6 Sequence Program Used for Positioning Control...

Page 341: ...6 26 Chapter 6 Sequence Program Used for Positioning Control...

Page 342: ...6 27 Chapter 6 Sequence Program Used for Positioning Control...

Page 343: ...6 28 Chapter 6 Sequence Program Used for Positioning Control...

Page 344: ...6 29 Chapter 6 Sequence Program Used for Positioning Control...

Page 345: ...6 30 Chapter 6 Sequence Program Used for Positioning Control...

Page 346: ...6 31 Chapter 6 Sequence Program Used for Positioning Control...

Page 347: ...6 32 Chapter 6 Sequence Program Used for Positioning Control...

Page 348: ...6 33 Chapter 6 Sequence Program Used for Positioning Control...

Page 349: ...6 34 Chapter 6 Sequence Program Used for Positioning Control...

Page 350: ...tting of normal start MOVP H0 D74 Point 2 Setting of normal start MOVP H0 D75 Point 3 Setting of normal start MOVP H0 D76 Point 4 Setting of normal start MOVP H0 D77 Point 5 TOP H0 K5 D73 Point 1 K260...

Page 351: ...3 B OPR requ est OFF command pulse Position ing star t signal Start co mplete s ignal M1 705 Y10 X10 OPR request OFF command hold OPR request OFF command ON OPR requ est OFF command storage SET M2 OPR...

Page 352: ...ANDP D0 H8 X23 781 MOVP K9001 D32 No 9 Positioning start No setting program 1 Machine OPR 2 Fast OPR X4F 763 Y0 X1 No 8 All axis servo ON signal Y1 ON program No 7 PLC READY signal Y0 ON program In th...

Page 353: ...6 38 Chapter 6 Sequence Program Used for Positioning Control...

Page 354: ...6 39 Chapter 6 Sequence Program Used for Positioning Control...

Page 355: ...USY sig nal Axi s 1 M7 In JOG i nching o peration flag M9 Manual p ulse gen erater o peration M3 M4 M3 Fast OPR command Fast OPR command Fast OPR command hold Positioning start execution M6 Position i...

Page 356: ...7 M3 M4 M3 M6 957 2 When positioning start signal Y10 is used When fast OPR is not made contacts of M5 and M6 are not needed When M code is not used contact of X04 is not needed When JOG operation inc...

Page 357: ...6 42 Chapter 6 Sequence Program Used for Positioning Control...

Page 358: ...eration flag Reverse run JOG inching operatio Reverse run JOG inching operatio In JOG i nching o peration flag Forward run JOG operatio n comma Forward run JOG inching operatio QD77 REA DY compl etion...

Page 359: ...6 44 Chapter 6 Sequence Program Used for Positioning Control...

Page 360: ...6 45 Chapter 6 Sequence Program Used for Positioning Control...

Page 361: ...6 46 Chapter 6 Sequence Program Used for Positioning Control...

Page 362: ...eration run selection Step mod e Data No unit step mode selectio Step val id flag Step start information Step sta rt infor mation Step operation command write To next positioning data Step sta rt info...

Page 363: ...6 48 Chapter 6 Sequence Program Used for Positioning Control...

Page 364: ...6 49 Chapter 6 Sequence Program Used for Positioning Control...

Page 365: ...ed value Setting of Target position chang Target position change write Restart command pulse Target p osition change r equest f Restart command Restart command Axis ope ration s tatus Restart command...

Page 366: ...l M37 Parameter initialization command Parameter initialization command PLC READY output to QD77 standby Parameter initialization executi PINIT co mmand co mpletion device PINIT co mmand er ror comp l...

Page 367: ...d X3F 1475 PLS M29 M29 1482 SET Y4 X3F 1486 No 29 Stop program Flash RO M write command storage PFWRT in structio n comple te devic Flash ROM write command storage M38 RST M27 PLC READ Y signal OFF co...

Page 368: ...OFF request OFF ON OFF 0 1 0 ON OFF PLC READY signal Y0 QD77 READY signal X0 OPR request OFF flag Md 31 Status b3 Cd 19 OPR request flag OFF request Fig 6 1 Time chart for OPR OFF request 2 External c...

Page 369: ...List of control data for details on the setting details 2 For high level positioning control set the positioning start point No of the block to be started in Cd 4 Positioning starting point No Buffer...

Page 370: ...em Setting value Setting details QD77MS2 QD77MS4 QD77MS16 Cd 25 Position speed switching control speed change register Used to set a new value when speed is changed during positioning control 1530 100...

Page 371: ...mplifier Control with positioning data No 1 3 Note When starting positioning with the scan after the completion of positioning insert X10 as an interlock so that positioning is started after Y10 is tu...

Page 372: ...leted X0 All axis servo ON ON All axis servo ON Y1 Synchronization flag ON QD77MS buffer memory Accessible X1 Axis stop signal OFF Axis stop signal is OFF Y4 to Y7 Cd 180 Axis stop M code ON signal OF...

Page 373: ...arried out If a dwell time is set the system will wait for the set time to pass and then positioning will be completed When positioning is completed the BUSY signal will turn OFF and the positioning c...

Page 374: ...art for starting each control is shown below 1 Time chart for starting machine OPR QD77MS4 operation example QD77 READY signal Start complete signal BUSY signal Error detection signal OFF OFF ON ON ON...

Page 375: ...002 V t ON OFF Positioning start signal PLC READY signal QD77 READY signal Start complete signal BUSY signal Error detection signal Cd 3 Positioning start No Y10 Y0 X0 X10 XC X8 OFF ON All axis servo...

Page 376: ...ttern 1 11 Positioning start signal PLC READY signal QD77 READY signal Start complete signal BUSY signal Error detection signal Cd 3 Positioning start No Positioning complete signal Y10 Y0 X0 X10 XC X...

Page 377: ...signal Y10 Speed position switching signal 0 1 1 PLC READY signal QD77 READY signal Start complete signal BUSY signal Error detection signal Positioning complete signal Cd 3 Positioning start No Cd 2...

Page 378: ...PLC READY signal QD77 READY signal Start complete signal BUSY signal Positioning complete signal Error detection signal 0 1 Cd 3 Positioning start No Cd 26 Position speed switching enable flag 1 Y0 X0...

Page 379: ...XD XE XF Start complete signal X10 X11 X12 X13 OPR complete flag Md 31 Status b4 Note Refer to Section 3 3 for input output signal of QD77MS16 Fig 6 9 Machine OPR operation timing and process time Nor...

Page 380: ...b4 Note Refer to Section 3 3 for input output signal of QD77MS16 Fig 6 10 Position control operation timing and process time When the positioning start signal turns ON if the positioning complete sig...

Page 381: ...xternal command signal Restrictions When starting by inputting the external command signal the start complete signal will not turn ON Data required to be set To execute positioning start with the exte...

Page 382: ...command signal 1 0 1 Cd 8 External command valid PLC READY signal QD77 READY signal Start complete signal BUSY signal Error detection signal Positioning complete signal Pr 42 External command functio...

Page 383: ...est during continuous operation 1 Operation during continuous operation interruption Start Positioning data No 10 Positioning data No 11 Positioning data No 12 V t Stop process when stop command turns...

Page 384: ...the positioning data shown below Positioning data No have sufficient remaining distance Positioning data No for positioning complete pattern 00 Positioning data No for continuous positioning control...

Page 385: ...6 13 Restart operation 2 Restrictions 1 Restarting can be executed only when the Md 26 Axis operation status is stopped the deceleration stop by stop command is completed If the axis operation is not...

Page 386: ...eference partner axes executes the positioning operation once after interpolation operation stop a warning Restart not possible warning code 104 will occur and the positioning cannot restarts 3 Contro...

Page 387: ...s b14 Forced stop input signal ON There is no forced stop input Stop signal OFF Stop signal is OFF Upper limit FLS ON Within limit range External signal Lower limit RLS ON Within limit range When the...

Page 388: ...ning control High level positioning control JOG Inching operation Manual pulse generator operation Forced stop input signal from an external device OFF All axes No change Servo OFF Servo READY OFF Ser...

Page 389: ...with dynamic brake or electromagnetic brake The operation does not decelerate The QD77MS immediately stops the command but the operation will coast for the droop pulses accumulated in the servo amplif...

Page 390: ...he speed at stop cause occurrence When Cd 42 1 deceleration curve continuation The current deceleration curve is continued after stop cause occurrence For details refer to Section 13 7 9 Stop command...

Page 391: ...ion speed 2 If stop is input during deceleration for OPR the operation will stop at that deceleration speed If input at the creep speed the operation will stop immediately 3 If a stop cause designated...

Page 392: ...nd roles of two memories the QD77MS internal data transmission process such 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...

Page 393: ...h GX Works2 Not possible Internal memory Area that can be set only using buffer memory Not possible Flash ROM Area for backing up data required for positioning Possible QD77MS2 QD77MS4 Internal memory...

Page 394: ...only when carrying out block No 7000 to 7004 high level positioning is set and stored PLC CPU memo area Area where condition judgment values required for special positioning etc are set and stored Ser...

Page 395: ...to 7004 PLC CPU memo area Monitor data area Control data area Servo parameter area User accesses here Data is backed up here QD77MS Buffer memory Internal memory Parameter area Positioning data area...

Page 396: ...ta area 54640 10k to 54649 10k Positioning data area No 1 to 100 2000 6000n to 2999 6000n 6000 1000n to 6999 1000n Positioning data area No 101 to 600 Positioning data area 3000 6000n to 7999 6000n Se...

Page 397: ...group 64536 250n to 64551 250n Servo parameter area PL group 64552 250n to 64599 250n Set with GX Works2 Possible Servo input axis parameter 32800 10n to 32805 10n Possible Servo input axis monitor d...

Page 398: ...it is transmitted to the servo parameter area in the buffer memory internal memory and internal memory nonvolatile after the QD77MS is read automatically with parameters 1 When changing the servo par...

Page 399: ...11 Pr 24 Pr 43 Pr 57 Pr 80 Pr 83 Pr 89 Pr 95 to to to to to to to 1 Power supply ON PLC CPU reset Valid Parameter area c Pr 96 Pr 800 Pr 807 to Pr 97 Parameter area a Parameter area b Positioning data...

Page 400: ...04 can be set with only GX Works2 in QD77MS16 3 Parameter area b Parameters validated with next each positioning control is started Pr 8 to Pr 10 Pr 25 to Pr 42 Pr 84 POINT When a value other than 0 h...

Page 401: ...OFF to ON 4 Accessing with FROM command from PLC CPU The data is read from the buffer memory to the PLC CPU using the FROM command 5 5 Servo parameter area PA19 PD PE PS PF Po PL Positioning data No 1...

Page 402: ...Block start data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area Servo parameter area Parameter area a Pr 1 Pr 7 Pr 11 Pr 24 Pr 43 Pr 57 Pr 80 Pr 83 Pr 89 Pr 95 to to to to...

Page 403: ...o 1 to 600 block start data No 7000 to 7004 and servo parameter in the buffer memory internal memory area are transmitted to the flash ROM internal memory nonvolatile Note This transmission process is...

Page 404: ...77MS Buffer memory Internal memory Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area Servo...

Page 405: ...carried out with the monitor from the GX Works2 2 The monitor data in the buffer memory area is transmitted to the GX Works2 via the PLC CPU 9 Writing data from GX Works2 to buffer memory internal mem...

Page 406: ...itioning data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area Servo parameter area QD77MS Parameter area b Parameter area a Parameter area...

Page 407: ...r code 1205 occurs Rotation direction selection travel direction selection PA14 is changed by sequence program or the GX Works2 after the servo parameter is transmitted to servo amplifier LED of the s...

Page 408: ...o servo amplifier Flash ROM writing carried out after the servo parameter is set up in the buffer memory internal memory After that when the power is turned ON or the PLC CPU is reset the servo parame...

Page 409: ...cation start Axis connection Md 26 Axis operation status Communication operation status with servo amplifier Servo parameter of buffer memory internal memory Indefinite value Value of internal memory...

Page 410: ...power supply is turned ON after the PLC READY signal Y0 is turned OFF to ON Fig 7 3 C Communication start timing to the servo amplifier when servo amplifier had started Fig 7 3 B Transfer the servo pa...

Page 411: ...556 100n 4356 100n n Axis No 1 POINT 1 Both of the servo parameter area internal memory nonvolatile and buffer memory internal memory of QD77MS s and the parameter of servo amplifier are changed 2 Whe...

Page 412: ...Data Used for Positioning Control Also refer to Chapter 6 Sequence Program Used for Positioning Control when creating the sequence programs required in each control and consider the entire control pro...

Page 413: ...MEMO...

Page 414: ...tion Module Setting Tool Help of GX Works2 for details on OPR using the GX Works2 8 1 Outline of OPR control 8 2 8 1 1 Two types of OPR control 8 2 8 2 Machine OPR 8 5 8 2 1 Outline of the machine OPR...

Page 415: ...start No 9002 prepared beforehand in the QD77MS to Cd 3 Positioning start No and turning ON the positioning start signal The ZP PSTRT start numbers of the dedicated instruction can also be set to 9001...

Page 416: ...ally the OPR request flag does not turn off Erase of an absolute position data in QD77MS according to causes such as battery error error 1201 occurrence Error 2025 absolute position erase occurrence M...

Page 417: ...ol Also refer to Chapter 13 Control Sub Functions for details on each sub function Remarks The following two sub functions are only related to machine OPR Sub function name Machine OPR Fast OPR Refere...

Page 418: ...hine OPR is regarded as the OP to be the starting point for positioning control The method for establishing an OP by a machine OPR differs according to the method set in Pr 43 OPR method The following...

Page 419: ...ON of the near point dog and the machine moves at the Pr 47 Creep speed The machine moves the distance set in the Pr 50 Setting for the movement amount after near point dog ON from the near point dog...

Page 420: ...ON and the OPR request flag Md 31 status b3 turns from ON to OFF OPR request flag t Machine OPR start Positioning start signal ON OFF OPR speed Deceleration at the near point dog ON Creep speed ON OFF...

Page 421: ...at least once before point A is reached However if selecting 1 Not need to pass motor Z phase after the power supply is switched on with Function selection C 4 PC17 it is possible to carried out the...

Page 422: ...turns from ON to OFF t ON OFF ON OFF OFF ON 0 V ON Pr 47 Creep speed Pr 46 OPR speed Pr 50 Setting for the movement amount after near point dog ON Md 34 Movement amount after near point dog ON Zero si...

Page 423: ...the OPR speed until the hardware stroke limit upper lower limit is reached If a sufficient distance cannot be kept consider the use of the OPR retry function 5 When the stop signal stops the machine...

Page 424: ...reep speed and subsequently moves at that speed 4 The command from the QD77MS will stop and the machine OPR will be completed when the machine moves the movement amount set in Pr 50 Setting for the mo...

Page 425: ...eration if the near point dog is turned OFF during a machine OPR it is recommended to leave a sufficient distance from the OP when the near point dog is turned OFF for the following reason If machine...

Page 426: ...e OPR restart zero point not passed error will occur When the Home positioning return OPR restart zero point not passed error occurs perform the JOG or similar operation so that the servomotor makes m...

Page 427: ...when the acceleration is completed 2 The machine begins decelerating when the near point dog ON is detected 3 After deceleration stop the machine moves in the opposite direction against of OPR at the...

Page 428: ...s in the near point dog ON position deceleration stop 2 is started at the zero signal without waiting for the near point dog OFF Fig 8 11 Operation when a machine OPR is started from the near point do...

Page 429: ...OPR V Zero signal Near point dog 1 Pr 47 Creep speed OPR direction Pr 44 Pr 46 OPR speed ON 2 3 OFF 5 6 4 Fig 8 12 Operation when the zero signal is detected again during deceleration with detection o...

Page 430: ...signal The following shows the operation during a basic fast OPR start 1 The fast OPR is started 2 Positioning control to the OP position established by a machine OPR begins at speed set in the OPR p...

Page 431: ...4 1 8 to 2 7 0 to 0 9 QD77MS16 1 77 0 3 to 1 4 3 2 to 3 9 0 to 1 8 The t1 timing time could be delayed by the operation state of other axes Operating restrictions 1 The fast OPR can only be executed...

Page 432: ...wing table to the QD77MS Servo parameters are set for each axis The OPR setting condition is stored into the following buffer memory addresses Buffer memory address Setting item Setting value Setting...

Page 433: ...8 20 Chapter 8 OPR Control MEMO...

Page 434: ...ming the current value 9 16 9 1 5 Control unit degree handling 9 18 9 1 6 Interpolation control 9 21 9 2 Setting the positioning data 9 26 9 2 1 Relation between each control and positioning data 9 26...

Page 435: ...t address current stop position to the designated position Linear control 4 axis linear interpolation control Note 1 ABS Linear 4 INC Linear 4 Using the designated 4 axes linear interpolation control...

Page 436: ...system When this instruction is set the operation is transferred to the next data operation and the instruction is not executed Current value changing Current value changing Md 20 Current feed value...

Page 437: ...cution Da 9 Dwell time The time between the command pulse output is completed to the positioning completed signal is turned ON Set it for absorbing the delay of the mechanical system to the instructio...

Page 438: ...which axis 1 addresses increase 1 axis linear control One motor is driven and positioning is carried out to an addresses designated in one direction V Positioning data No 1 0 Operation pattern 11 Con...

Page 439: ...is determined by Pr 40 Positioning complete signal output time 1 Independent positioning control Positioning complete This control is set when executing only one designated data item of positioning If...

Page 440: ...t to positioning continue 01 or 11 the operation will continue until operation pattern 00 is found If the operation pattern 00 cannot be found the operation may be carried out until the positioning da...

Page 441: ...eration pattern of the positioning data No 600 is not complete the operation will be started again from the positioning data No 1 e The speed switching patterns include the front loading speed switchi...

Page 442: ...n will not occur using the near pass function when the positioning data No is switched Refer to Section 13 3 3 Near pass function 2 Deceleration stop conditions during continuous path control Decelera...

Page 443: ...erence axis operation Interpolation axis operation Interpola tion axis Positioning data No 1 Reference axis Positioning data No 2 Positioning data No 1 Continuous path control V Positioning data No 1...

Page 444: ...speed of the first positioning data at start Relation between the command speed and current speed 3000 3000 1 3000 1 3000 1 3000 1000 1000 P2 P3 P4 P5 P1 2000 1000 3000 Command speed Da 8 Current spe...

Page 445: ...ata currently being executed and the speed will change over to the speed set in the positioning data to carry out the next operation 2 The parameters used in acceleration deceleration to the command s...

Page 446: ...the movement amount is small during automatic deceleration The movement amount required to carry out the automatic deceleration cannot be secured so the machine immediately stops in a speed 0 status...

Page 447: ...ch the target speed even if acceleration deceleration is carried out In this case the machine is accelerated decelerated so that it nears the target speed If the movement amount will be exceeded when...

Page 448: ...50 B point 300 C point Within the stroke limit range Address 150 Address 100 Address 100 Address 150 OP Reference point Start point End point Fig 9 6 Absolute system positioning Incremental system The...

Page 449: ...he value stored in Md 21 Machine feed value This value always has an address established with a machine OPR as a reference The address cannot be changed even if the current value is changed to a new v...

Page 450: ...m the PLC CPU Buffer memory addresses QD77MS2 QD77MS4 QD77MS16 Md 20 Current feed value 800 100n 801 100n 2400 100n 2401 100n Md 21 Machine feed value 802 100n 803 100n 2402 100n 2403 100n 1 The follo...

Page 451: ...g With the control unit set to degree the software stroke limit upper and lower limit values are 0 to 359 99999 a Setting to validate software stroke limit To validate the software stroke limit set th...

Page 452: ...ction not carrying out the shortcut control the shortcut control is invalidated and positioning in a designated direction is carried out by the Cd 40 ABS direction in degrees This function can perform...

Page 453: ...INT Positioning addresses are within a range of 0 to 359 99999 Use the incremental system to carry out positioning of one rotation or more 2 Incremental system Positioning is carried out for a designa...

Page 454: ...llowing table shows the reference axis and interpolation axis combinations QD77MS2 QD77MS4 QD77MS16 Axis definition Interpolation of Da 2 Control system Referenc e axis Interpolation axis Referenc e a...

Page 455: ...rcular left Da 8 Command speed Only during forward run speed 2 3 4 and reverse run speed 2 3 4 Da 9 Dwell time Da 10 M code Da 20 Axis to be interpolated No 1 QD77MS16 2 Da 21 Axis to be interpolated...

Page 456: ...es to be interpolated are changed an error Control system setting error error code 524 will occur and the positioning will stop Speed during interpolation control Either the composite speed or referen...

Page 457: ...4 Reference axis speed Setting possible Setting not possible 1 mm and inch unit mix possible When mm and inch are mixed convert as follows for the positioning If interpolation control units are mm pos...

Page 458: ...9 25 Chapter 9 Major Positioning Control MEMO...

Page 459: ...control 2 axis fixed feed control 3 axis fixed feed control 4 axis fixed feed control 2 axis circular interpolation control 1 axis 2 axis 3 axis 4 axis Speed control Independent positioning control Po...

Page 460: ...UMP destination positioning data No Condition data No at JUMP Number of repetition Always set Set according to requirements when not set Setting not possible If setting is made an error error code 516...

Page 461: ...positioning is carried out from the current stop position start point address to the address end point address set in Da 6 Positioning address movement amount 0 1000 8000 Positioning control movement...

Page 462: ...d QD77MS2 QD77MS4 Setting not required setting value is ignored Da 6 Positioning address movement amount 8000 0 m Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address S...

Page 463: ...mined by the sign of the movement amount Reverese direction Forward direction Start point address current stop position Movement direction for a negative movement amount Movement direction for a posit...

Page 464: ...to be interpolated QD77MS2 QD77MS4 Setting not required setting value is ignored Da 6 Positioning address movement amount 7000 0 m Set the movement amount Assuming mm is set in Pr 1 Unit setting Da 7...

Page 465: ...rom the current stop position start point address to the address end point address set in Da 6 Positioning address movement amount X1 X2 Y1 Y2 Reverse direction Forward direction X axis Reverse direct...

Page 466: ...lute system 2 axis linear interpolation control Da 3 Acceleration time No 1 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 0 Desig...

Page 467: ...hen the reference axis speed is set during 2 axis linear interpolation control set so the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis...

Page 468: ...se direction Negative movement amount Positioning control to reverse direction Address decrease direction X1 X2 Y1 Y2 Reverse direction Forward direction X axis Reverse direction Forward direction Y a...

Page 469: ...ear 2 Set incremental system 2 axis linear interpolation control Da 3 Acceleration time No 1 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration...

Page 470: ...hen the reference axis speed is set during 2 axis linear interpolation control set so the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis...

Page 471: ...ess end point address set in the Da 6 Positioning address movement amount End point address X2 Y2 Z2 Positioning address Movement by linear interpolation of the X axis Y axis and Z axis Y axis movemen...

Page 472: ...Set absolute system 3 axis linear interpolation control Da 3 Acceleration time No 1 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0...

Page 473: ...near interpolation control set so the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis side speed may exceed the Pr 8 Speed limit value Ref...

Page 474: ...movement amount Positioning control to reverse direction Address decrease direction Z axis movement amount X axis movement amount Y axis movement amount Start point address X1 Y1 Z1 current stop posit...

Page 475: ...et incremental system 3 axis linear interpolation control Da 3 Acceleration time No 1 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No...

Page 476: ...near interpolation control set so the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis side speed may exceed the Pr 8 Speed limit value Ref...

Page 477: ...nterpolation control the designated 4 axes are used Linear interpolation positioning is carried out from the current stop position start point address to the address end point address set in the Da 6...

Page 478: ...value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated QD77MS4 Setting not required setting value is ignored When axis 1 is used as a reference a...

Page 479: ...axes are used Linear interpolation positioning is carried out from the current stop position start point address to a position at the end of the movement amount set in the Da 6 Positioning address mov...

Page 480: ...0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated QD77MS4 Setting not required setting value is ignored When axis 1 is used a...

Page 481: ...near interpolation control set so the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis side speed may exceed the Pr 8 Speed limit value Ref...

Page 482: ...ing control to reverse direction Address decrease direction 0 0 0 0 0 Md 20 Current feed value is set to 0 at the positioning start Designated movement Positioning start amount Reverse direction Forwa...

Page 483: ...maintained constant the command number of pulses is maintained constant the control is carried out after the fraction pulse is cleared to zero at start Accumulation cutoff for fractional pulses When...

Page 484: ...77MS2 QD77MS4 Setting not required setting value is ignored Da 6 Positioning address movement amount 8000 0 m Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address Setti...

Page 485: ...determined by the sign of the movement amount Positive movement amount Positioning control to forward direction Address increase direction Negative movement amount Positioning control to reverse direc...

Page 486: ...ed QD77MS2 QD77MS4 Axis 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount 8000 0 m 6000 0 m 8000 0 m 6000 0 m Set the...

Page 487: ...old by the QD77MS is carried to next positioning INC Linear 1 Fixed feed 1 0 5 PLS hold by the QD77MS is cleared to 0 at start and not carried to next positioning 2 5 m 2 5 m When the reference axis s...

Page 488: ...e movement amount set in Da 6 Positioning address movement amount The movement direction is determined by the sign of the movement amount Positive movement amount Positioning control to forward direct...

Page 489: ...e 504 occurs at a positioning start and positioning cannot be started The maximum movement amount that can be set in Da 6 Positioning address movement amount is 1073741824 2 30 3 Fixed feed cannot be...

Page 490: ...eleration time at deceleration Da 5 Axis to be interpolated QD77MS4 Setting not required setting value is ignored When axis 1 is used as a reference axis the interpolation axes are axes 2 and 3 Da 6 P...

Page 491: ...for fractional pulses When movement amount per pulse is 1 0 m and movement for 2 5 m is executed two times Conversion to command pulses 2 5 m 1 0 2 5 PLS 2PLS 2PLS 2PLS 3PLS 2 5 0 5 Movement amount 0...

Page 492: ...ount set in Da 6 Positioning address movement amount The movement direction is determined by the sign of the movement amount Positive movement amount Positioning control to forward direction Address i...

Page 493: ...set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated QD77MS4 Setting not required setting value is ignored When axis 1 is used as a reference axis the...

Page 494: ...for fractional pulses When movement amount per pulse is 1 0 m and movement for 2 5 m is executed two times Conversion to command pulses 2 5 m 1 0 2 5 PLS 2PLS 2PLS 2PLS 3PLS 2 5 0 5 Movement amount 0...

Page 495: ...ol with sub point designation positioning is carried out from the current stop position start point address to the address end point address set in Da 6 Positioning address movement amount in an arc p...

Page 496: ...m radius for which circular interpolation control 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 th...

Page 497: ...s is set an error will occur Da 6 Positioning address movement amount 8000 0 m 6000 0 m 8000 0 m 6000 0 m Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address 4000 0 m...

Page 498: ...movement amount The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of the straight line between the start point address current stop position...

Page 499: ...sitioning start When the sub point address is outside the range of 2147483648 2 31 to 2147483647 2 31 1 A Sub point setting error error code 525 will occur When the end point address is outside the ra...

Page 500: ...e self axis is set an error will occur Da 6 Positioning address movement amount 8000 0 m 6000 0 m 8000 0 m 6000 0 m Set the movement amount Assuming that the Pr 1 Unit setting is set to mm Da 7 Arc ad...

Page 501: ...s Refer to Section 9 1 6 Interpolation control for details on interpolation control The following table shows the rotation directions arc center angles that can be controlled and positioning paths for...

Page 502: ...ut at a command speed on the arc using the radius calculated from the start point address and center point address and the radius is compensated in proportion to the angular velocity deviated from tha...

Page 503: ...ss of the center point set in Da 7 Arc address Radius Movement by circular interpolation Forward direction Reverse direction End point address Start point address current stop position Forward directi...

Page 504: ...t address is reached Restrictions 1 2 axis circular interpolation control cannot 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 diffe...

Page 505: ...the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount 8000 0 m 6000 0 m 8000 0 m 6000 0 m Set the positioning address Assuming...

Page 506: ...rc path having as its center the address arc address of the center point set in Da 7 Arc address Radius Movement by circular interpolation Forward direction Reverse direction Forward direction Movemen...

Page 507: ...ontrol cannot 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 comb...

Page 508: ...axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount 8000 0 m 6000 0 m 8000 0 m 6000 0 m Set the movement amount Assuming that the...

Page 509: ...which control starts in the reverse run direction Operation chart The following chart shows the operation timing for 1 axis speed control with axis 1 as the reference axis The in speed control flag Md...

Page 510: ...Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 In speed control In speed control V V Restrictions 1 Set Positioning complete in Da 1 Operation pattern...

Page 511: ...ime 0 as the deceleration time at deceleration Da 5 Axis to be interpolated QD77MS2 QD77MS4 Da 6 Positioning address movement amount Da 7 Arc address Setting not required setting value is ignored Da 8...

Page 512: ...nation of the reference axis with the interpolation axis Operation chart The following chart shows the operation timing for 2 axis axes 1 and 2 speed control with axis 1 as the reference axis The in s...

Page 513: ...is maintained a Current feed value not updated t Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 In speed control In speed control V V Restrictions 1...

Page 514: ...own above the operation speed in speed control is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis 2 3000 00 mm min Speed is limited at an ratio of an axis 1 command speed to an axis 2 c...

Page 515: ...t in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated QD77MS2 QD77MS4 Axis 2 Set the axis to be interpolated partner axis If the self axis is set an erro...

Page 516: ...th the interpolation axes Operation chart The following chart shows the operation timing for 3 axis axes 1 2 and 3 speed control with axis 1 as the reference axis The in speed control flag Md 31 Statu...

Page 517: ...is maintained a Current feed value not updated t Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 In speed control In speed control V V Restrictions 1...

Page 518: ...the operation speed in speed control is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis 2 3000 00 mm min Speed is limited at ratios in axes 1 2 and 3 command speeds Axis 3 2000 00 mm m...

Page 519: ...et in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated QD77MS4 Setting not required setting value is ignored When axis 1 is used as a reference axis the...

Page 520: ...as been set by continuously outputting pulses for the speed set in Da 8 Command speed until the input of a stop command The two types of 4 axis speed control are Forward run speed 4 in which the contr...

Page 521: ...Positioning start signal Y10 OFF ON Positioning complete signal X14 X15 X16 X17 OFF Axis stop signal stop command Either Y4 Y5 Y6 or Y7 OFF ON Does not turn ON even when control is stopped by stop co...

Page 522: ...is maintained a Current feed value not updated t Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 In speed control In speed control V V Restrictions 1...

Page 523: ...speed control is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis 2 3000 00 mm min Speed is limited at ratios in axes 1 2 3 and 4 command speeds Axis 3 2000 00 mm min Speed is limited a...

Page 524: ...me No 0 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated QD77MS4 Setting not required setting value is ignored When axis 1 i...

Page 525: ...NC mode 34 150n Note If the set value is other than 0 and 2 it is regarded as 0 and operation is performed in the INC mode For details of the setting refer to Section 5 2 List of parameters Switching...

Page 526: ...The control will be switched over from position control to speed control when the speed position switching signal turns from OFF to ON again Only position control will be carried out when the Cd 24 Sp...

Page 527: ...ON BUSY signal OFF ON Positioning complete signal OFF ON Speed position switching signal External command signal DI ON Speed control Position control Dwell time In speed control flag Md 31 Status b0 D...

Page 528: ...degree during execution of Da 2 Control system Forward run speed position at Pr 1 Unit setting of 2 degree and Pr 21 Current feed value during speed control setting of 1 Update current feed value The...

Page 529: ...movement amount change register OPR complete flag Md 31 Status b4 Cd 7 M code OFF request Cd 7 M code OFF request Standby XC XD XE XF X10 X11 X12 X13 X14 X15 X16 X17 X4 X5 X6 X7 Note Refer to Section...

Page 530: ...nt feed value zero cleared V V Current feed value Current feed value Current feed value Switching time from speed control to position control There is 1ms from the time the speed position switching si...

Page 531: ...is not required for Pr 42 External command function selection and Cd 8 External command valid Refer to Section 5 7 List of control data for information on the setting details Changing the position con...

Page 532: ...tion switching signal ON is ignored Fig 9 15 Position control movement amount change timing POINT The machine recognizes the presence of a movement amount change request when the data is written to Cd...

Page 533: ...or error code 507 or 508 will occur as soon as speed control is changed to position control and the axis will decelerate to a stop b When Pr 1 Unit setting is other than 2 degree If the unit is degree...

Page 534: ...be interpolated QD77MS2 QD77MS4 Setting not required Setting value is ignored Da 6 Positioning address movement amount 10000 0 m INC mode Pr 81 0 Set the movement amount after the switching to positio...

Page 535: ...speed position which starts the axis in the reverse run direction Speed position switching control ABS mode is valid only when Pr 1 Unit setting is 2 degree Pr 1 Unit setting Speed position function s...

Page 536: ...ails QD77MS2 QD77MS4 QD77MS16 Cd 46 Speed position switching command The speed position control switching is performed when 2 is set in Cd 45 Speed position switching device selection 1567 100n 4367 1...

Page 537: ...OFF ON BUSY signal OFF ON Positioning complete signal OFF ON ON Speed control Position control Dwell time In speed control flag Md 31 Status b0 Cd 24 Speed position switching enable flag Da 8 Command...

Page 538: ...90 00000 degree during execution of Da 2 Control system Forward run speed position at Pr 1 Unit setting of 2 degree and Pr 21 Current feed value during speed control setting of 1 Update current feed v...

Page 539: ...7 M code OFF request Standby XC XD XE XF X10 X11 X12 X13 X14 X15 X16 X17 X4 X5 X6 X7 t4 Note Refer to Section 3 3 for input output signal of QD77MS16 Fig 9 17 Operation timing and processing time duri...

Page 540: ...ol and position control Only 1 Update current value is valid for the setting of Pr 21 Current feed value during speed control in speed position switching control ABS mode An error error code 935 will...

Page 541: ...set to use the near point dog signal DOG as speed position switching signals Buffer memory address Setting item Setting value Setting details QD77MS2 QD77MS4 QD77MS16 Cd 45 Speed position switching d...

Page 542: ...ode the following conditions must be satisfied a Pr 1 Unit setting is 2 degree b The software stroke limit function is invalid upper limit value lower limit value c Pr 21 Current feed value during spe...

Page 543: ...nterpolated QD77MS2 QD77MS4 Setting not required Setting value is ignored Da 6 Positioning address movement amount 270 00000degree ABS mode Pr 81 2 Set the address after the switching to position cont...

Page 544: ...Switching over from position control to speed control 1 The control is selected the switching method from position control to speed control by the setting value of Cd 45 Speed position switching devi...

Page 545: ...l The control will be switched over from position control to speed control when the position speed switching signal turns from OFF to ON again Only speed control will be carried out when the Cd 26 Pos...

Page 546: ...start signal Y10 Y11 Y12 Y13 OFF ON Command speed BUSY signal XC XD XE XF OFF ON Positioning complete signal X14 X15 X16 X17 OFF OFF ON Position control Speed control OFF ON OFF ON In speed control f...

Page 547: ...switching control speed change register Cd 25 Cd 7 OPR complete flag Md 31 Status b4 Axis stop signal Y4 Y5 Y6 Y7 t4 Position control carried out until position speed switching signal turns ON Note Re...

Page 548: ...ated during position control and speed control 2 Zero clear current feed value The current feed value is updated during position control and the current feed value is cleared to 0 as soon as position...

Page 549: ...set to use the near point dog signal DOG as position speed switching signals Buffer memory address Setting item Setting value Setting details QD77MS2 QD77MS4 QD77MS16 Cd 45 Speed position switching d...

Page 550: ...eed switching signal ON OFF Position control Speed control Position control start Position speed switching control start 0 V2 OFF Position speed switching latch flag Status b5 ON ON OFF V3 V2 becomes...

Page 551: ...e 507 or 508 will occur and the operation cannot start if the start point address or end point address for position control exceeds the software stroke limit range 5 Deceleration stop will be carried...

Page 552: ...ted QD77MS2 QD77MS4 Setting not required Setting value is ignored Da 6 Positioning address movement amount 10000 0 m Set the movement amount at the time of position control before the switching to spe...

Page 553: ...tart signal turns ON QD77MS4 operation example Positioning start signal Y10 Y11 Y12 Y13 Md 20 50000 0 OFF ON Current feed value changes to the positioning address designated by the positioning data of...

Page 554: ...current value changing is set in the positioning data No 1 of axis 1 Setting example Setting item QD77MS2 QD77MS4 QD77MS16 Setting details Da 1 Operation pattern Positioning complete Set Positioning c...

Page 555: ...estrictions 1 An axis error Outside new current value range error code 514 will occur if the designated value is outside the setting range when degree is set in Unit setting 2 An error Software stroke...

Page 556: ...alue 1500 100n 4300 100n Cd 9 New current value 50000 Set the new Md 20 Current feed value 1506 100n 1507 100n 4306 100n 4307 100n Note Refer to Section 5 7 List of control data for details on the set...

Page 557: ...new current feed value in D106 and D107 QD77MS4 program example X8 Y10 X10 DX0C 0 Pulsate current value changing command Write current value changing to the QD77 Write the current value changing 9003...

Page 558: ...7MS2 QD77MS4 Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwell time Da 10 M code Da 20 Axis to be interpolated No 1 QD77MS16 Da 21 Axis to be interpolated No 2 QD...

Page 559: ...execution conditions When block positioning data No 7000 to 7004 is started Each block condition data is used When positioning data No 1 to 600 is started Start block 0 condition data is used When th...

Page 560: ...details Da 1 Operation pattern Setting not required Setting value is ignored Da 2 Control system JUMP instruction Set the JUMP instruction Da 3 Acceleration time No Da 4 Deceleration time No Da 5 Axis...

Page 561: ...t Da 7 Arc address Da 8 Command speed Da 9 Dwell time Setting not required Setting value is ignored Da 10 M code 5 Set the LOOP to LEND repeat cycles Da 20 Axis to be interpolated No 1 QD77MS16 Da 21...

Page 562: ...ystem Positioning data For the special start FOR to NEXT the positioning data is required for each of FOR and NEXT points For the control system loop can be executed even only by one data Also nesting...

Page 563: ...ositioning complete ABS2 Executed in the order of the positioning data No 1 2 3 4 5 2 3 4 5 6 The operation patterns of the positioning data Nos 2 and 5 are ignored Positioning data setting examples W...

Page 564: ...ing control 10 3 10 1 2 Block start data and condition data configuration 10 4 10 2 High level positioning control execution procedure 10 6 10 3 Setting the block start data 10 7 10 3 1 Relation betwe...

Page 565: ...the program from the block start data set with the FOR loop to the block start data set in NEXT for the designated number of times Repeated start FOR condition Repeats the program from the block star...

Page 566: ...of the shape itself or continue executing the block start data set in the next point Da 12 Start data No Set the positioning data No to be executed Da 13 Special start instruction Set the method by wh...

Page 567: ...Setting item Buffer memory address 26112 1000n 26113 1000n 26114 1000n 26115 1000n 26116 1000n 26117 1000n 26110 1000n Da 16 Da 15 Condition operator Condition target No 1 Setting item Buffer memory...

Page 568: ...No 1 Simultaneously starting axis No 2 Simultaneously starting axis No 3 Address Parameter 1 Parameter 2 Condition operator Condition target No 1 Setting item Buffer memory address Condition data b0...

Page 569: ...quence programs created in STEP4 to the PLC CPU Turn ON the positioning start command of the axis to be started Stopping the control STEP 8 Stop when control is completed Monitor the high level positi...

Page 570: ...sitioning control Block start data setting items Block start Normal start Condition start Wait start Simulta neous start Repeated start FOR loop Repeated start FOR condition NEXT start 0 End Da 11 Sha...

Page 571: ...2nd point 1 Continue 2 0 Block start 3rd point 1 Continue 5 0 Block start 4th point 1 Continue 10 0 Block start 5th point 0 End 15 0 Block start 2 Positioning data setting example Axis 1 positioning...

Page 572: ...signal 1 00 Start complete signal BUSY signal X14 X15 X16 X17 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 Positio...

Page 573: ...0 Block start Note The condition data Nos have been set in Da 14 Parameter 2 Positioning data setting example Axis 1 positioning data No Da 1 Operation pattern 1 01 Continuous positioning control 2 0...

Page 574: ...nue 10 0 Block start 3rd point 0 End 50 0 Block start Note The condition data Nos have been set in Da 14 Parameter 2 Positioning data setting example Axis 1 positioning data No Da 1 Operation pattern...

Page 575: ...ion pattern 1 01 Continuous positioning control 2 01 Continuous positioning control 3 00 Positioning complete 2 Control examples The following shows the control executed when the block start data of t...

Page 576: ...Da 11 Shape Da 12 Start data No Da 13 Special start instruction Da 14 Parameter 1st point 1 Continue 1 4 FOR loop 2 2nd point 1 Continue 10 0 Block start 3rd point 0 End 50 6 NEXT start Note The cond...

Page 577: ...ta No Da 13 Special start instruction Da 14 Parameter 1st point 1 Continue 1 5 FOR condition 5 2nd point 1 Continue 10 0 Block start 3rd point 0 End 50 6 NEXT start Note The condition data Nos have be...

Page 578: ...possible between 4 FOR loop and 6 NEXT start or between 5 FOR condition and 6 NEXT start A warning FOR to NEXT nest construction warning code 506 will occur if nesting is attempted Operating examples...

Page 579: ...dition data Da 15 Condition target corresponding to the different types of control The condition data settings in this chapter are assumed to be carried out using GX Works2 High level positioning cont...

Page 580: ...is 3 selected 50H Axis 1 and 3 selected 60H Axis 2 and 3 selected 70H Axis 1 2 and 3 selected 80H Axis 4 selected 90H Axis 1 and 4 selected A0H Axis 2 and 4 selected B0H Axis 1 2 and 4 selected C0H Ax...

Page 581: ...order 16 bits Da 26 Simultaneously starting axis No 3 positioning data No High order 16 bits Unusable Set 0 Setting not required Setting value will be ignored Use the initial value or a value within t...

Page 582: ...e stored in buffer memory addresses 800 801 Md 20 Current feed value is 1000 or larger Da 15 Condition target Da 16 Condition operator Da 17 Address Da 18 Parameter 1 Da 19 Parameter 2 04H Buffer memo...

Page 583: ...larger Da 15 Condition target Da 16 Condition operator Da 17 Address Da 18 Parameter 1 Da 19 Parameter 2 Da 23 Number of simultaneously starting axes Da 24 Simultaneously starting axis No 1 Da 25 Sim...

Page 584: ...eous starting axis start data No axis 1 start data No to Cd 33 Simultaneous starting axis start data No axis 4 start data No QD77MS16 Set the number of axes to be started simultaneously and axis No in...

Page 585: ...31 Simultaneous starting axis start data No axis 2 start data No Cd 32 Simultaneous starting axis start data No axis 3 start data No Cd 33 Simultaneous starting axis start data No axis 4 start data N...

Page 586: ...ata No axis 1 start data No QD77MS2 QD77MS4 1540 100n Cd 30 Simultaneous starting own axis start data No QD77MS16 4340 100n Simultaneous starting axis start data No axis 2 start data No QD77MS2 QD77MS...

Page 587: ...the start of the axis 1 the axis 4 starts the axis 4 positioning data No 300 1543 2 The following shows the setting examples in which the QD77MS16 axis 10 is used as the start axis and the simultaneou...

Page 588: ...start data 2 The setting of the multiple axes simultaneous start control is easier than that of the simultaneous start using the block start data Setting items for simultaneous start using block start...

Page 589: ...ffer memory Control by designated positioning data When carrying out a positioning start with the next scan after a positioning operation is completed input signal X10 as an interlock so that the star...

Page 590: ...t conditions The following conditions must be fulfilled when starting the control The required conditions must also be integrated into the sequence program and configured so the control does not start...

Page 591: ...ete 10 11 Continuous path control 11 11 Continuous path control 12 00 Positioning complete 3 Start time chart QD77MS4 operation example Y10 PLC READY signal QD77 READY signal X10 XC Positioning comple...

Page 592: ...oning start signal Y10 SET K1 K1 K1501 H0 TO Write the positioning start point No K1 K7000 K1500 H0 TO Write the positioning data No 7000 for block positioning X10 Set the block start data beforehand...

Page 593: ...10 30 Chapter 10 High Level Positioning Control MEMO...

Page 594: ...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 programs for JOG...

Page 595: ...tion is stopped by turning the limit signal OFF to confirm the positioning system connection and obtain the positioning data address refer to Section 13 7 4 Teaching function M Movement continues whil...

Page 596: ...to Section 3 2 5 Combination of QD77MS main functions and sub functions for details on sub functions that can be combined with manual control Also refer to Chapter 13 Control Sub Functions for detail...

Page 597: ...signal changes from OFF to ON 2 When the workpiece being accelerated reaches the speed set in Cd 17 JOG speed the movement continues at this speed The constant speed movement takes place at 2 and 3 3...

Page 598: ...limit value is set to a value larger than Pr 8 speed limit value 4 If Cd 17 JOG speed exceeds the speed set in Pr 31 JOG speed limit value the workpiece will move at the Pr 31 JOG speed limit value an...

Page 599: ...oning operation Positioning complete signal X14 X15 X16 X17 Md 26 Axis operation status ON ON OFF OFF OFF OFF Standby Note Refer to Section 3 3 for input output signal of QD77MS16 Fig 11 5 JOG operati...

Page 600: ...JOG operation start JOG operation stop Set the parameters to Pr 1 Pr 39 One of the following two methods can be used Method 1 Directly set write the parameters in the QD77MS using GX Works2 Method 2 S...

Page 601: ...alue Unit PLS 2147483647 Pr 13 Software stroke limit lower limit value Unit PLS 2147483648 Pr 14 Software stroke limit selection 0 current feed value Pr 15 Software stroke limit valid invalid setting...

Page 602: ...ng the QD77MS When carrying out other control major positioning control high level positioning control OPR positioning control the respective setting items must also be matched and set Parameters are...

Page 603: ...ram and the sequence program must be configured so the operation will not start if the conditions are not fulfilled Device Signal name Signal state QD77MS2 QD77MS4 QD77MS16 PLC READY signal ON PLC CPU...

Page 604: ...F All axis servo ON Y1 ON Note Refer to Section 3 3 for input output signal of QD77MS16 Fig 11 6 JOG operation start time chart Creating the program QD77MS4 program example No 10 JOG operation setting...

Page 605: ...occur The operation can be started by turning the stop signal OFF and turning the JOG start signal from OFF to ON again QD77MS4 operation example OFF ON BUSY signal XC XD XE XF OFF ON A JOG start sign...

Page 606: ...the forward run JOG operation is stopped due to stop by a stop signal or axis error the reverse run JOG operation will not be executed even if the reverse run JOG start signal turns ON QD77MS4 operat...

Page 607: ...eration when the JOG start signal is turned ON during deceleration When the JOG start signal is turned ON while the test function of GX Works2 is used When the JOG start signal is turned ON while the...

Page 608: ...start signal In this case BUSY signal is turned from OFF to ON 2 The workpiece is moved by a movement amount set in Cd 16 Inching movement amount 3 The workpiece movement stops when the speed becomes...

Page 609: ...sequent operation cycles The Cd 17 JOG speed is ignored even if it is set An error will occur in the following cases error code 301 Cd 16 Inching movement amount x A Pr 31 JOG speed limit value Where...

Page 610: ...operation Positioning complete signal X14 X15 X16 X17 Md 26 ON ON OFF OFF OFF OFF t3 Standby t2 Note Refer to Section 3 3 for input output signal of QD77MS16 Fig 11 12 Inching operation timing and pr...

Page 611: ...oring of the inching operation STEP 6 Turn OFF the JOG start signal that is ON Monitor the inching operation status Refer to Chapter 6 Inching operation start Inching operation stop End the inching op...

Page 612: ...Pr 4 Unit magnification AM 1 1 times Pr 11 Backlash compensation amount Unit PLS 0 Pr 12 Software stroke limit upper limit value Unit PLS 2147483647 Pr 13 Software stroke limit lower limit value Unit...

Page 613: ...e program must be configured so the operation will not start if the conditions are not fulfilled Device Signal name Signal state QD77MS2 QD77MS4 QD77MS16 PLC READY signal ON PLC CPU preparation comple...

Page 614: ...ON ON OFF OFF ON Positioning complete signal X14 All axis servo ON Y1 OFF Note Refer to Section 3 3 for input output signal of QD77MS16 Fig 11 13 Inching operation start time chart Creating the progra...

Page 615: ...en the stop signal is turned OFF and then re turned ON QD77MS4 operation example PLC READY signal Y0 OFF ON BUSY signal XC XD XE XF OFF ON A JOG start signal OFF ON while the stop signal is ON will be...

Page 616: ...QD77MS4 operation example In test mode flag ON t Forward run JOG start signal Y8 YA YC YE OFF ON OFF Forward run inching operation execution Inching operation not possible because the test function is...

Page 617: ...Manual pulse generator enable flag is set to 0 the BUSY signal turns OFF and the manual pulse generator operation is disabled QD77MS4 operation example Manual pulse generator operation stops t BUSY si...

Page 618: ...ommand will not be output if an error occurs when the manual pulse generator operation starts Important The speed command is issued according to the input from the manual pulse generator irrelevant of...

Page 619: ...ration again Cd 21 Manual pulse generator enable flag must be turned OFF once and turn ON Upper lower limit signal Manual pulse generator operation possible Manual pulse generator operation not possib...

Page 620: ...nit setting is mm and Cd 20 Manual pulse generator 1 pulse input magnification is 2 and 100 pulses are input from the manual pulse generator the current feed value is as follows 100 2 0 1 20 m Md 20 C...

Page 621: ...STEP 6 Create a sequence program in which the Manual pulse generator 1 pulse input magnification is set Control data setting Cd 20 End the input from the manual pulse generator and issue a command to...

Page 622: ...Pr 13 Software stroke limit lower limit value Unit PLS 2147483648 Pr 14 Software stroke limit selection 0 current feed value Pr 15 Software stroke limit valid invalid setting 0 valid Pr 17 Torque limi...

Page 623: ...llowing conditions must be fulfilled when starting The required conditions must also be assembled in the sequence program and the sequence program must be configured so the operation will not start if...

Page 624: ...Y1 OFF ON Note Refer to Section 3 3 for input output signal of QD77MS16 Fig 11 18 Manual pulse generator operation start time chart Creating the program QD77MS4 program example No 13 Manual pulse gen...

Page 625: ...11 32 Chapter 11 Manual Control MEMO...

Page 626: ...ecute the speed control and torque control not including position loop can be performed Execute the required setting to match the control 12 1 Speed torque control 12 2 12 1 1 Outline of speed torque...

Page 627: ...que control mode Speed torque control Control that does not include the position loop for the command to servo amplifier Control mode can be switched during positioning control or speed control Use th...

Page 628: ...torque more than 100 of the rating is performed with an abnormally high frequency in a servo motor stop status servo lock status or in a 30r min or less low speed operation status the servo amplifier...

Page 629: ...gnification AM Pr 8 Speed limit value Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value Pr 14 Software stroke limit selection Pr 22 Input signal logic selecti...

Page 630: ...item Setting value Setting details QD77MS2 QD77MS4 QD77MS16 Cd 153 Control mode auto shift selection Set the switching condition when the control mode is switched to continuous operation to torque con...

Page 631: ...e control Buffer memory address Setting item Setting value Setting details QD77MS2 QD77MS4 QD77MS16 Cd 147 Speed limit value at continuous operation to torque control mode Set the speed limit value at...

Page 632: ...ndition of each control mode Position control mode Speed control mode Torque control mode 3 4 2 1 5 6 Switching operation Switching condition 1 Position control mode Speed control mode Not during posi...

Page 633: ...r For manufacturer setting PB25 for the usage to press with limited torque during speed control mode 5 In speed control flag Md 31 Status b0 does not turn ON during speed control mode in the speed tor...

Page 634: ...1 0 0 0 t V Control mode Servo status 877 b2 b3 Md 108 ON OFF 30000 20000 6 to 11ms 6 to 11ms BUSY signal XC Axis operation status Md 26 Cd 140 Cd 139 Cd 138 Control mode switching request Control mod...

Page 635: ...ol mode 0 Command torque The value of Cd 143 Command torque at torque control mode at switching 1 Feedback torque Motor torque value at switching POINT When the servo parameter Function selection C B...

Page 636: ...0 0 OFF ON 0 1 0 0 t 30 0 20 0 50000 0 ON OFF Torque Position control mode Torque control mode Position control mode 6 to 11ms 6 to 11ms BUSY signal XC Axis operation status Md 26 Cd 146 Speed limit...

Page 637: ...ode 0 Command torque The value of Cd 143 Command torque at torque control mode at switching 1 Feedback torque Motor torque value at switching POINT When the servo parameter Function selection C B POL...

Page 638: ...0 t 20 0 50000 t V 30000 20000 0 30000 20000 0 Torque Speed control mode Torque control mode Speed control mode 6 to 11ms 6 to 11ms BUSY signal XC Control mode Servo status 877 b2 b3 Md 108 Axis opera...

Page 639: ...uring following positioning mode ABS1 1 axis linear control ABS INC1 1 axis linear control INC FEED1 1 axis fixed feed control VF1 1 axis speed control Forward VR1 1 axis speed control Reverse VPF Spe...

Page 640: ...mode only the switching from continuous operation to torque control mode to speed control mode is possible If the mode is switched to other control modes a warning Control mode switching not possible...

Page 641: ...8 to b11 of Pr 90 Operation setting for speed torque control mode Torque initial value selection Pr 90 b4 to b7 Command torque to servo amplifier immediately after switching from position control mode...

Page 642: ...operation to torque control Servo status3 b14 OFF OFF ON 300 0 0 Depending on the positioning method 0 0 Cd 138 Control mode switching request Cd 139 Control mode setting Axis operation status Md 26 B...

Page 643: ...xecuted when the BUSY signal is ON the BUSY signal does not turn OFF but stays ON at control mode switching 0 is automatically stored in Cd 138 Control mode switching request and Md 124 Control mode s...

Page 644: ...peed at speed control mode Cd 138 Control mode switching request Cd 139 Control mode setting BUSY signal XC Axis operation status Md 26 Md 124 Control mode switching status Md 125 Md 108 Cd 147 Speed...

Page 645: ...d after control mode switching request and 2 Waiting for the completion of control mode switching condition is set in Md 124 Control mode switching status When the set condition is satisfied 1 Positio...

Page 646: ...ing may be executed in other positioning operations Waiting for the completion of control mode switching condition can be released by setting Other than 1 Not request in Cd 138 Control mode switching...

Page 647: ...0 1 0 adr 300 0 2 Current feed value passes the address adr set in auto shift parameter Cd 154 Control mode 0 0 Cd 138 Control mode switching request Cd 139 Control mode setting Cd 147 Speed limit va...

Page 648: ...warning Speed limit value over warning code 501 will occur the operation is controlled with speed limit value Confirm the command speed to servo amplifier with Md 122 Speed during command Cd 142 Decel...

Page 649: ...itched to position control mode The current value reached to software stroke limit The position of motor reached to hardware stroke limit The PLC READY Y0 turned OFF The error error code 507 508 104 1...

Page 650: ...on direction of servo motor Positive value Forward direction CCW direction 0 Forward rotation CCW with the increase of the positioning address Negative value Reverse direction CW direction Positive va...

Page 651: ...is set a warning Torque limit value over warning code 520 will occur the operation is controlled with torque limit setting value Confirm the command torque to servo amplifier with Md 123 Torque durin...

Page 652: ...Pr 8 Speed limit value If the speed exceeds speed limit value is set a warning Speed limit value over warning code 501 will occur the operation is controlled with speed limit value The acceleration de...

Page 653: ...o OFF is not executed during torque control mode The command status at that time becomes valid when the mode is switched to position control mode The current value reached to software stroke limit The...

Page 654: ...and Function selection C B POL reflection selection during torque control PC29 Rotation direction selection travel direction selection PA14 Cd 143 Command torque at torque control mode Torque generati...

Page 655: ...ng request is valid for Cd 151 and Cd 152 The command torque during continuous operation to torque control mode is limited with Pr 17 Torque limit setting value If torque exceeds torque limit setting...

Page 656: ...s controlled with speed limit value Confirm the command speed to servo amplifier with Md 122 Speed during command 0 t 1000 1000 0 V t Torque 30 0 Position control mode or Speed control mode 0 300 0 0...

Page 657: ...peration to torque control mode is limited with Pr 8 Speed limit value If the command speed exceeds speed limit value is set a warning Speed limit value over warning code 501 will occur and the operat...

Page 658: ...on to torque control mode The command status at that time becomes valid at position control mode switching The current value reached to software stroke limit The position of motor reached to hardware...

Page 659: ...12 34 Chapter 12 Expansion Control MEMO...

Page 660: ...function 13 21 13 4 Functions to limit the control 13 23 13 4 1 Speed limit function 13 23 13 4 2 Torque limit function 13 25 13 4 3 Software stroke limit function 13 29 13 4 4 Hardware stroke limit f...

Page 661: ...to within the Pr 8 Speed limit value setting range Torque limit function If the torque generated by the servomotor exceeds Pr 17 Torque limit setting value during control this function limits the gene...

Page 662: ...ning stop position and when the value is less than the set value sets the command in position flag When using another sub work before ending the control use this function as a trigger for the sub work...

Page 663: ...w explain about the OPR retry function 1 Control details 2 Precautions during control 3 Setting the OPR retry function 1 Control details The following drawing shows the operation of the OPR retry func...

Page 664: ...44 OPR direction Pr 44 OPR direction Near point dog Hardware upper limit switch Hardware lower limit switch Movement range Machine OPR start OP Zero signal In the above example 1 and 2 0 Positive dir...

Page 665: ...me during an OPR retry 2 Precaution during control 1 The following table shows whether the OPR retry function may be executed by the Pr 43 OPR method Pr 43 OPR method Execution status of OPR retry fun...

Page 666: ...retry according to the user s requirements Setting item Setting value Setting details Factory set initial value Pr 48 OPR retry 1 Set 1 Carry out OPR retry by limit switch 0 Pr 57 Dwell time during OP...

Page 667: ...OP can then be interpreted at that point The details shown below explain about the OP shift function 1 Control details 2 Setting range for the OP shift amount 3 Movement speed during OP shift 4 Preca...

Page 668: ...OP shift When using the OP shift function the movement speed during the OP shift is set in Pr 56 Speed designation during OP shift The movement speed during the OP shift is selected from either the Pr...

Page 669: ...he OP shift operation considering near point dog ON as 0 is stored 5 Setting the OP shift function To use the OP shift function set the required details in the parameters shown in the following table...

Page 670: ...ion compensates the backlash amount in the mechanical system When the backlash compensation amount is set an extra amount of command equivalent to the set backlash amount is output every time the move...

Page 671: ...e made when the speed control mode torque control mode or continuous operation to torque control mode 3 Setting the backlash compensation function To use the backlash compensation function set the bac...

Page 672: ...he function clears to 0 the cumulative values of less than one pulse which could not be output If the cumulative value is cleared an error will occur by a cleared amount in the feed machine value Cont...

Page 673: ...ion retio AP AL AM The basic concept of the electronic gear is represented by the following expression Pr 2 Number of pulses per rotation AP Pr 3 Movement amount per rotation AL Pr 4 Unit magnificatio...

Page 674: ...nt amount per rotation Ball screw pitch Reduction ratio 10 mm 9 44 10000 0 m 9 44 Substitute this for the above expression 1 At this time make calculation with the reduction ratio 9 44 remaining as a...

Page 675: ...ry axis When the rotary axis is used the motor is HG KR 4194304PLS rev and the reduction ratio of the reduction gear is 3 11 Reduction ratio 3 11 M First find how many degrees the load machine will tr...

Page 676: ...n gear is 7 53 Reduction ratio 7 53 M Belt conver Pulley ratio 1 3 135mm As the travel value of the conveyor is used to exercise control set mm as the control unit First find how many millimeters the...

Page 677: ...rotation 135000 0 m Reduction ratio 135000 0 m 7 53 1 3 It is equivalent to an about 86 9 m error in continuous 1km feed 5 Number of pulses movement amount at linear servo use PLS PLS PLS QD77MS Feed...

Page 678: ...on setting Denominator PS03 Refer to the Servo amplifier Instruction Manual for details Servo amplifier type Instruction manual name MR J4 B SSCNET H interface MR J4 B Servo amplifier Instruction Manu...

Page 679: ...fier QD77MS AP AL AM Control unit Command value PLS Servo amplifier 1 if there is no error in regular case Electronic gear taking an error into consideration QD77MS Calculation example Conditions Numb...

Page 680: ...t carried out and thus the output speed drops are eliminated and the mechanical vibration occurring during speed changes can be suppressed Because alignment is not carried out the operation is control...

Page 681: ...reference axis movement direction changes To prevent the sudden output reversal assign not the continuous path control 11 but the continuous positioning control 01 to the positioning data of the pass...

Page 682: ...it function and various controls The following table shows the relation of the speed limit function and various controls Control type Speed limit function Speed limit value Machine OPR control OPR con...

Page 683: ...se the speed limit function set the speed limit value in the parameters shown in the following table and write them to the QD77MS The set details are validated after they are written to the QD77MS Set...

Page 684: ...Torque output setting value After the Pr 47 Creep speed is reached this value becomes the Pr 54 OPR torque limit value OPR control Fast OPR control 1 axis linear control 2 to 4 axes linear interpolati...

Page 685: ...orque output setting value 1552 Cd 101 New torque value forward new torque value 1525 Cd 22 Torque limit stored value forward torque limit stored value 826 Md 35 1 1 2 2 2 3 3 0 Torque change function...

Page 686: ...value Even if a larger value has been mistakenly input for the torque change value it is restricted within the torque limit setting values to prevent an erroneous entry Even if a value larger than the...

Page 687: ...ue The reverse torque limit stored value is stored depending on the control status Pr 17 Pr 54 Cd 22 Cd 101 or Cd 113 891 100n 2491 100n n Axis No 1 Refer to Section 5 6 List of monitor data for infor...

Page 688: ...moveable range of the workpiece are set in Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value The details shown below explain about the software stroke limit f...

Page 689: ...the machine feed value is set at the limit The 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 20 C...

Page 690: ...s to a stop when it exceeds the software stroke limit range For position control The axis comes to an immediate stop when it exceeds the software stroke limit range Current value changing The current...

Page 691: ...ceeded Arc address Da 7 End point address Da 6 Axis 1 Axis 1 stroke limit Deceleration stop not carried out Starting address The software stroke limit check is carried out for the following addresses...

Page 692: ...e stroke limit is validated or invalidated during manual control JOG operation Inching operation manual pulse generator operation 0 valid Refer to Section 5 2 List of parameters for setting details 6...

Page 693: ...when the software stroke limit is to be validated 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...

Page 694: ...ped by deceleration stop by the input of a signal from the limit switch Damage to the machine can be prevented by stopping the control before the upper lower limit of the physical moveable range is re...

Page 695: ...put signal via CPU buffer memory of QD77MS Mechanical stopper Mechanical stopper QD77MS control moveable range Lower limit Upper limit Movement direction Movement direction Start Start QD77MS Upper li...

Page 696: ...are stroke limit function cannot be operated properly In addition the servomotor does not stop Refer to Section 5 2 8 Servo parameters for details about the Rotation direction selection travel directi...

Page 697: ...QD77MS external input signal of servo amplifier or external input signal via CPU buffer memory of QD77MS is set to positive logic using Pr 22 Input signal logic selection positioning control can be ca...

Page 698: ...xplain about the forced stop function 1 Control details 2 Wiring the forced stop 3 Setting the forced stop 4 How to check the forced stop 5 Precautions during control 1 Control details A warning contr...

Page 699: ...rced stop valid Md 108 Servo status Buffer memory address 877 b1 Servo ON ON 0 1 OFF 1 ON ON OFF Forced stop causes occurrence Note Refer to Section 3 3 for input output signal and Chapter 5 for buffe...

Page 700: ...in the following table Buffer memory address Monitor item Monitor value Storage details QD77MS2 QD77MS4 QD77MS16 Md 50 Forced stop input Stores the states ON OFF of forced stop input 0 Forced stop in...

Page 701: ...new speed is directly set Override function The speed is changed for all control to be executed The new speed is set as a percent of the command speed POINT Speed change function and Override functio...

Page 702: ...next positioning data The next positioning data is controlled at the Cd 14 New speed value b When a speed designation is provided in the next positioning data The next positioning data is controlled...

Page 703: ...ring interpolation control the speed change 0 flag on the reference axis side turns ON The axis stops but Md 26 Axis operation status does not change and the BUSY signal remains ON If a stop signal is...

Page 704: ...eed change cannot be carried out during the machine OPR A request for speed change is ignored 11 When deceleration is started by the speed change function the deceleration start flag does not turn ON...

Page 705: ...4 X8 Md 40 All axis servo ON Y1 Note Refer to Section 3 3 for input output signal of QD77MS16 Fig 13 26 Time chart for changing the speed from the PLC CPU 3 Add the following sequence program to the c...

Page 706: ...command valid 1 Set 1 Validate the external command 1505 100n 4305 100n Cd 14 New speed value 1000000 Set the new speed 1514 100n 1515 100n 4314 100n 4315 100n n Axis No 1 Set the external command sig...

Page 707: ...l QD77MS starts speed change processing Speed change processing Write the new speed K1 D108 K1514 H0 DTOP K1 K1 K1505 H0 TOP Set the external command signal input to valid K1 K1 K62 H0 TOP Input the e...

Page 708: ...ed and control will be carried out at speed unit 1 at the time Md 22 Feedrate becomes a value of 1 or less 4 If there is not enough remaining distance to change the speed due to the override function...

Page 709: ...e able to track and it may become impossible to carry out commands correctly 5 When a machine OPR is performed the speed change by the override function cannot be carried out after a deceleration star...

Page 710: ...ing complete signal QD77 READY signal Start complete signal Y10 Y1 X0 X10 XC X14 X8 PLC READY signal Y0 Note Refer to Section 3 3 for input output signal of QD77MS16 Fig 13 29 Time chart for changing...

Page 711: ...e positioning parameter data items Da 3 and Da 4 and control is carried out with that acceleration deceleration time However by setting the new acceleration deceleration time Cd 10 Cd 11 in the contro...

Page 712: ...ows the operation during an acceleration deceleration time change Cd 12 Acceleration deceleration time change during speed change enable disable selection Cd 15 Speed change request t V Operation with...

Page 713: ...ut with the previously set acceleration deceleration time at the changeover to the next positioning data even if the acceleration deceleration time is changed to the new acceleration deceleration time...

Page 714: ...time in the parameter 5 The acceleration deceleration change function cannot be used during speed control mode torque control mode or continuous operation to torque control mode Refer to Section 12 1...

Page 715: ...Set the new deceleration time 1510 100n 1511 100n 4310 100n 4311 100n Cd 12 Acceleration deceleration time change during speed change enable disable selection 1 Set 1 Acceleration deceleration time c...

Page 716: ...ue Forward new torque value The limit value to the generated torque during CCW regeneration at the CCW driving of the servo motor Reverse new torque value The limit value to the generated torque durin...

Page 717: ...Y10 Torque limit setting value 26 Torque output setting value 1552 New torque value forward new torque value 1525 Torque limit stored value forward torque limit stored value 826 Pr 17 Cd 101 Cd 22 Md...

Page 718: ...stored value 826 Pr 17 Cd 101 Cd 22 Md 35 1 300 250 0 100 150 0 200 0 350 0 75 230 0 0 300 300 200 100 75 230 150 1 2 2 2 3 3 4 4 4 3 6 5 Torque change function switching request 1563 Cd 112 0 Reverse...

Page 719: ...the following table to the QD77MS using the sequence program The set details are validated when written to the QD77MS Buffer memory address Setting item Setting value Setting details QD77MS2 QD77MS4 Q...

Page 720: ...tails of control 2 Precaution during operation 3 Method of setting target position change function from PLC CPU 1 Details of control The following charts show the details of control of the target posi...

Page 721: ...g the next positioning operation is carried out at the new speed value When the speed is set with the next positioning data that speed becomes the current speed and the operation is carried out at the...

Page 722: ...Set the new address 1534 100n 1535 100n 4334 100n 4335 100n Cd 28 Target position change value new speed 1000000 Set the new speed 1536 100n 1537 100n 4336 100n 4337 100n Cd 29 Target position change...

Page 723: ...D25 Pulsate target position change command Hold target position change command Set target position change request Write target position change Turn OFF target position change command memory Set targe...

Page 724: ...nt value Battery Position command Control command Servo parameter Monitor data Fig 13 35 Configuration of absolute position system 1 Setting for absolute positions When constructing an absolute positi...

Page 725: ...tion of the OP position is moved by manual operation JOG operation manual pulse generator operation is treated as the OP position QD77MS4 operation example The stop position during OPR execution is st...

Page 726: ...ntinue the control in the step start information The details shown below explain about the step function 1 Relation between the step function and various controls 2 Step mode 3 Step start information...

Page 727: ...mation The step start information is set in the control data Cd 36 Step start information The following table shows the results of starts using the step start information during step operation Stop st...

Page 728: ...ted NO NO YES YES YES NO Restart positioning All positioning is completed Continue the step operation Turn OFF the step valid flag End Write 1 carry out step operation in Cd 35 Step valid flag Set in...

Page 729: ...ction 3 3 for input output signal of QD77MS16 Fig 13 37 Operation during step execution by deceleration unit step 2 The following drawing shows a step operation during a data No unit step QD77MS4 oper...

Page 730: ...unction settings To use the step function write the data shown in the following table to the QD77MS using the sequence program Refer to section 4 Using the step operation for the timing of the setting...

Page 731: ...E XF Y10 Y11 Y12 Y13 X14 X15 X16 X17 Note Refer to Section 3 3 for input output signal of QD77MS16 Fig 13 39 Operation when a skip signal is input during positioning control 2 Precautions during contr...

Page 732: ...t using the sequence program shown below in section 2 Buffer memory address Setting item Setting value Setting details QD77MS2 QD77MS4 QD77MS16 Cd 37 Skip command 1 Set 1 Skip request 1547 100n 4347 1...

Page 733: ...in section 2 Buffer memory address Setting item Setting value Setting details QD77MS2 QD77MS4 QD77MS16 Pr 42 External command function selection 3 Set 3 Skip request 62 150n Cd 8 External command vali...

Page 734: ...unction 1 M code ON signal output 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 output...

Page 735: ...set 1 turn OFF the M code signal in Cd 7 M code OFF request Buffer memory address Setting item Setting value Setting details QD77MS2 QD77MS4 QD77MS16 Cd 7 M code OFF request 1 Set 1 Turn OFF the M co...

Page 736: ...ill not turn ON if 0 is set in Da 10 M code The M code will not be output and the previously output value will be held in Md 25 Valid M code 3 If the M code ON signal is ON at the positioning start an...

Page 737: ...27 150n n Axis No 1 Refer to 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 ad...

Page 738: ...warning has occurred Signal QD77MS2 QD77MS4 QD77MS16 BUSY signal XC to XF X10 to X1F 2 Addresses for which teaching is possible The addresses for which teaching is possible are current feed values Md...

Page 739: ...come impossible assured value is up to 100 000 times If an error error code 805 occurs when writing to the flash ROM has been completed check whether or not the program is created so as to write conti...

Page 740: ...the positioning data No for which the teaching will be carried out Set the positioning data No in the buffer memory address 1549 Confirm that the buffer memory address 1549 has become 0 End Confirm t...

Page 741: ...g data No for which the teaching will be carried out Set the positioning data No in the buffer memory address 1549 Set 1 in the buffer memory address 1548 Set Writes the current feed value to Da 7 Arc...

Page 742: ...in the buffer memory address 1900 Entering teaching data to buffer memory address 1648 and 1649 in the same fashion as for axis 1 Teaching arc end point address on axis 2 5 Teaching program example Th...

Page 743: ...Position to the target position with manual operation Pulsate teaching command Hold teaching command Set teaching data Set positioning data No Execute teaching Turn OFF teaching command memory M19 PLS...

Page 744: ...the command in position function 4 Confirming the command in position flag 1 Control details The following shows control details of the command in position function 1 When the remaining distance to t...

Page 745: ...lue Execution of the command in position width check Fig 13 44 Command in position width check 2 The command in position flag will be turned OFF in the following cases 0 will be stored in Md 31 Status...

Page 746: ...ntrol 100 Refer to Section 5 2 List of parameters for setting details 4 Confirming the command in position flag The command in position flag is stored in the following buffer memory Buffer memory addr...

Page 747: ...g 1 Acceleration deceleration time 0 to 3 control details and setting In the QD77MS four types each of acceleration time and deceleration time can be set By using separate acceleration deceleration ti...

Page 748: ...ow 1 Trapezoidal acceleration deceleration processing method This is a method in which linear acceleration deceleration is carried out based on the acceleration time deceleration time and speed limit...

Page 749: ...and write them to the QD77MS The set details are validated when written to the QD77MS Setting item Setting value Setting details Factory set initial value Pr 34 Acceleration deceleration process sele...

Page 750: ...positioning is started with the execution prohibition flag ON the positioning data is analyzed but servo start is not provided While the execution prohibition flag is ON Md 26 Axis operation status re...

Page 751: ...nd when positioning data analysis is completed Ta start time Ta Refer to Fig 13 48 4 The data No which can be executed positioning start using Cd 3 Positioning start No with the pre reading start func...

Page 752: ...31 Y10 X4C M100 Y10 X10 X10 DX0C X8 Y14 SET Y10 SET Y14 RST Y10 RST END H0 TOP K1500 K1 K1 Use the direct access input as BUSY signal to use this program example Pre reading start program when dedicat...

Page 753: ...d in the position control whose operation pattern is Positioning complete 1 is stored into Md 48 Deceleration start flag When the next operation start is made or the manual pulse generator operation e...

Page 754: ...axis linear interpolation control 4 axis linear interpolation control speed position switching control or position speed switching control In the case of linear interpolation control the function is v...

Page 755: ...ing executed 3 Deceleration start flag function setting method To use the deceleration start flag function set 1 to the following control data using a sequence program The set data is made valid on th...

Page 756: ...ccurred This section explains the stop command processing for deceleration stop function as follows 1 Control 2 Precautions for control 3 Setting method 1 Control The operation of stop command process...

Page 757: ...rence 3 The stop command processing for deceleration stop function is invalid when 1 Sudden stop is set in Pr 37 Stop group 1 sudden stop selection to Pr 39 Stop group 3 sudden stop selection A decele...

Page 758: ...to the buffer memory The PLC ready signal Y0 is irrelevant Buffer memory address Setting item Setting value Setting details QD77MS2 QD77MS4 QD77MS16 Cd 42 Stop command processing for deceleration sto...

Page 759: ...e command speed monitor data speed limit value is shown below 1 Command speed a Parameters Pr 7 Bias speed at start Pr 46 OPR speed Pr 47 Creep speed Cd 14 New speed value Cd 17 JOG speed Cd 25 Positi...

Page 760: ...33 Target speed Md 122 Speed during command 0 Invalid Monitor value Converted from hexadecimal to decimal Unit conversion Actual value R 10m Unit conversion table m Unit Pr 83 setting value degree mi...

Page 761: ...ltiplier setting for degree axis to valid The use the Pr 83 Speed control 10 x multiplier setting for degree axis function set the parameters shown in the following table Buffer memory address Setting...

Page 762: ...urrent value changing start No No 9003 The positioning control is impossible to start restart in the following case 1 axis linear control 2 3 4 axis linear interpolation control 1 2 3 4 axis fixed fee...

Page 763: ...of Operation setting for incompletion of OPR The use the Operation setting for incompletion of OPR set the following parameters using a sequence program Buffer memory address Setting item Setting val...

Page 764: ...ed Servo OFF Servo operation disabled POINT When the delay time of Electromagnetic brake sequence output PC02 is used execute the servo ON to OFF by Cd 100 Servo OFF command When all axis servo ON Y1...

Page 765: ...peration is stopped position control mode The servo OFF command of during positioning in position control mode manual pulse control OPR speed control mode torque control mode and continuous operation...

Page 766: ...droop pulses the next time the servo turns ON but positioning can be performed from the stop position 2 Execution follow up Follow up function is executed continually during the servo OFF status OFF F...

Page 767: ...13 108 Chapter 13 Control Sub Functions MEMO...

Page 768: ...the appropriate function where required 14 1 Outline of common functions 14 2 14 2 Parameter initialization function 14 3 14 3 Execution data backup function 14 5 14 4 External signal selection funct...

Page 769: ...changed to a positive logic History monitor function This function monitors errors warnings and start history of all axes Amplifier less operation function This function executes the positioning contr...

Page 770: ...nonvolatile setting data Setting data Basic parameters Pr 1 to Pr 10 Detailed parameters Pr 11 to Pr 42 Pr 80 to Pr 90 Pr 95 OPR basic parameters Pr 43 to Pr 48 OPR detailed parameters Pr 50 to Pr 57...

Page 771: ...r 15 Dedicated Instructions for details 2 Parameter initialization can also be carried out by the writing of the data shown in the table below to the QD77MS buffer memory using the TO command intellig...

Page 772: ...ion data backup function 1 Execution data backup written to flash ROM means 2 Control details 3 Precautions during control 4 Execution data backup method 1 Execution data backup written to flash ROM m...

Page 773: ...ing If the power is turned OFF or the PLC CPU module is reset to forcibly end the process the data backed up in the flash ROM internal memory nonvolatile will be lost 4 Execution data backup method 1...

Page 774: ...D77MS is used operation is affected by the PLC scan time The details shown below explain about the External signal selection function 1 Parameter setting details 2 Precautions during parameter setting...

Page 775: ...use the 1 External input signal of servo amplifier set the Pin No shown in the following table Pin No Signal name CN3 19 DI3 DOG CN3 12 DI2 RLS Servo amplifier CN3 2 DI1 FLS 1 Refer to the Servo ampl...

Page 776: ...ls The following table shows the external signal that becomes valid by setting Pr 80 External input signal selection Pr 80 External input signal selection External signal that becomes valid External i...

Page 777: ...eter setting 1 Parameter setting details To use the External I O signal logic switching function set the parameters shown in the following table Buffer memory address Setting item Setting details Fact...

Page 778: ...t be carried out correctly Before setting check the specifications of the equipment to be used 3 When the same external input signal is set to use to the multiple axes in Pr 80 External input signal s...

Page 779: ...on allows users to check the operation sequence whether the operations have been started in a predetermined sequence at system start up For the starting history check method refer to the Simple Motion...

Page 780: ...witching the normal operation mode and amplifier less operation mode is shown below Current value management at the operation mode switching Absolute position detection system PA03 Normal operation mo...

Page 781: ...the written to flash ROM is executed Turn the power supply ON or PLC CPU reset after written to flash ROM Pr 100 Servo series is set and then the PLC ready signal is turned ON Servo amplifier connecti...

Page 782: ...0n Md 108 Servo status As follows during amplifier less operation mode READY ON b0 Servo ON b1 Change depending on the all axis servo ON signal Y1 and Cd 100 Servo OFF command Control mode b2 b3 Alway...

Page 783: ...ffer memory address Storage item Storage details QD77MS2 QD77MS4 QD77MS16 Md 30 External input signal When 1 External input signal of servo amplifier is set in Pr 80 External input signal selection th...

Page 784: ...d 51 Amplifier less operation mode status Indicate the current operation mode 0 Normal operation mode 1 Amplifier less operation mode 1432 4232 4 Operation mode switching procedure 1 Switch from the n...

Page 785: ...to normal operation mode error code 809 will occur and the switching of operation mode will not execute 2 When the operation mode is switched with the servo amplifiers connected the communication to...

Page 786: ...upply ON 2 When 0 is set in Pr 100 Servo series of flash ROM it operates as virtual servo amplifier by setting 4097 4128 in Pr 100 Servo series of buffer memory and by turning the PLC READY signal Y0...

Page 787: ...No Always 0 864 100n to 869 100n 2464 100n to 2469 100n Md 107 Parameter error No Always 0 870 100n 2470 100n Zero point pass b0 Always ON Zero speed b3 Change depending on the command speed Speed lim...

Page 788: ...details 3 The following monitor data of virtual servo amplifier differ from the actual servo amplifiers The writing operation is possible in the virtual servo amplifier Buffer memory address Storage...

Page 789: ...from a specified number of detections is stored The detected position for a specified number of detections can be collected when the mark detection signal is continuously input at high speed Example N...

Page 790: ...11 types Optional buffer memory data 2 word Current feed value Machine feed value Real current value Servo input axis current value Synchronous encoder axis current value Synchronous encoder axis curr...

Page 791: ...ent value Real current value Continuous update Data outside range are not latched Confirmation of mark detection data range Upper lower limit value setting Valid Number of mark detection counter Md 80...

Page 792: ...nal compensation time 0 Set 0 No compensation to the compensation time such as delay of sensor 54001 20k Pr 802 Mark detection data type 2 Set 2 Real current value to the target data for mark detectio...

Page 793: ...ing 1 55040 to 55119 80 Mark detection setting 2 55120 to 55199 80 Mark detection setting 3 to to to 56160 to 56239 80 Mark detection monitor data Md 800 Md 801 Mark detection setting 16 Guide to buff...

Page 794: ...rget data for mark detection 1 to 2 Axis 1 to Axis 2 QD77MS2 1 to 4 Axis 1 to Axis 4 QD77MS4 1 to 16 Axis 1 to Axis 16 QD77MS16 801 to 804 Synchronous encoder Axis 1 to 4 Fetch cycle Power supply ON 0...

Page 795: ...or input Set a positive value to compensate for a delay Pr 802 Mark detection data type Set the data that latched at mark detection The target data is latched by setting 0 to 12 Set the axis No in Pr...

Page 796: ...gree PLS 1 to 2 1 to 4 1 to 16 6 Synchronous encoder axis current value 7 Synchronous encoder axis current value per cycle Synchronous encoder axis position unit 801 to 804 8 Current value after compo...

Page 797: ...2 and the Md 800 Number of mark detection counter is incremented by 1 The mark detection processing is not executed Upper limit value Lower limit value The mark detection is executed when the mark det...

Page 798: ...ata Buffer memory address Setting item Setting details setting value Default value QD77MS2 QD77MS4 QD77MS16 Cd 800 Number of mark detection clear request Set 1 to execute 0 clear of number of mark det...

Page 799: ...r of detection mode Data are stored as a ring buffer for number of detections in the ring buffer mode 2147483648 to 2147483647 Refresh cycle At mark detection 54962 80k 54963 80k to 55024 80k 55025 80...

Page 800: ...r function This function is used to store the data refer to following table up to four points per axis to the buffer memory and monitor them The details shown below explain about the Optional data mon...

Page 801: ...Wh 24 Load side encoder information 1 PLS Note 5 Note 5 25 Load side encoder information 2 Note 5 Note 5 26 Z phase counter PLS Note 3 Note 3 27 Motor side load side position deviation PLS Note 5 28 M...

Page 802: ...r 91 Optional data monitor Data type setting 1 or Pr 93 Optional data monitor Data type setting 3 If it is set in Pr 92 Optional data monitor Data type setting 2 or Pr 94 Optional data monitor Data ty...

Page 803: ...data type setting The effective load ratio is stored when nothing is set 879 100n 2479 100n Md 111 Peak torque ratio Optional data monitor output 3 The content set in Pr 93 Optional data monitor Data...

Page 804: ...ncluding built in I O function and built in CC Link function and intelligent function module is displayed in one screen Errors in the entire system can be monitored in reverse chronological order 1 CP...

Page 805: ...rvo amplifier connected directly to the QD77MS turns OFF ON this function is not necessary 2 Precautions during control 1 Confirm the LED display of the servo amplifier for AA after completion of SSCN...

Page 806: ...hen Md 53 SSCNET control status is 1 Disconnected axis existing the disconnected axis is automatically connected when switching to the normal operation mode again If being switched to the amplifier le...

Page 807: ...k that 1 Execute waiting is stored in Md 53 SSCNET control status Disconnect execute waiting 3 Set 2 Execute command in Cd 102 SSCNET control command 4 Check that 1 Disconnected axis existing is store...

Page 808: ...ommand accept waiting Disconnected axis existing SSCNET control command Cd 102 SSCNET control status Md 53 POINT When 1 Execute waiting is set in Md 53 SSCNET control status the command of execute wai...

Page 809: ...U0 G4233 SSCNET c ontrol s tatus K0 RST M100 SET Disconne ct execu tion req uest M101 U0 G4233 SSCNET c ontrol s tatus K1 M101 Disconne ct execu tion req uest 30 Set the execute command MOV K 2 SSCNET...

Page 810: ...mmand 47 MOV K 10 Set the connect command D250 SET Connect request M110 M110 Connect request M112 Connect completi on check M111 Connect executio n reques t M110 Connect request 62 Set the connect com...

Page 811: ...75MH initial value setting function 1 QD75MH initial value setting means 2 Control details 3 Precautions during control 4 QD75MH initial value setting method 1 QD75MH initial value setting means Initi...

Page 812: ...ut 10 seconds Up to 30 seconds are sometimes required Do not turn the power ON OFF or reset the PLC CPU during parameter initialization If the power is turned OFF or the PLC CPU module is reset to for...

Page 813: ...14 46 Chapter 14 Common Functions MEMO...

Page 814: ...ns of the intelligent function module Using the dedicated instructions the programming can be carried out without being aware of the QD77MS buffer memory address and interlock signal 15 1 List of dedi...

Page 815: ...g data to the factory set data initial values of QD77MS Section 15 6 POINT The dedicated instructions of QD77MS16 can be used for only axis 1 to 4 They cannot be used for axis 5 to 16 If the ZP PSTRT5...

Page 816: ...ted as ZP PSTRT Setting data Setting data Setting details Setting side Note 1 Data type Un QD77MS head I O number 00 to FE High order two digits of I O number expressed in three digits User BIN 16 bit...

Page 817: ...at abnormal completion Functions 1 The positioning start of the axes to be processed See below is carried out ZP PSTRT1 Axis 1 ZP PSTRT2 Axis 2 ZP PSTRT3 Axis 3 ZP PSTRT4 Axis 4 2 The block start OPR...

Page 818: ...atus may not to be detected in the program Confirm the operation during the positioning control using the ZP PSTRT start instruction and BUSY signals 2 If the stop instruction is input before completi...

Page 819: ...executes the positioning start of positioning data No 1 when X100 turns ON in QD77MS4 Use D30 to D32 as the control data devices of positioning data No 1 and M32 and M33 as the completion devices 1 P...

Page 820: ...TEACH Setting data Setting data Setting details Setting side Note 1 Data type Un QD77MS head I O number 00 to FE High order two digits of I O number expressed in three digits User BIN 16 bits S Head n...

Page 821: ...positioning address or arc address The positioning data other than the positioning addresses and arc addresses are set by GX Works2 or using a sequence program ZP TEACH1 Axis 1 ZP TEACH2 Axis 2 ZP TEA...

Page 822: ...simultaneously for the same axis Can be executed simultaneously for different axes Positioning start instructions ZP PSTRT1 to ZP PSTRT4 Teaching instructions ZP TEACH1 to ZP TEACH4 2 The ZP TEACH ins...

Page 823: ...ning data No setting 633 PLS M19 X0C M34 M35 RST M20 U0 D33 M34 ZP TEACH1 MOVP K3 D36 MOVP H0 D35 SET M20 M20 X39 M19 Teaching execution Teaching command storage OFF 2 Teaching program when dedicated...

Page 824: ...the time of completion of the instruction If the instruction is completed abnormally D 1 will also be turned ON System Bit Note The file register of each of the local device and the program cannot be...

Page 825: ...abnormally This device is turned ON by the END processing of the scan for which ZP PFWRT instruction is completed and turned OFF by the next END processing same ON OFF operation as complete device EN...

Page 826: ...sequence program is limited to up to 25 times Not limited to up to 25 times when writing to the flash ROM is carried out by GX Works2 If the 26th or more writing is requested after the power ON PLC CP...

Page 827: ...old PLC READY output to QD77 standby Flash ROM write execution 836 PLS M26 X0C RST M27 SET M27 M26 Flash ROM write command storage OFF Y0 U0 D39 M38 ZP PFWRT M38 M39 847 T1 T1 K2 2 Flash ROM write pro...

Page 828: ...n of the instruction If the instruction is completed abnormally D 1 will also be turned ON System Bit Note The file register of each of the local device and the program cannot be used as a device for...

Page 829: ...by the next END processing same ON OFF operation as complete device END processing END processing END processing END processing OFF OFF OFF ON ON ON When completed abnormally When completed normally 1...

Page 830: ...U again Program example The following program initializes the parameters in buffer memory and flash ROM when X3C turns ON in QD77MS4 1 Parameter initialization program 807 M25 X3C 796 Parameter initia...

Page 831: ...15 18 Chapter 15 Dedicated Instructions MEMO...

Page 832: ...ed confirm the detection details and carry out the required measures 16 1 Checking errors using GX Works2 16 2 16 2 Checking errors using a display unit 16 5 16 3 Troubleshooting 16 6 16 4 Error and w...

Page 833: ...or History screen 1 Checking errors on the Module s Detailed Information screen Select Diagnostics System Monitor on GX Works2 Select QD77MS for Main block and click the Detailed information button Th...

Page 834: ...2 that supports the module error collection function On the Error History screen the error logs of the QD77MS are displayed in a list together with the error logs of other modules The logs can be outp...

Page 835: ...1 stop signal Axis 1 external command signal switching signal Axis 1 near point signal The status of axis 1 external input signals at the time of error is stored Axis 2 upper limit signal Axis 2 lowe...

Page 836: ...alog box For the setting refer to the User s Manual Function Explanation Program Fundamentals of the CPU module in use 2 If the error occurred at the simultaneous start the axis No in which the error...

Page 837: ...the module joint levers are locked If there is no problem on the above check items a watchdog timer error may have occurred Reset the PLC CPU and check that the RUN LED turns on If not the possible c...

Page 838: ...urn ON Is there an error in the QD77MS ERR LED is on or flashing Check the error code and take a corrective action Is the servo amplifier powered ON Power on the servo amplifier Is there an error in t...

Page 839: ...ue in Pr 31 JOG speed limit value In the JOG operation check that Forward run JOG start signal and Reverse run JOG start signal do not repeatedly turn ON and OFF Signal QD77MS2 QD77MS4 QD77MS16 Forwar...

Page 840: ...ed in both the reference axis and the interpolation axis Note that in the following cases a and b the axis error No will be stored only in the reference axis during analysis of the positioning data se...

Page 841: ...rrors Error storage When an error occurs the error detection signal turns ON and the error code corresponding to the error details is stored in the following buffer memory address Md 23 Axis error No...

Page 842: ...yed in LED of servo amplifier is stored in the following buffer memory address Md 114 Servo alarm Check the error details and remedies by this servo alarm details Buffer memory address Axis No QD77MS2...

Page 843: ...n axis warning occurs 3 Servo amplifier detection warnings These are warning that occur at the hardware error such as servo amplifier and servomotor or the inapplicable servo parameters Error or norma...

Page 844: ...ion etc axis warning detection Md 31 Status b9 turns ON of the following buffer memory for axis status storage turns ON Buffer memory address Axis No QD77MS2 QD77MS4 QD77MS16 1 817 817 2417 2 917 917...

Page 845: ...warning detection Md 31 Status b9 is turned OFF POINT When servo amplifier errors cannot be reset even if error reset is requested 0 is not stored in Cd 5 Axis error reset It remains 1 Set 0 in Cd 5...

Page 846: ...16 15 Chapter 16 Troubleshooting MEMO...

Page 847: ...sudden stop of the detailed parameter 2 Sudden stop selection stop group 2 Note that the deceleration stop only occurs during the manual pulse generator operation The hardware stroke limit upper limi...

Page 848: ...per limit signal FLS Check if the specification of the limit switch and the setting of the Pr 22 Input signal logic selection match If hardware stroke limit limit switch is unnecessary system for inst...

Page 849: ...deceleration from an OPR speed to a creep speed by the near point dog method machine OPR The system stops with the setting deceleration stop sudden stop of the detailed parameter 2 Sudden stop select...

Page 850: ...ovement amount setting after near point dog ON 0 to 2147483647 74 150n 75 150n OPR speed 1 to 1000000000 PLS s 1 to 2000000000 10 2 mm min Calculate the movement distance using a speed limit OPR speed...

Page 851: ...ting range at the time of JOG start The inching movement amount dose not satisfy the setting conditions The setting value is large Setting condition Inching movement amount A JOG speed limit value Use...

Page 852: ...power supply is switched on in the servo parameter Function selection C 4 PC17 1518 100n 1519 100n 4318 100n 4319 100n JOG speed 1 to 1000000000 PLS s 1 to 2000000000 10 2 mm min or others Bring the J...

Page 853: ...axis number is set to a simultaneous start axis The number of simultaneous start axes is outside the setting range of 2 to 4 The partner axis for simultaneous start is BUSY The Simultaneous starting...

Page 854: ...taneous start axis 4339 100n Simultaneous starting axis b12 to b15 2 to 4 b8 to b11 0h to Fh b4 to b7 0h to Fh b0 to b3 0h to Fh 4340 100n Simultaneous starting own axis start data No 1 to 600 4341 10...

Page 855: ...tinuous operation to torque control mode the current feed value exceeded the upper limit of the software stroke limit Positioning operation errors 508 Software stroke limit The positioning is executed...

Page 856: ...le limit 0 to 1000000 Correct the circular interpolation error allowable limit value New current value 1506 100n 1507 100n 4306 100n 4307 100n Software stroke limit upper limit 18 150n 19 150n Softwar...

Page 857: ...inuous path control The continuous positioning control is designated for speed control or position speed switching control The system does not operate at start 518 Outside operation pattern range The...

Page 858: ...feed speed position switching control position speed switching control and current value changing using the positioning data following the continuous path control data Do not carry out the fixed feed...

Page 859: ...th the setting deceleration stop sudden stop of the detailed parameter 2 Sudden stop selection stop group 3 Note that the deceleration stop only occurs during the manual pulse generator operation 525...

Page 860: ...515 to 516 Correct the control system axis to be interpolated or parameter Refer to Section 9 1 6 9 2 20 Correct the sub address arc address Refer to Section 9 2 10 Refer to Section 5 3 List of positi...

Page 861: ...set for the set condition The conditional operator has been parameter 1 is greater than to parameter 2 with 05H P1 P2 The setting value of address is outside the setting range when the condition targe...

Page 862: ...ion 5 4 List of block start data Special start instruction 00H to 06H Correct the instruction code of the special start Refer to Section 5 4 Da 13 Refer to Section 5 3 List of positioning data Correct...

Page 863: ...ON At start The system does not operate At control mode switching The mode does not change 550 Continuous operation to torque control not supported Switching to the continuous operation to torque cont...

Page 864: ...Refer to Section 9 1 5 Operation setting for incompletion of OPR 87 150n Operation setting for incompletion of OPR 0 1 Start after the OPR is executed Switch the control mode after the OPR is executed...

Page 865: ...error Mismatching occurs between the CPU module and QD77MS At start The system does not operate 808 Error when switching from normal operation mode to amplifier less operation mode Input signals other...

Page 866: ...istent axis by the ZP PSTRT and ZP TEACH instructions Refer to Section 15 3 to Section 15 4 Review the program so that data is not written continuously to the flash ROM Using Md 19 in Section 5 6 1 th...

Page 867: ...ensation amount error The calculation result of the following equation is smaller than 0 or larger than 65536 0 Pr 11 Pr 2 Pr 3 Pr 4 65535 921 Software stroke limit upper limit In the unit of degree t...

Page 868: ...the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 12 150n 13 150n 1 to 8388608 14 150n 15 150n 1 to 8388608 With the setting brought into the setting range turn t...

Page 869: ...d parameter 1 Current feed value during speed control is outside the setting range 932 Manual pulse generator input mode error The set value of the detailed parameter 1 Manual pulse generator Incremen...

Page 870: ...signal Y0 from OFF to ON 34 150n 0 2 Speed position switching control ABS mode should satisfy the conditions 1 to 3 given on the left When speed position switching control ABS mode is not to be exerci...

Page 871: ...1 setting error The set value of the detailed parameter 2 Deceleration time 1 is outside the setting range 954 Deceleration time 2 setting error The set value of the detailed parameter 2 Deceleration...

Page 872: ...tting with sequence program Remedy 36 150n 37 150n 1 to 8388608 38 150n 39 150n 1 to 8388608 40 150n 41 150n 1 to 8388608 42 150n 43 150n 1 to 8388608 44 150n 45 150n 1 to 8388608 46 150n 47 150n 1 to...

Page 873: ...ue of the detailed parameter 2 Stop group 3 sudden stop selection is outside the setting range 966 Outside allowance circular interpolation error width The set value of the detailed parameter 2 Allowa...

Page 874: ...it value or below 50 150n 0 1 2 3 51 150n 0 1 2 3 52 150n 0 1 53 150n 1 to 100 54 150n 55 150n 1 to 8388608 56 150n 0 1 57 150n 0 1 58 150n 0 1 60 150n 61 150n 0 to 10000 62 150n 0 1 2 3 64 150n 65 15...

Page 875: ...External command signal selection is outside the setting range 979 ABS synchronous encoder unsupported error Servo series of the axis which uses the ABS synchronous encoder is other than 3 MR J3 BS 98...

Page 876: ...turn the PLC READY signal Y0 from OFF to ON 69 150n 0 1 2 3 4 30100 200n 28400 100n 3 70 150n 0 1 4 5 6 71 150n 0 1 72 150n 73 150n mm inch PLS 2147483648 to 2147483647 degree 0 to 35999999 With the s...

Page 877: ...ue limit value has exceeded the detailed parameter 1 Torque limit setting value 997 Speed designation during OP shift error The set value of the OPR detailed parameter Speed designation during OP shif...

Page 878: ...to the setting range write to the flash ROM and switch the power on again or reset the PLC 106 SSCNET setting 0 1 Servo series 0 1 3 4 6 7 32 96 4097 4128 With SSCNET setting and Servo series set by a...

Page 879: ...SSCNET interface Drive Safety integrated MR J3 B Safety Servo amplifier Instruction Manual SH 030084 1 MR J4 W B Classification of errors Error code Servo amplifier LED display Name Details name Rema...

Page 880: ...cess error 4 16 E Encoder initial communication Process error 5 2016 16 F Encoder initial communication error 1 Encoder initial communication Process error 6 17 1 Board error 1 17 3 Board error 2 17 4...

Page 881: ...27 7 Initial magnetic pole detection error Magnetic pole detection Current error 2028 28 1 Linear encoder error 2 Linear encoder Environment error 30 1 Regeneration heat error 30 2 Regeneration signal...

Page 882: ...error 4 during operation 50 4 Thermal overload error 1 during a stop 50 5 Thermal overload error 2 during a stop 2050 50 6 Overload 1 Thermal overload error 4 during a stop 51 1 Thermal overload erro...

Page 883: ...counter error 1 2913 2B 2 Encoder counter error Encoder counter error 2 2918 3A 1 Inrush current suppression circuit error Inrush current suppression circuit error 2922 3E 1 Operation mode error Opera...

Page 884: ...error 2031 31 Overspeed 2032 32 Overcurrent 2033 33 Overvoltage 2034 34 Receive error 1 2035 35 Command frequency error 2036 36 Receive error 2 2037 37 Parameter error 2045 45 Main circuit device over...

Page 885: ...2016 16 7 Encoder initial communication error 1 Encoder transmission data error 3 17 1 AD converter error 17 2 Current feedback data error 17 3 Custom IC error 17 4 Amplifier detection signal error N...

Page 886: ...ring a stop 2032 32 4 Overcurrent Overcurrent detected at software detection function during a stop 2033 33 1 Overvoltage Main circuit voltage error 34 1 SSCNET receive data error 34 2 SSCNET communic...

Page 887: ...n and the actual servo motor position 2052 52 4 Error excessive Maximum deviation at 0 torque limit 2060 1A 1 Motor combination error Motor combination error 2A 1 Linear encoder side error 1 2A 2 Line...

Page 888: ...4 24 Main circuit error 2027 27 Initial magnetic pole detection error 2028 28 Linear encoder error 2 2030 30 Regenerative error 2031 31 Overspeed 2032 32 Overcurrent 2033 33 Overvoltage 2034 34 Receiv...

Page 889: ...2024 24 Main circuit error 2028 28 Linear encoder error 2 2030 30 Regenerative error 2031 31 Overspeed 2032 32 Overcurrent 2033 33 Overvoltage 2034 34 Receive error 1 2035 35 Command frequency alarm 2...

Page 890: ...ror 2025 25 Absolute position erase 2027 27 Initial magnetic pole detection error 2030 30 Regenerative error 2031 31 Overspeed 2032 32 Overcurrent 2033 33 Overvoltage 2034 34 Receive error 1 2035 35 C...

Page 891: ...tion erase 2028 28 Linear encoder error 2 2030 30 Regenerative error 2031 31 Overspeed 2032 32 Overcurrent 2033 33 Overvoltage 2034 34 Receive error 1 2035 35 Command frequency error 2036 36 Receive e...

Page 892: ...16 61 Chapter 16 Troubleshooting MEMO...

Page 893: ...teaching request 110 Less than minimum speed The overridden speed becomes 0 The system is controlled with the currently executing unit of 1 111 In PLC READY The request for writing to the flash ROM is...

Page 894: ...ction 13 5 2 Same as warning code 109 Request to write when the PLC READY signal Y0 is OFF 1513 100n 4313 100n Positioning operation speed override 1 to 300 Set a value within the setting range 1525 1...

Page 895: ...switched Current operation continues 123 Control mode switching Control mode switching request was performed during the control mode switching Control mode switching request is not accepted 125 Contr...

Page 896: ...al data monitor Data type setting 4 Switch the control mode after turning BUSY OFF Switch the control mode after turning Zero Speed Md 108 Servo status ON 1575 100n 4375 100n Control mode setting 0 10...

Page 897: ...ot carried out JOG operation warnings 301 JOG speed limit value The JOG speed Note 1 is exceeded the speed limit value at start The new speed value Note 1 exceeds the JOG speed limit value when the sp...

Page 898: ...n or another Do not carry out the JOG speed change during deceleration with the JOG start signal OFF New speed value 1514 100n 1515 100n 4314 100n 4315 100n New speed value 0 to 1000000000 PLS s 0 to...

Page 899: ...osition speed switching control target position change function or override function is contained Note 2 This speed is a value in which override value is considered when override function is used Cd 1...

Page 900: ...PLS s 1 to 2000000000 10 2 mm min or another Positioning operation speed override 1513 100n 4313 100n Positioning operation speed override 1 to 300 Command speed at speed control mode 1576 100n 1577...

Page 901: ...the system will not perform anything 513 Insufficient movement amount The movement amount is not large enough for automatic deceleration The system stops immediately after it reaches the positioning a...

Page 902: ...d change register 0 to 1000000000 PLS s 0 to 2000000000 10 2 mm min or another Target position change value New speed 1536 100n 1537 100n 4336 100n 4337 100n Target position change value New speed 0 t...

Page 903: ...l mode torque control mode or continuous operation to torque control mode The target position change is not carried out 520 Torque limit value over A value exceeding Pr 17 Torque limit setting value i...

Page 904: ...address Refer to Section 13 5 5 Command torque at torque control mode 1580 100n 4380 100n Command torque at torque control mode 10000 to 10000 10 1 Target torque at continuous operation to torque con...

Page 905: ...LED display Name Details name Remarks 95 1 STO1 off detection 2095 95 2 STO warning STO2 off detection 2101 91 1 Servo amplifier overheat warning Main circuit device overheat warning 92 1 Encoder bat...

Page 906: ...t excess warning F0 1 Instantaneous power failure tough drive warning 2160 F0 3 Tough drive warning Vibration tough drive warning F2 1 Drive recorder Area writing time out warning 2162 F2 2 Drive reco...

Page 907: ...overload warning 3 during a stop 2141 E1 8 Overload warning 1 Thermal overload warning 4 during a stop 2142 E2 1 Linear servo motor overheat warning Linear servo motor overheat warning Linear servo m...

Page 908: ...ation warning 2141 E1 Overload warning 1 2144 E4 Parameter warning 2146 E6 Servo forced stop warning 2147 E7 Controller emergency stop warning 2148 E8 Cooling fan speed reduction warning 2149 E9 Main...

Page 909: ...position setting warning 2116 9F Battery warning 2140 E0 Excessive regeneration warning 2141 E1 Overload warning 1 2143 E3 Absolute position counter warning 2144 E4 Parameter warning 2146 E6 Servo for...

Page 910: ...ndix 34 Appendix 3 Connection with external device Appendix 35 Appendix 3 1 Connector Appendix 35 Appendix 3 2 External input signal cable Appendix 37 Appendix 3 3 Manual pulse generator MR HDP01 Appe...

Page 911: ...e For axis No 16 1 150n Pr 4 Unit magnification AM 1 150 15 2251 53 150n Pr 35 S curve ratio 53 150 15 2303 In the buffer memory address p in 4012 5p etc indicates a pointer No Calculate as follows fo...

Page 912: ...5 150n Pr 16 Command in position width 26 150n Pr 17 Torque limit setting value 27 150n Pr 18 M code ON signal output timing 28 150n Pr 19 Speed switching mode 29 150n Pr 20 Interpolation speed design...

Page 913: ...stop selection 57 150n Pr 38 Stop group 2 sudden stop selection 58 150n Pr 39 Stop group 3 sudden stop selection 59 150n Pr 40 Positioning complete signal output time 60 150n 61 150n Pr 41 Allowable...

Page 914: ...OPR torque limit value 87 150n Pr 55 Operation setting for incompletion of OPR 88 150n Pr 56 Speed designation during OP shift 89 150n Pr 57 Dwell time during OPR retry OPR detailed parameters OPR par...

Page 915: ...Year month 129 5 4p 4095 4p Md 11 Axis error occurrence Day hour 1296 4p 4096 4p Md 12 Axis error occurrence Minute second 1357 4157 Md 13 Error history pointer Error history 1358 4p 4158 4p Md 14 Axi...

Page 916: ...n 2419 100n Md 32 Target value 820 100n 821 100n 2420 100n 2421 100n Md 33 Target speed 824 100n 825 100n 2424 100n 2425 100n Md 34 Movement amount after near point dog ON 826 100n 2426 100n Md 35 Tor...

Page 917: ...00n 866 100n 867 100n 868 100n 869 100n 2464 100n 2465 100n 2466 100n 2467 100n 2468 100n 2469 100n Md 106 Servo amplifier software No 870 100n 2470 100n Md 107 Parameter error No 876 100n 2476 100n 8...

Page 918: ...16 Inching movement amount 1518 100n 1519 100n 4318 100n 4319 100n Cd 17 JOG speed 1520 100n 4320 100n Cd 18 Interrupt request during continuous operation 1521 100n 4321 100n Cd 19 OPR request flag O...

Page 919: ...00n 4348 100n Cd 38 Teaching data selection 1549 100n 4349 100n Cd 39 Teaching positioning data No 1550 100n 4350 100n Cd 40 ABS direction in degrees 1551 100n 4351 100n Cd 100 Servo OFF command 1552...

Page 920: ...ation time at continuous operation to torque control mode 1590 100n 4390 100n Cd 150 Target torque at continuous operation to torque control mode 1591 100n 4391 100n Cd 151 Torque time constant at con...

Page 921: ...ons 2002 6000n 6002 1000n Da 9 Dwell time JUMP destination positioning data No Da 20 Axis to be interpolated No 1 Da 21 Axis to be interpolated No 2 6003 1000n Da 22 Axis to be interpolated No 3 Axis...

Page 922: ...g axes Da 24 Simultaneously starting axis No 1 Da 25 Simultaneously starting axis No 2 22101 400n Da 26 Simultaneously starting axis No 3 26102 1000n 26103 1000n 22102 400n 22103 400n Da 17 Address 26...

Page 923: ...tarting block 2 26600 1000n to 26699 1000n Block start data 26700 1000n to 26799 1000n Condition data Starting block 3 26800 1000n to 26899 1000n Block start data 26900 1000n to 26999 1000n Set with G...

Page 924: ...05 30106 200n 28406 100n PA06 30107 200n 28407 100n PA07 30108 200n 28408 100n PA08 30109 200n 28409 100n PA09 30110 200n 28410 100n PA10 30111 200n 28411 100n PA11 30112 200n 28412 100n PA12 30113 20...

Page 925: ...n 28433 100n PB15 30134 200n 28434 100n PB16 30135 200n 28435 100n PB17 30136 200n 28436 100n PB18 30137 200n 28437 100n PB19 30138 200n 28438 100n PB20 30139 200n 28439 100n PB21 30140 200n 28440 100...

Page 926: ...PB54 64422 250n 64422 70n PB55 64423 250n 64423 70n PB56 64424 250n 64424 70n PB57 64425 250n 64425 70n PB58 64426 250n 64426 70n PB59 64427 250n 64427 70n PB60 64428 250n 64428 70n PB61 64429 250n 64...

Page 927: ...28492 100n PC29 30193 200n 28493 100n PC30 30194 200n 28494 100n PC31 30195 200n 28495 100n PC32 64432 250n 64432 70n PC33 64433 250n 64433 70n PC34 64434 250n 64434 70n PC35 64435 250n 64435 70n PC3...

Page 928: ...0n PC63 64463 250n 64463 70n PC64 30196 200n PD01 30197 200n PD02 30198 200n PD03 30199 200n PD04 30200 200n PD05 30201 200n PD06 30202 200n PD07 30203 200n PD08 30204 200n PD09 30205 200n PD10 30206...

Page 929: ...64473 250n PD42 64474 250n PD43 64475 250n PD44 64476 250n PD45 64477 250n PD46 64478 250n PD47 64479 250n PD48 30228 200n PE01 30229 200n PE02 30230 200n PE03 30231 200n PE04 30232 200n PE05 30233 20...

Page 930: ...30262 200n PE35 30263 200n PE36 30264 200n PE37 30265 200n PE38 30266 200n PE39 30267 200n PE40 64480 250n PE41 64481 250n PE42 64482 250n PE43 64483 250n PE44 64484 250n PE45 64485 250n PE46 64486 25...

Page 931: ...30275 200n PS08 30276 200n PS09 30277 200n PS10 30278 200n PS11 30279 200n PS12 30280 200n PS13 30281 200n PS14 30282 200n PS15 30283 200n PS16 30284 200n PS17 30285 200n PS18 30286 200n PS19 30287 20...

Page 932: ...11 50n PF12 30912 50n PF13 30913 50n PF14 30914 50n PF15 30915 50n PF16 64504 250n PF17 64505 250n PF18 64506 250n PF19 64507 250n PF20 64508 250n PF21 64509 250n PF22 64510 250n PF23 64511 250n PF24...

Page 933: ...Po03 30919 50n Po04 30920 50n Po05 30921 50n Po06 30922 50n Po07 30923 50n Po08 30924 50n Po09 30925 50n Po10 30926 50n Po11 30927 50n Po12 30928 50n Po13 30929 50n Po14 30930 50n Po15 30931 50n Po16...

Page 934: ...64563 250n PL12 64564 250n PL13 64565 250n PL14 64566 250n PL15 64567 250n PL16 64568 250n PL17 64569 250n PL18 64570 250n PL19 64571 250n PL20 64572 250n PL21 64573 250n PL22 64574 250n PL23 64575 25...

Page 935: ...64603 250n PT04 64604 250n PT05 64605 250n PT06 64606 250n PT07 64607 250n PT08 64608 250n PT09 64609 250n PT10 64610 250n PT11 64611 250n PT12 64612 250n PT13 64613 250n PT14 64614 250n PT15 64615 25...

Page 936: ...No Memory area 64632 250n PT33 64633 250n PT34 64634 250n PT35 64635 250n PT36 64636 250n PT37 64637 250n PT38 64638 250n PT39 64639 250n PT40 64640 250n PT41 64641 250n PT42 64642 250n PT43 64643 25...

Page 937: ...r 803 Mark detection data axis No 54004 20k 54005 20k Pr 804 Mark detection data buffer memory No 54006 20k 54007 20k Pr 805 Latch data range upper limit value 54008 20k 54009 20k Pr 806 Latch data ra...

Page 938: ...nnect the SSCNET cable is put a cap to protect light device inside connector from dust For this reason do not remove a cap until just before connecting SSCNET cable Then when removing SSCNET cable mak...

Page 939: ...est Mitsubishi sales representative 2 Specification Table 2 2 SSCNET cable list Description SSCNET cable model MR J3BUS M MR J3BUS M A MR J3BUS M B SSCNET cable length m ft 0 15 0 49 0 3 to 3 0 98 to...

Page 940: ...e of the SSCNET cable If the end face of cord tip for the SSCNET cable is dirty optical transmission is interrupted and it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do...

Page 941: ...3 3 9 84 5 10 5 16 40 10 32 81 20 20 65 62 30 40 30 98 43 40 131 23 50 50 164 04 Symbol 2 Exterior dimensions MR J3BUS015M Unit mm inch 2 3 0 09 1 7 0 07 37 65 1 48 150 50 0 5 91 8 0 0 31 20 9 0 82 1...

Page 942: ...US50M B 150 5 91 50 1 97 Unit mm inch A A L B B Note Protective tube Note Dimension of connector part is the same as that of MR J3BUS015M POINT Keep the cap and the tube for protecting light cord end...

Page 943: ...generated from CN1A CN1B connector of servo amplifier or the end of SSCNET cable The light can be a discomfort when it enters the eye The cable is available per 1 m up to 100 m The number of the lengt...

Page 944: ...sure displacement type A6CON3 Soldering type useable for straight out and diagonal out A6CON4 3 Specifications of the connector Part name Specification Applicable connector A6CON1 A6CON4 A6CON2 A6CON3...

Page 945: ...dix 36 Appendices 3 External dimension drawing A6CON1 A6CON2 A6CON3 A6CON4 72 72 2 87 14 0 55 or less 46 1 81 69 48 2 74 8 25 0 33 22 5 0 89 10 0 39 14 0 55 or less 71 8 2 82 47 1 85 50 8 2 00 Unit mm...

Page 946: ...signal cable fabricate on the customer side Make the cable as shown in the following connection diagram Solderless terminal QD77MS side AX1 AX2 1B20 1A20 1B1 1A1 FG wire 2 Forced stop input external i...

Page 947: ...Note 1 Twisted pair cable Note 1 Ground FG terminal on the used equipment side Also connect it to the shell of connector side b Voltage output Open collector type Make the cable within 10m 32 81ft HB...

Page 948: ...ote 1 Twisted pair cable Note 1 Ground FG terminal on the used equipment side Also connect it to the shell of connector side EMI EMI 1A8 EMI COM EMI COM 1B8 DI1 STOP DI1 1A5 COM 1A7 STOP 1A4 DOG 1A3 C...

Page 949: ...ed pair cable Note 1 Ground FG terminal on the used equipment side Also connect it to the shell of connector side DI3 STOP DI3 2A5 COM 2A7 STOP 2A4 DOG 2A3 COM 2A6 RLS 2A2 DOG RLS FLS FLS 2A1 COM DI4...

Page 950: ...or resistance km Insulating sheath OD d mm Note 1 Finish OD mm Note 2 17 0 16 1P SRV SV 2464 K 0 3mm 2 2 1 pairs 17 0 16 57 5 0 77 5 3 17 0 16 4P SRV SV 2464 K 0 3mm 2 8 4 pairs 17 0 16 57 5 0 77 7 6...

Page 951: ...rawing 72 2 83 0 2 2 0 6 2 10 6 0 2 0 7 0 3 0 8 0 90 12V 0V A B 5to 0 50 4 0 Space The figure of processing a disc equi spaced 3 4 8 0 19 2 4 4 Packing t 2 0 16 20 0 63 0 79 3 6 0 14 0 5 27 0 1 06 1 8...

Page 952: ...ue Feedrate Axis feedrate External input signal Forced stop input Signal input form Set differential output type or voltage output open collector type by parameter Pr 89 Automatic recognition of diffe...

Page 953: ...nt dog signal DOG or Cd 46 Speed position switching command Speed position switching by external command signal CHG Programming tool GX Works2 MR Configurator2 GX Works2 GX Developer GX Configurator Q...

Page 954: ...ion position speed switching request 3 Skip request Pr 43 OPR method Range of setting value 0 Near point dog method 4 Count method 1 5 Count method 2 6 Data set method 7 Scale origin signal detection...

Page 955: ...26 Z phase counter 27 Motor side load side position deviation 28 Motor side load side speed deviation No parameter setting Pr 95 External command signal selection New parameter No parameter setting 0...

Page 956: ...plifier has not been connected servo amplifier power OFF 21 Servo OFF 30 Control mode switch 31 Speed control 32 Torque control 33 Continuous operation to torque control 2 Step standby 1 Error 0 Stand...

Page 957: ...error No Range of monitor value SSCNET H 1 to 64 PA01 to PA64 65 to 128 PB01 to PB64 129 to 192 PC01 to PC64 193 to 256 PD01 to PD64 257 to 320 PE01 to PE64 321 to 384 PF01 to PF64 385 to 448 Po01 to...

Page 958: ...setting value Control unit is PLS 0 to 1000000000 PLS s Control unit is PLS 0 to 50000000 PLS s Cd 17 JOG speed Range of setting value Control unit is PLS 1 to 1000000000 PLS s Control unit is PLS 1 t...

Page 959: ...ltaneo us starting axis start data No 1 Cd 31 Simultaneous starting axis start data No axis 2 start data No Cd 32 Simultaneous starting axis start data No 2 No control data Cd 32 Simultaneous starting...

Page 960: ...ignal DOG b11 Axis 3 Axis 7 Axis 11 Axis 15 STOP signal STOP b12 Axis 4 Axis 8 Axis 12 Axis 16 Upper limit signal FLS b13 Axis 4 Axis 8 Axis 12 Axis 16 Lower limit signal RLS b14 Axis 4 Axis 8 Axis 12...

Page 961: ...rque control mode Range of setting value Control unit is PLS 0 to 1000000000 PLS s No control data Cd 147 Speed limit value at continuous operation to torque control mode Range of setting value Contro...

Page 962: ...P2 06 P1 P2 07 DEV ON 08 DEV OFF 01 P1 02 P1 03 P1 04 P1 05 P1 P2 06 P1 P2 07 DEV ON 08 DEV OFF 10 Axis 1 selected 20 Axis 2 selected 30 Axis 1 and 2 selected 01 P1 02 P1 03 P1 04 P1 05 P1 P2 06 P1 P2...

Page 963: ...multaneously starting axis No 1 Da 25 Simultaneously starting axis No 2 Da 26 Simultaneously starting axis No 3 New positioning data No positioning data 0 Axis 1 selected 1 Axis 2 selected 2 Axis 3 se...

Page 964: ...l via CPU buffer memory FLS RLS DOG External input signal of servo amplifier FLS RLS DOG external input signal via CPU buffer memory FLS RLS DOG Connection connector A6CON1 A6CON4 Soldering type Optio...

Page 965: ...by 1 3 PLS SIGN Pr 31 JOG speed limit value Range of setting value Control unit is PLS 1 to 1000000000 PLS s Control unit is PLS 1 to 50000000 PLS s Pr 46 OPR speed Range of setting value Control unit...

Page 966: ...rshoot amount 20 Position feedback 21 Motor ENC within 1 rev position 22 Select droop pulses 23 Unit cumulative power consumption 24 Load side encoder information 1 25 Load side encoder information 2...

Page 967: ...g value Control unit is PLS 1 to 1000000000 PLS s Control unit is PLS 1 to 50000000 PLS s Cd 25 Position speed switching control speed change register Range of setting value Control unit is PLS 0 to 1...

Page 968: ...ng Tool Start Simple Motion Module Setting Tool with GX Works2 Configure parameters and positioning data with GX Works2 Parameter setting Configure each setting with GX Works2 YES NO Programming and d...

Page 969: ...dimension drawing 1 QD77MS2 Unit mm inch QD77MS2 RUN ERR AX1 AX2 QD77MS2 AX2 AX1 90 3 54 98 3 86 4 0 16 23 0 91 27 4 1 08 2 QD77MS4 Unit mm inch QD77MS4 RUN ERR AX1 AX4 AX2 AX3 QD77MS4 AX2 AX1 AX4 AX...

Page 970: ...Appendix 61 Appendices 3 QD77MS16 Unit mm inch QD77MS16 RUN ERR AX QD77MS16 AX2 AX1 AX4 AX3 90 3 54 98 3 86 4 0 16 23 0 91 27 4 1 08...

Page 971: ...Appendix 62 Appendices MEMO...

Page 972: ...that could have been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided 4 Failu...

Page 973: ...ted States and other countries Pentium is a trademark of Intel Corporation in the United States and other countries Ethernet is a trademark of Xerox Corporation All other company names and product nam...

Page 974: ......

Page 975: ......

Page 976: ...Str GR 18542 Piraeus Phone 30 211 1206 900 Fax 30 211 1206 999 HUNGARY MELTRADE Kft Fert utca 14 HU 1107 Budapest Phone 36 0 1 431 9726 Fax 36 0 1 431 9727 LATVIA Beijer Electronics SIA Ritausmas iela...

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