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Omron CS1W-MCH71 -, Operation Manual

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xxxi

TABLE OF CONTENTS

PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xli

1

Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xlii

2

General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xlii

3

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xliii

4

Application Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  .

xliv

5

Operating Environment Precautions  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xlv

6

Conformance to EC Directives  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xlvi

SECTION 1
Features and System Configuration . . . . . . . . . . . . . . . . . . .

1

1-1

Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2

1-2

System Configuration  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4

1-3

Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6

1-4

Control System Configuration and Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11

1-5

Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12

1-6

Command List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

1-7

Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21

SECTION 2
Basic Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25

2-1

Basic Operation Flow  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

26

2-2

Overview of CX-Motion-MCH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28

SECTION 3
Installation and Wiring  . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

31

3-1

Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

32

3-2

Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

34

3-3

External I/O Circuitry  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

38

3-4

Wiring  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

42

3-5

Connecting MECHATROLINK Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

43

SECTION 4
MC Unit Internal Data Configuration and Setting . . . . . . .

55

4-1

Data Configuration  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

56

4-2

System Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

58

4-3

Variables  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

105

4-4

Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

107

4-5

System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

111

4-6

I/O Variables  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

160

4-7

Present Position Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

190

4-8

Servo Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

191

4-9

CAM Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

210

Summary of Contents for CS1W-MCH71 -

Page 1: ...Motion Control Unit Cat No W435 E1 05 Programmable Controller SYSMAC CS CJ series CS1W MCH71 CJ1W MCH71 OPERATION MANUAL ...

Page 2: ...CS1W MCH71 CJ1W MCH71 Motion Control Unit Operation Manual Revised June 2008 ...

Page 3: ...iv ...

Page 4: ...on some OMRON products often means word and is abbreviated Wd in documentation in this sense The abbreviation PLC means Programmable Controller PC is used however in some Program ming Device displays to mean Programmable Controller Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular in...

Page 5: ... unit of the programmable controller SYSMAC CS CJ series that has been produced by OMRON s advanced technology for control and abundant experience This instruction manual describes MC Unit s specifications and procedures for operation Please read each section in its entirety and be sure you understand the information provided in the section and relate sections before attempting any of the procedur...

Page 6: ...ferent Unit versions Confirming Unit Versions with Support Software The unit version 2 1 or later can be confirmed in Unit Manufacturing Informa tion of CX Programmer version 4 0 or higher Unit version 2 0 cannot be con firmed in Unit Manufacturing Information Use the CX Motion MCH Support Tool for Motion Control Units to confirm the unit version Example Confirming Unit Version 2 1 or Later Using ...

Page 7: ...irm the unit version as shown in the following table Method for confirming the internal system software version The system software version in the Motion Con trol Unit can be checked in the Unit information from the online menus Corresponds to the unit version Internal system software version CJ1W MCH71 CS1W MCH71 Unit Ver 2 0 Unit Ver 2 1 Unit Ver 3 0 Unit Ver 3 1 1 05xxxx 1 06xxxx 1 07xxxx 1 09x...

Page 8: ...ted Servo OFF for deceleration stop signal Not supported Not supported Supported 1 Supported 1 Re execution of WAIT command Not supported Not supported Supported Supported Main power status Not supported Not supported Supported Supported Servo Driver status Not supported Not supported Supported Supported Increased precision of CAMBOX com mand Not supported Not supported Supported Supported Improve...

Page 9: ...atus of program start bit Supported Supported Re execution of WAIT command Supported Supported Main power status Supported Supported Servo Driver status Supported Supported Increased precision of CAMBOX command Supported Supported Data tracing Supported 1 Supported 1 Debugging Supported 1 Supported 1 Zones Supported 1 Supported 1 Setting the number of parallel branches for each task Supported 1 Su...

Page 10: ...olation operations can be set sep arately P00004 bit 13 Bank switching method selection 0 Select the same bank for acceleration and deceleration same as for version 3 0 1 Select different banks for the acceleration time and deceleration time Parameters P00M11 to P00M15 are used to set acceleration times and P00M16 to P00M20 are used to set deceleration times For details refer to 6 1 Basic Informat...

Page 11: ...etails refer to Section 12 Read Protection in the CX Motion MCH Operation Manual Cat No W448 Previous versions Unit Ver 2 1 and earlier Current version Unit Ver 3 0 Data tracing is not supported A data tracing function is provided that can simultaneously collect a maximum of 32 data items This function does not affect previous functionality Previously reserved parameters and variables are used to ...

Page 12: ... that were previously reserved are used to set zone upper and lower limits For details refer to 9 7 Zones Previous versions Unit Ver 2 1 and earlier Current version Unit Ver 3 0 The main axis input sign is ignored and data is read as an absolute travel distance The main axis input sign is evaluated and the data is read as a signed travel distance This function enables the main axis to use the feed...

Page 13: ...s set to the preset value The previous function and the new function can be switched using the following parameter Parameter number P00004 Bit 12 Reserved in previous unit versions 0 Default Same as previous function 1 Origin established for preset Previous versions Unit Ver 2 1 and earlier Current Unit Ver 3 0 An operation completed bit alone cannot be used to detect the end of programs with proc...

Page 14: ...d a status bit for each axis Example for Axis 1 x 32 bit 12 Main power ON bit reserved in previous unit versions 0 Main power OFF 1 Main power ON The servo can be effectively locked from the CPU Unit after confirming that this bit is ON Previous versions Unit Ver 2 1 and earlier Current Unit Ver 3 0 The Servo Driver warning and alarm codes are stored in the error log The Servo status torque limit ...

Page 15: ...able is switched Example CAMBOX J01 1 J02 10000 K10000 Q8 B0 Cam 1 CAMBOX J01 2 J02 10000 K10000 Q8 B0 Cam 2 CAMBOX J01 3 J02 10000 K10000 Q8 B0 Cam 3 This amount of travel is eliminated The slave axis will travel the set amount even if the slave axis CAM table is switched during continuous master axis travel Example CAMBOX J01 1 J02 10000 K10000 Q8 B0 Cam 1 CAMBOX J01 2 J02 10000 K10000 Q8 B0 Cam...

Page 16: ...rea Previous version Unit Ver 2 0 Present version Unit Ver 2 1 The MC Unit s unit version code could not be read by accessing the Unit Manufac turing Information in CX Programmer Ver 4 0 The MC Unit s unit version code can be read by accessing the Unit Manufacturing Information in CX Programmer Ver 4 0 Previous version Unit Ver 2 0 Present version Unit Ver 2 1 Only the I O variable area determined...

Page 17: ...s Position data Task variable 0 to 160 words 2 General I O B IW0BA0 to IW0C3F or OW0BA0 to OW0C3F 0 to 160 words 3 General I O C IW0C40 to IW0CDF or OW0C40 to OW0CDF 0 to 160 words 4 General I O D IW0CE0 to IW0D7F or OW0CE0 to OW0D7F 0 to 160 words 5 General I O E IW0D80 to IW0E1F or OW0D80 to OW0E1F 0 to 160 words 6 General I O F IW0E20 to IW0EBF or OW0E20 to OW0EBF 0 to 160 words 7 General I O G...

Page 18: ...tions can be set sep arately P00004 bit 13 Bank switching method selection 0 Select the same bank for acceleration and deceleration same as for version 3 0 1 Select different banks for the acceleration time and deceleration time Parameters P00M11 to P00M15 are used to set acceleration times and P00M16 to P00M20 are used to set deceleration times For details refer to 6 1 Basic Information Previous ...

Page 19: ... 0 Only the I O variable area determined in advance could be allocated to the Cus tom I O Area In addition to the I O variables system variables global general variables posi tion data and task variables for user specified addresses can be allocated to the Custom I O Area Previous version Unit Ver 2 0 Current version Unit Ver 3 0 Rated input voltage 24 VDC 10 Rated input current 4 06 to 4 48 mA ON...

Page 20: ...y Previous version Unit Ver 2 0 Current version Unit Ver 3 0 An operation completed bit alone cannot be used to detect the end of programs with processing times that are shorter than the Unit cycle time The start bit ON OFF status in the CPU Unit is output to the task status bit Example for Axis 1 n 17 bit 06 start bit Reserved in previous unit versions 0 Start bit from CPU Unit OFF 1 Start bit fr...

Page 21: ...nit Ver 2 0 Current version Unit Ver 3 0 The Servo Driver warning and alarm codes are stored in the error log The Servo status torque limit limit inputs etc is output to system variables SW021C and SW021D for axis 1 In addition to the functionality supported in previ ous unit versions Servo Driver warning codes alarm codes and status torque limit limit inputs etc are also output to the following o...

Page 22: ...switched Example CAMBOX J01 1 J02 10000 K10000 Q8 B0 Cam 1 CAMBOX J01 2 J02 10000 K10000 Q8 B0 Cam 2 CAMBOX J01 3 J02 10000 K10000 Q8 B0 Cam 3 This amount of travel is eliminated The slave axis will travel the set amount even if the slave axis CAM table is switched during continuous master axis travel Example CAMBOX J01 1 J02 10000 K10000 Q8 B0 Cam 1 CAMBOX J01 2 J02 10000 K10000 Q8 B0 Cam 2 CAMBO...

Page 23: ...ect operation These functions do not affect previous function ality but the following bit has been added to the Unit status to indicate that debugging is being executed from the Support Tool CIO n 15 bit 09 Operating mode Reserved in previous unit versions 0 Normal mode 1 Support Tool mode debugging Previous version Unit Ver 2 0 Current version Unit Ver 3 0 Zones are not supported A maximum of 32 ...

Page 24: ...f parallel branches individually for each task Previous version Unit Ver 2 0 Current version Unit Ver 3 0 The origin is not established when the present position is set to the preset value The origin is established when the present posi tion is set to the preset value The previous function and the new function can be switched using the following parameter Parameter number P00004 Bit 12 Reserved in...

Page 25: ... Unit supports communications on up to eight levels according to the eight levels supported by the CPU Unit The CPU Unit supports eight levels with unit version 2 0 or later Previous versions Current version Unit Ver 2 0 or later The MC Unit communications cycle and unit cycle times are as follows Communications cycle 1 ms 2 ms 4 ms Unit cycle 1 ms 2 ms 4 ms 8 ms Supporting a communications cycle ...

Page 26: ... To execute pass operation from a stopped axis only one interpolation command is required Example PASSMODE WHILE MW0000 0 INC MOVEL J02 100 F1000 WEND Previous versions Current version Unit Ver 2 0 or later Changing the acceleration deceleration times during pass operation was complex at any time It was necessary to use the PARALLEL command to execute parallel processing The acceleration decelerat...

Page 27: ...ing pass operation the interpolation feed accel eration time or the interpolation feed deceleration time is used to decelerate to a stop during pass operation Example Pass Mode Selection P00M06 0 Interpolation feed acceleration time Ta P0MM02 Interpolation feed deceleration time Td P00M03 Program PASSMODE INC MOVEL J01 1000 F100000 INC MOVEL J01 1000 F100000 END To stop at the interpolation feed d...

Page 28: ...rameter uses part of the axis parameter area that was previously reserved Previous versions Current version Unit Ver 2 0 or later Switching from speed control to position control using the SPEEDR command is executed when the axis feedback speed reaches 0 Switching from speed control to position control using the SPEEDR command is executed when the axis feedback speed reaches the speed specified in...

Page 29: ...xxx ...

Page 30: ...mance Specifications 12 1 6 Command List 18 1 7 Performance 21 SECTION 2 Basic Procedures 25 2 1 Basic Operation Flow 26 2 2 Overview of CX Motion MCH 28 SECTION 3 Installation and Wiring 31 3 1 Nomenclature and Functions 32 3 2 Installation 34 3 3 External I O Circuitry 38 3 4 Wiring 42 3 5 Connecting MECHATROLINK Devices 43 SECTION 4 MC Unit Internal Data Configuration and Setting 55 4 1 Data Co...

Page 31: ... 374 7 2 Operating Mode 382 7 3 Allocations for the CPU Unit 396 7 4 Interface Specifics 420 SECTION 8 Establishing the Origin 531 8 1 Overview 532 8 2 Input Signals Required for Origin search 534 8 3 Origin Search Methods and Parameters 534 8 4 Origin Search Operations 536 8 5 Absolute ABS Encoders 539 8 6 ABS Encoder Origin Setting 540 SECTION 9 Other Operations 545 9 1 Teaching 546 9 2 Debuggin...

Page 32: ...38 11 4 Unit related Alarm Codes 639 11 5 Motion Task related Alarm Codes 642 11 6 Axis related Alarm Codes 648 11 7 MLK Device Alarm Codes 653 11 8 Servo Driver Warnings 655 11 9 Error Log 656 SECTION 12 Maintenance and Inspection 659 12 1 Routine Inspection 660 Appendices A Performance 663 B Main Parameter Settings when Connecting W series Servo Driver with Built in MECHATROLINK II Communication...

Page 33: ...xxxiv ...

Page 34: ... related devices Section 5 describes how to transfer data between the CPU Unit and the CJ1W MCH71 and CS1W MCH71 Motion Control Units and how data is stored Section 6 describes how to program CJ1W MCH71 and CS1W MCH71 Motion Control Units opera tion including the program configuration and the specific commands used in programming Section 7 describes the interface area in the CPU Unit used to contr...

Page 35: ...xxxvi ...

Page 36: ... HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABIL...

Page 37: ...ly that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or governme...

Page 38: ... confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions ...

Page 39: ...xl ...

Page 40: ...ol Unit You must read this section and understand the information contained before attempting to set up or operate a CJ1W MCH71 or CS1W MCH71 Motion Control Unit 1 Intended Audience xlii 2 General Precautions xlii 3 Safety Precautions xliii 4 Application Precautions xliv 5 Operating Environment Precautions xlv 6 Conformance to EC Directives xlvi 6 1 Applicable Directives xlvi 6 2 Concepts xlvi 6 3...

Page 41: ...fety equipment and other systems machines and equip ment that may have a serious influence on lives and property if used improperly consult your OMRON representative Make sure that the ratings and performance characteristics of the product are sufficient for the systems machines and equipment and be sure to provide the systems machines and equipment with double safety mechanisms This manual provid...

Page 42: ...e provided to ensure safety in the system When the 24 VDC service power supply to the PLC is overloaded or short circuited the voltage may drop result in the outputs being turned OFF As a countermeasure for such problems external safety measures must be provided to ensure safety in the system Provide safety measures in external circuits to ensure safety in system if an abnormality occurs due to ma...

Page 43: ...ning torque may result in malfunction Perform wiring according to specified procedures Leave the label attached to the Unit when wiring Removing the label may result in malfunction if for eign matter enters the Unit Remove the label after the completion of wiring to ensure proper heat dissipation Leaving the label attached may result in malfunction Check the pin numbers before wiring the connector...

Page 44: ...he operations with multiple axes such as interpolation operation be sure to machine lock all of relative axes in order to prevent the interference with other axes or devices If axes are stopped during a synchronized operation however the synchronization of the master axis and slave axes positions will be cancelled For that reason be aware of the interference with other axes or devices when restart...

Page 45: ...ives To ensure that the machine or device in which an MC Unit is used complies with EC Directives the MC Unit must be installed as directed below 1 The MC Unit must be installed within a control panel Use a control panel like SA20 712 Nitto Electronics or similar to this 2 Reinforced insulation or double insulation must be used for the DC power supplies used for the communications and I O power su...

Page 46: ...tion Example 4 1 2 2 Peripheral Devices Models and Specifications 5 1 3 Basic Operations 6 1 3 1 Applicable Machines 6 1 3 2 Position Control 6 1 3 3 Speed Control 8 1 3 4 Torque Control 8 1 3 5 Synchronous Control 8 1 3 6 Other Functions 10 1 4 Control System Configuration and Principles 11 1 4 1 Control System Configuration 11 1 4 2 Control System Principles 12 1 4 3 Feedback Pulse 12 1 5 Perfor...

Page 47: ...ctronic Shaft Functions the same as for the rolls connected to the gearbox with a gearshift Electronic Cam Functions the same as for the Machine CAM The MC Unit has been developed for use in simple positioning applications using servomotors Applicable machines are as follows Conveyor Systems X Y tables palletizers depalletizers loaders unload ers etc Palletizers and depalletizers are devices used ...

Page 48: ...imum length of servo communication cycle is 1 ms It is possible to switch position speed and torque command during axis movement there are few restrictions The accurate controls of MC Unit and Servo driver or dispersion module are possible conducting a completely synchronized processing at fixed intervals Easy Debugging Up to 32 data items can be traced simultaneously to enable debugging operation...

Page 49: ...lowing version can be used The version name is identified on the nameplate of each product W series servo driver VER 39 or Later I F Unit VER 03 Later or Equal 4 When MECHATROLINK II devices are connected up to 16 nodes within 30 m or 15 nodes within 50 m a repeater unit is not required A repeat er unit is required to connect MECHATROLINK II devices more than the cases above 5 Always attach a Term...

Page 50: ...OMRON Model Specification Overview MECHATROLINK II Interface Unit JUSP NS115 FNY NS115 For W series Servo Driver DC24V I O Module JEPMC IO2310 FNY IO2310 Input 64 Output 64 Counter Module JEPMC PL2900 FNY PL2900 Reversing Counter 2CH Pulse Output module JEPMC PL2910 FNY PL2910 Pulse Positioning MECHATROLINK II Cables for W Series With USB connectors and Ring Core JEPMC W6003 A5 FNY W6003 A5 0 5 m ...

Page 51: ... interpola tion or helical circular interpolation with horizontal articulated robots or cylin drical robots because it does not support coordinate conversions The MC Unit can however perform PTP control with these robots 1 3 2 Position Control The MC Unit offers the following three types of motion control PTP Control CP Control linear interpolation and circular interpolation Interrupt Feeding Cont...

Page 52: ...nterpolation portion for multiple revolutions specifies the total travel distance Interrupt Feeding Interrupt feeding is used to perform position control for a fixed distance when the external signal is input Positioning with no interrupt signal is also possible J02 J01 Center Starting point Linear interpolation Radius Target point Circular interpolation Axis 3 Axis 2 Axis 1 Target point Linear in...

Page 53: ...c Shaft Electronic cam Linking motions Trailing synchronization Super position control Each of above controls is programmed by motion language Electronic Shaft This function can be used like rolls connected to gearbox with gearshift The slave axis synchronizes with the master axis at a specified ratio Electronic cam This function can be used like the cam mechanism of a machine The slave axis synch...

Page 54: ...r axis synchronous operation is initiated Speed Master axis Slave axis Speed Acceleration Constant speed Deceleration Distance when the master ax is is accel erated Distance when the master ax is is decel erated MOVELINK command Link operation starts Link operation ends Amount of travel distance the master axis makes Amount of travel distance the slave axis makes t t Speed Speed Master axis Slave ...

Page 55: ...ndition being met 1 3 6 Other Functions Origin Search Establishes the origin for a specified axis Jogging Starts and stops a specified axis at a specified speed Error Counter Reset Forcibly resets the error counter to zero and stops axis operation after com pleting a deceleration command Present Position Preset Changes the present position to specified position data Teaching Obtains the present po...

Page 56: ... later A zone bit turns ON when any variable including feedback present posi tion feedback speed etc is within the set range and OFF when outside of the set range A maximum of 32 zones can be set 1 4 Control System Configuration and Principles The servo system used by and the internal operations of the MC Unit are briefly described below 1 4 1 Control System Configuration Semi closed Loop System T...

Page 57: ...r supply Internal current consumption 5 VDC 0 6 A max 5 VDC 0 8 A max 24 VDC 0 3 A max Weight Connectors excluded 210 g max 300 g max Safety standards UL CSA C TICK and EC compliant Dimensions mm 90 H 79 8 W 65 D single 130 H 35 W 100 5 D single Altitude At 2 000 m elevation or lower MC Unit CJ1W MCH71 Command value Communi cation I F Command Status I F board Servo driver Communi cation I F Error ...

Page 58: ...MECHATROLINK II devices are connected up to 16 nodes within 30 m or 15 nodes within 50m a repeater unit is not required A repeater unit is required to connect MECHATROLINK II devices more than the cases described above Built in program language Dedicated motion control language Control Control method MECHATROLINK II Position commands Speed commands Torque commands Number of con trolled axes 32 axe...

Page 59: ...or counterclockwise circular interpolation for two axes at their specified interpolation speed Simultaneous specification 2 or 3 axes block Simultaneous execution 16 blocks max system Origin search Defines the machine origin according to the search method set in the system param eters An offset can be specified for the position after the origin search The absolute encoder can also execute origin s...

Page 60: ... in the servo driver In position This function is used whether a positioning is completed or not This function uses a parameter in the servo driver Position loop gain This is the position loop gain of the servo driver This function uses a parameter in the servo driver Feed forward gain The command values created in the MC Unit are multiplied by this feed forward gain This function uses a parameter...

Page 61: ...e limit values will be as shown in the following table corresponding to the position command decimal point posi tion Saving pro gram data MC Unit Flash memory backup Zones supported for unit version 3 0 and later The zone bit turns ON when any variable including feedback present position feed back speed etc is within the set range and OFF when outside of the set range A maximum of 32 zones can be ...

Page 62: ...e Support Tool are to be within the range described in the above table The basic concept for immediate value There are integer and decimal immediate values the applicable numeric value range for the MC Unit is shown below Integer Numeric value without decimal point Minimum value 2147483648 Maximum value 2147483647 Decimal Numeric value with decimal point Minimum value 2147483648 Maximum value 2147...

Page 63: ... Origin search and stop 472 STEP operation Feeds a specified axis for a specified distance 480 Manual origin search Searches for the machine origin Possible with either Incremental or Absolute encoder 484 Manual origin return Moves the axis to the origin in the reference coordinate system 489 Forced origin Forcibly sets the present position to 0 to establish it as the origin In the absolute encode...

Page 64: ... of the specified master axis and a specified gear ratio 329 Electronic cam Sin gle axis Executes cam operation in a specified time period using a specified cam table 313 Electronic cam Syn chronous Synchronizes the slave axis to the master axis using cam table 320 Link operation Synchronizes the slave axis to the master axis with specified accelera tion constant speed and deceleration areas 316 T...

Page 65: ...ed percentage to the speed specified in the system parameters or programs 462 503 Servo lock Establishes the position loop and turns ON the RUN command output to the servo driver 474 Servo unlock Releases the position loop and turns OFF the RUN command output to the servo driver 474 Machine lock Updates the position display without moving control axes This is used for debugging program 506 Common ...

Page 66: ... be used as general purpose I O Sum of inputs and outputs When P00004 bit 11 number of parallel branches is 1 Supported for unit Ver 3 0 and later Unit cycle µs 85 Number of axes 120 ΣNumber of parallel branches i 0 3 Number of general allocated words 200 1 ΣNumber of parallel branches i Sum of the parallel branches set for individual task P00M21 Example If two tasks are used and the task 1 P00M21...

Page 67: ...of retries specified in P00009 MECHATROLINK No of retrial nodes setting 0 7 If the Communications cycle was less than 1ms the formula 4 below is to be used Communications cycle µs 1000 4 Determining Communications Cycle The Communications Cycle can be determined by rounding up the Communi cations Cycle µs that was found by the formula 3 or 4 to 1 ms 2 ms 3 ms or 4 ms If the communications cycle ti...

Page 68: ...lculation Method for Unit Cycle is 4 ms 1 and the communications cycle time calculated under Calcu lation Method for Communications Cycle is 3 ms 2 the MC Unit processing time which combines the unit cycle time and communications cycle time would be 4 ms 4 ms 3 Communica tions cycle Unit cycle 1 ms 2 ms 3 ms 4 ms 1 6 ms 8 ms 1 ms 1 ms 1 ms 2 ms 1 ms 3 ms 3 ms 4 ms 2 ms 6 ms 3 ms 8 ms 4 ms 2 ms 2 m...

Page 69: ...24 Performance Section 1 7 ...

Page 70: ...verview of the basic procedures required to use the CJ1W MCH71 and CS1W MCH71 Motion Control Units 2 1 Basic Operation Flow 26 2 2 Overview of CX Motion MCH 28 2 2 1 Functions 28 2 2 2 Installing and Uninstalling the Software 29 2 2 3 Operation Procedure 30 ...

Page 71: ...Parameters 4 4 Position Data SECTION 6 Programming START Install MC Unit Set Unit No for MC Unit Connect Support Tool CX Programmer Connect MC Unit with External Input Devices Connect Servo Driver and Servomotor Connect Servo Driver and MC Unit A Turn ON the Power to the PLC Create the I O table of PLC Set MC Unit Allocation Area in PLC DM Area Power OFF and ON the PLC Use CX Motion MCH to set the...

Page 72: ...TION 12 Maintenance and Inspection OPR Operation Flow Reference A Use Manual Mode to execute Servo Lock Use Manual Mode to execute Jogging Use Manual Mode to execute Origin Search Switch to the Automatic Mode to start the motion program from PLC and operate the system YES Error Occurrence NO Check LED display on the MC Unit Read Alarm codes of MC Unit Eliminate the cause of error and clear it Run ...

Page 73: ...e programs in a project Add delete subpro gram Used to add or delete subprograms in a project Add delete CAM table Used to add or delete CAM tables in a project Editing data Edit system parame ters Used to edit system parameters unit settings tasks and settings Edit servo parame ters Used to edit servo parameters Edit motor parame ters Used to edit motor parameters Edit position data Used to edit ...

Page 74: ... monitor Used to display the error information program number in progress and axes present positions General monitor Used to display and change the MC Unit s variables such as the system variables global variables input vari ables output variables position data and task variables Test Run Used to execute the following opera tions Servo locks JOG operations STEP operations origin searches ori gin r...

Page 75: ...Setup Manual An overview of the CX One FA Integrated Tool Package and the CX One installation procedure Installing CX Motion MCH Installing CX Server Connecting to Built in RS 232C port on CPU Unit Starting CX Motion MCH Creating a New Project Adding MC Unit to Project Adding Tasks Axes Programs and CAM Data to MC Unit CX Motion MCH Basic Window Editing Transferring MC Unit s System Parameters Ser...

Page 76: ... 2 3 Unit Handling Precautions 36 3 2 4 Dimensions 37 3 3 External I O Circuitry 38 3 3 1 MECHATROLINK II Connector 38 3 3 2 I O Connectors 38 3 3 3 Wiring Connectors 39 3 3 4 I O Circuits CJ1W MCH71 and CS1W MCH71 Units Version 3 0 and Later 40 3 3 5 I O Circuits CS1W MCH71 Unit Version 2 0 and Earlier 41 3 4 Wiring 42 3 4 1 Wiring Precautions 42 3 5 Connecting MECHATROLINK Devices 43 3 5 1 Metho...

Page 77: ...PLC or MC Unit is broken ERC MC Unit Error Red Lit An error has occurred in the MC Unit Not lit MC Unit is operating normally ERH CPU Unit Error Red Lit An error has occurred in the CPU Unit Not lit CPU Unit is operating normally ER1 See note Internal error status Yellow Lit An internal error has occurred Not lit MC Unit is operating normally ER2 See note Internal error status Yellow Lit An intern...

Page 78: ... Note If the power is turned ON under this setting the MC Unit will be started after various user settings are set beck to their factory default values 3 1 2 Area Allocations Word Allocations Using Unit Numbers The bit and DM areas used by the MC Unit are allocated based on the unit number CPU Bus Unit Allocated Bit Area The bit area is allocated 25 words for each unit number starting from the wor...

Page 79: ...ices are connected up to 16 nodes within 30 m or 15 nodes within 50 m no repeater unit is required A repeater unit is required to connect MECHATROLINK II devices more than the cases above CS1W MCH71 When using the IOWR IORD instructions for the MC Unit be sure that the CS1 CPU H CPU Unit being used was manufactured on April 18 2003 Lot No 030418 or later The I O words allocated to a CPU Bus Unit a...

Page 80: ... the connectors fit exactly 2 The yellow sliders at the top and bottom of each Unit lock the Units togeth er Move the sliders toward the back of the Units as shown below until they click into place Note If the locking tabs are not secured properly the CJ series may not function properly Be sure to slide the locking tabs until they are se curely in place MC Unit Make sure to use a surge absorber fo...

Page 81: ...eave enough space for ventilation and accessibility between the Unit and the ducts for attachment and removal of the Unit as shown in the figure be low Note Tighten the bottom screw to a torque of 0 4 N m To remove the Unit loosen the screw on the bottom of the Unit with a Phillips driver and then lift the Unit from below 3 2 3 Unit Handling Precautions Always turn OFF the CPU Unit before mounting...

Page 82: ...has been completed This label prevents wire strands and other foreign matter from entering the Unit during wiring Remove the label after wiring has been completed to allow air circulation needed for cooling 3 2 4 Dimensions CJ1W MCH71 Remove label after wiring 90 mm 79 8 mm 65 mm omron omron Front Side ...

Page 83: ...tor Applicable connector USB connector DUSB ARA41 T11 DDK Mating connector USB connector DUSB APA41 B1 C50 DDK Including shell Pin arrangement No Signal I O Description 1 NC 2 SRD I O Send Receive Data 3 SRD I O Send Receive Data 4 SLD Shield Ground 130 35 100 5 104 Item Classification Component and Maker Connector name CN2 I O connector Applicable connec tor MDR connector 10214 52A2JL 3M Mating c...

Page 84: ...ent No Signal I O Description No Signal I O Description 1 DI_24V P DI common 8 DI_24V P DI common 2 DI_00 I DI input Decel eration stop 9 DI_01 I DI input Reserved 3 DI_02 I DI input 1 10 DI_03 I DI input 2 4 11 5 DO_24V P 12 DO_24V P 6 DO_COM P DO common 13 DO_COM P DO common 7 DO_00 O C DO00 output 14 DO_01 O C DO01 output P Power supply input I Input signal O C Open collector output Item Classi...

Page 85: ...Connector Interface Circuits 24VDC Digital Output 2 outputs Heat shrink tube Item Specifications Circuitry Max Output Cur rent 100 mA 24 VDC Leakage current 1 mA max Residual Voltage 1 5 V max External Supply Voltage 24 VDC 10 Number of Com mon 2 L V DO_00 33 kΩ L DO_COM 33 kΩ DO_01 24 VDC Internal circuits Fuse ...

Page 86: ...V min OFF Current 6 V max ON Response Time 1 ms max OFF Response Time 1 ms max Number of com mons 4 DI_24V 24 VDC DI_00 2 7 kΩ 2 7 kΩ 680 Ω 0 1 µF DI_01 2 7 kΩ 2 7 kΩ 680 Ω 0 1 µF DI_02 2 7 kΩ 2 7 kΩ 680 Ω 0 1 µF DI_03 2 7 kΩ 2 7 kΩ 680 Ω 0 1 µF Internal circuits Item Specifications Circuitry Max Output Cur rent 100 mA 24 VDC Leakage current 1 mA max Residual Voltage 1 5 V max External Supply Volt...

Page 87: ...les AC power supply lines and motor power supply lines from control cables pulse output lines and external input signal lines Do not group the two types of cable together or place them in the same conduit Using the laminated ceramic capacitor of 1 µF for the output of 24 VDC power supply will improve noise resistance Use shielded cables for control lines For inductive loads such as relays or solen...

Page 88: ...requency noise around If it occurs insert the noise filter at the input section of the power supply 3 Use the twisted pair cable for the power line 4 Provide grounding of 100 Ω or less and use the thickest possible wire greater than 1 25 square mm 3 5 Connecting MECHATROLINK Devices This section explains the method of connecting the MC Unit to devices with MECHATROLINK II As for the method of sett...

Page 89: ...he following products can be used The version name is indi cated on the nameplates of each product W series Servo Driver Ver 39 or later I F Unit VER 03 or later Note Using either a W series Servo Driver or an I F Unit of older versions can be the cause of abnormal operations Make sure to use the versions mentioned above Name Model OMRON Model YASKAWA Length MECHATROLINK IIcable For W series or SM...

Page 90: ... again OMRON R88D W 1 2 3 1 Remove the connector cover of the option connector CN10 on W series Servo Driver 2 Attach NS115 3 For grounding connect the ground wire of NS115 to the part indicated as G on the top surface of the W series Servo Driver SW2 Name Setting Content Default setting Bit 1 Baud rate OFF 4 Mbps ON Do not change ON 10 Mbps Bit 2 No of Transmitted bytes OFF 17 bytes ON Do not cha...

Page 91: ... 0 to F 16 to 30 10H to 1EH SW1 0 8 C 4 3 2 1 F E D 5 6 7 9 A B P BAT BAT 24VIN 24V DEC P OT N OT EXT1 EXT2 EXT3 21 22 47 40 41 42 43 44 46 45 ALO1 ALO2 ALO3 SG 37 38 39 1 FG 3 3 KΩ COIN COIN 25 26 BK BK 27 28 ALM ALM 31 32 S RDY S RDY 29 30 Backup battery See note 2 Origin return deceleration LS LS is valid when ON See note 3 Forward run prohibited Prohibited when OFF Reverse run prohibited Prohi...

Page 92: ... 12 37 ALO1 13 38 ALMO2 14 39 ALO3 15 40 16 41 DEC 17 42 P OT 18 43 N OT 19 44 EXT1 20 45 EXT2 21 BAT 46 EXT3 22 BAT 47 24VIN 23 48 24 49 25 COIN 50 Battery Battery GND GND SG GND GND Positioning completed output See note 3 See note 3 See note 3 CN1 terminal layout Brake interlock output Servo ready output Servo alarm output Alarm code output Open collector output Origin return deceleration LS inp...

Page 93: ...change the setting while the power is being supplied 64 point I O module IO2310 connector pin layout signal names and wiring example For details refer to YASKAWA ELECTRIC CORPORATION s Machine Con troller MP900 Series MECHATROLINK System USER S MANUAL MANUAL NO SIEZ C887 5 1 SW1 Name Setting Content Default setting 1 Baud rate OFF 4 Mbps ON Do not set to OFF ON 10 Mbps 2 No of Transmitted bytes OF...

Page 94: ...nput 27 Input 25 Input 23 Input 21 Input 19 Input 17 Input 15 Input 13 Input 11 Input 9 Input 7 Input 5 Input 3 Input 1 IN2 connector Input 64 24 VDC A B 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 24 VDC Reserved Reserved Reserved DCPWR DCPWR DCPWR DCPWR Input 62 Input 60 Input 58 Input 56 Input 54 Input 52 Input 50 Input 48 Input 46 Input 44 Input 42 Input 40 Input 38 Input 36 Input 34 1 ...

Page 95: ...25 Output 23 Output 21 Output 19 Output 17 Output 15 Output 13 Output 11 Output 9 Output 7 Output 5 Output 3 Output 1 OUT2 connector 24 VDC A B 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 24 VDC Reserved Reserved Reserved DCPWR DCPWR DCPWR DCPWR 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Reserved Load Fuse L L L L L L L L L L L L L L L L Fuse Load L L L L L L L L L L L L L L L L Out...

Page 96: ... to 5 SW The bit 5 of SW specifies the number of 10s while the bit 1 to 4 of SW speci fies the number of units Do not change the setting while the power is being supplied Pin Name Setting Content Default setting 6 Baud rate OFF 4 Mbps OFF ON 10 Mbps 7 Transmission bytes OFF 17 byte OFF ON 30 byte 8 Station address OFF Refer to Station address setting ON Do not set to OFF ON SW Station address 5 4 ...

Page 97: ...1 PHB1 6PHB1 PHA2 PHA2 PHA2 PHB2 PHB2 PHB2 2 16 4 3 5 7 6 18 17 19 21 20 24 VDC 24 VDC 4 7 kΩ 620 Ω 8 L1 4 7 kΩ 620 Ω 10 RST1 4 7 kΩ 620 Ω 14 L2 4 7 kΩ 620 Ω 15 RST2 24 VDC 12 IN Counter module Counter 1 phase A pulse Counter 1 phase B pulse Counter 2phase A pulse Counter 2 phase B pulse Counter 1 External latch Counter 1 external current value reset Counter 2 External latch Counter 2 external cur...

Page 98: ...V 14 5 VDC ZERO IN 19 21 24V 23 0V 24V 22 5 VDC Pulse output module Overheat input status Excitation timing input status External power supply 5 VDC External power supply 0VDC 5VDC Home position signal input status General purpose input status External power supply 24 VDC External power supply 0 VDC 24 VDC Output current OFF output Electromagnetic brake release output General purpose output Extern...

Page 99: ...54 Connecting MECHATROLINK Devices Section 3 5 ...

Page 100: ...rred System Parameters 105 4 3 Variables 105 4 3 1 Overview of Variables 105 4 4 Position Data 107 4 4 1 Position Data Address 108 4 4 2 Position Data Configuration 108 4 4 3 Indirect Specification 108 4 4 4 Methods Used to Read Write and Transfer Position Data 110 4 5 System Variables 111 4 5 1 System Variables 111 4 6 I O Variables 160 4 6 1 I O Variables Overview 160 4 6 2 List of Input Variabl...

Page 101: ...n IORD IOWR Control Address Variables WORD Contents Variables Position data 0000h 27FFh PLhhhh 10240 Data indicating positions Total number is 10240 System variables 3000h 33FFh S hhhh 1024 Statuses such as the operating mode error log etc of MC Unit Global general Vari ables Nil M hhhh 8192 Variables that can be accessed from all tasks Use for data commu nications between tasks and opera tions In...

Page 102: ...he position data also by using MC Unit s program System variables Read with the IORD instruction from the ladder program while the CPU Unit is running It is also possible to read it from MC Unit s programs Servo parameters Created with the Support Tool CX Motion MCH and transferred to the MC Unit Using the IOWR instruction during the CPU Unit s operation can change the system parameters as needed ...

Page 103: ...cuted When END refresh At unit Scanning Position data MC Unit System parameter Servo parameter System variable Input variable Output variable Global gen eral variable Task variable Cam data At unit scanning MECHATROLINK II devices Trace data Parameters Number IORD IOWR Addresses See note 3 Functions Unit P00001 P00010 5000h 5009h Used to specify information inherent to the Unit such as the number ...

Page 104: ...ch axis Machine P5AA01 P1AA09 See note 2 5D40h 5FB4h Specifies the machine information such as unit sys tems gear ratio etc to be used for each axis Zones P6ZZ01 P6ZZ02 See note 5 5FC0h 5FFFh Sets the variables to be monitored using the zone func tion and sets the bits for outputting the monitoring results Parameters Number IORD IOWR Addresses See note 3 Functions P Group number Detail number For ...

Page 105: ...whether input signals from CPU to axes are enabled or disabled 72 P00009 5008h Setting for the No of MECHATROLINK II Retrial Nodes With without C2 master No of retrial nodes Specifies the number of nodes to be retried within MECHATROLINK II communication cycle With without C2 master Set this parameter when there is a master unit other than MC unit reserved 74 P00010 5009h MECHATROLINK II Delay in ...

Page 106: ...n program 79 P00M10 5029h M 20h Interpolation feed decimal point posi tion Sets the method of interpreting the speed command value specified by an immediate value with a decimal point 80 P00M11 P00M20 502Ah M 20h 5033h M 20h Interpolation feed acceleration deceler ation bank 1 Interpolation feed acceleration deceler ation bank 10 Specifies the acceleration deceleration times to use dur ing interpo...

Page 107: ...elay P05T04 Trace start trigger 1 Left side variable type form P05T05 Trace start trigger 1 Left side address P05T06 Trace start trigger 1 Criteria P05T07 Trace start trigger 1 Right side vari able type P05T08 Trace start trigger 1 Right side address or immediate value P05T09 Trace start trigger 2 Left side variable type form P05T10 Trace start trigger 2 Left side address P05T11 Trace start trigge...

Page 108: ...ication of devices connected as MECHA TROLINK II slave nodes 83 P1AA03 5342h AA 14h Input allocation points Specifies the No of points for input signals of MECHA TROLINK II slave nodes allocated to input variables of MC Unit 83 P1AA04 5343h AA 14h Output allocation points Specifies the No of points for output signals of MECHA TROLINK II slave nodes allocated to output variables of MC Unit 84 P1AA0...

Page 109: ...ired to decelerate from max manual feed rate to zero 87 P2AA09 55C8h AA 14h Rapid feed S curve filter enabled Select the S curve filter enable disable at rapid feed rate 88 P2AA10 55C9h AA 14h Manual feed S curve filter enabled Select the S curve filter enable disable at manual feed rate 88 P2AA11 55CAh AA 14h Rapid feed S curve time constant Sets the S curve filter time constant at raid feed rate...

Page 110: ...use origin proximity or limit input signal as origin deceleration input signal for origin search method 1 and 3 94 P4AA05 5AC4h AA 14h Reserved P4AA06 5AC5h AA 14h Origin determine sig nal Specifies signal to determine latch an origin 94 P4AA07 5AC6h AA 14h Origin search feed rate Sets the speed of the 1st level for 3 level speed origin search 94 P4AA08 5AC7h AA 14h Origin search approach speed Se...

Page 111: ...h Gear ratio 1 Motor rotation speed Sets the No of motor rotations related to the gear ratio between motor and machine 98 P5AA06 5D45h AA 14h Gear ratio 2 Machine rotation speed Sets the No of machine rotations related to the gear ratio between motor and machine 99 P5AA07 5D46h AA 14h Axis feed mode Sets whether a concerned axis is operated as limited length or unlimited length 99 P5AA08 5D47h AA ...

Page 112: ...alue in the parameter by the actual number of branches becomes the number of commands that can be executed simultaneously for each row of each branched program The number of multiple execution commands in each unit cycle is applied to the simultaneous execution Example The program execution time is calculated as follows when the unit cycle time is 2 ms the number of parallel branches is 4 and 100 ...

Page 113: ... 00 Unit cycle time No Address in MC Unit Name Type Unit Immediate updating P00004 5003h Unit function select Bit No Data configuration Initial value 00000000 0 31 28 24 20 16 12 08 04 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bit Function and explanation 00 Helical circular interpolation speed Sets the method for specifying the speed in helical circular interpolation executed with MOVEC ...

Page 114: ... the customer I O area Refer to 7 1 Overview for details 0 IW0B00 to IW0FFF or OW0B00 to OW0FFF Fixed specification for unit version 2 0 1 Specified in DM Area words m 74 to m 89 allocated to the MC Unit as a CPU Bus Unit Spec ification added for unit version 2 1 and later 09 CS1W MCH71 Selects the performance for the unit cycle time and communications cycle time Sup ported for unit version 3 0 an...

Page 115: ...ately Enabled for both pass mode and stop mode 14 to 31 Reserved Bit Function and explanation No Address in MC Unit Name Type Unit Immediate updating P00006 5005h General I O disabled enabled Bit No Data configuration Initial value 00000000 0 31 28 24 20 16 12 08 04 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Bit Function and explanation 00 Deceleration stop input Sets whether the decel...

Page 116: ...al 1 Ignored 17 Motion task 2 Sets whether the input to the Motion task 2 control area n 5 and the Motion task 2 control data area m 24 to 25 are enabled or disabled 0 Normal 1 Ignored 18 Motion task 3 Sets whether the input to the Motion task 3 control area n 6 and the Motion task 3 control data area m 26 to 27 are enabled or disabled 0 Normal 1 Ignored 19 Motion task 4 Sets whether the input to ...

Page 117: ...Normal 1 Ignored 17 Axis 18 Sets whether input to Axis 18 control bit area x 17 and Axis 18 control data area d 17 are enabled or disabled 0 Normal 1 Ignored 02 Axis 3 Sets whether input to Axis 3 control bit area x 2 and Axis 3 control data area d 2 are enabled or disabled 0 Normal 1 Ignored 18 Axis 19 Sets whether input to Axis 19 control bit area x 18 and Axis 19 control data area d 18 are enab...

Page 118: ...6 and Axis 27 control data area d 26 are enabled or disabled 0 Normal 1 Ignored 11 Axis 12 Sets whether input to Axis 12 control bit area x 11 and Axis 12 control data area d 11 are enabled or disabled 0 Normal 1 Ignored 27 Axis 28 Sets whether input to Axis 28 control bit area x 27 and Axis 28 control data area d 27 are enabled or disabled 0 Normal 1 Ignored 12 Axis 13 Sets whether input to Axis ...

Page 119: ...es Data No Data configuration Initial value 00000000 0 31 16 00 0 0 0 0 0 0 Bit Function and explanation 00 to 15 Not used 16 to 19 No of retrying nodes This setting decides how many retries are performed within a communication cycle in the case of a MECHATROLINK II communications error Not for each and every node but for a maximum of 7 nodes in a system 0 to 7 Hex 0 to 7 20 to 31 Not used Com man...

Page 120: ...s in MC Unit Name Type Unit Immediate updating P00012 500Bh Zone data leading address Data No Data configuration Initial value 00000000 0 31 00 Variable type 16 15 Address Bits Function and explanation 00 to 15 Address Sets the leading address for the specified variable Refer to the variable type for the address range 0000 to 0FFF 0 to 4 095 16 to 31 Variable type Sets the variable area for settin...

Page 121: ... of speed resolution is 32767 command unit unit scan The value 1966020000 is obtained by converting 32767 command unit unit scan to the unit of minutes 32767 60 1000 Note The setting of this parameter limits the speed changed with override and the speed specified with Operand F Zone 1 lower limit Position data PL0000 PL0001 PL0002 PL0003 PL0004 Position data used by program Name and description P0...

Page 122: ...o decelerate from the maximum interpolation feed rate P00M06 to zero Note 1 Enabling S curve filter causes the delay for the S curve time constant 2 This parameter cannot be changed during operation 3 For details of Accel decel patterns see 6 1 5 Axis Movement Operation Page 248 Explanation Select enabled disabled of S curve filter at the interpolation feed rate 0 Disabled Symmetrical 1 Enabled S ...

Page 123: ...e next op eration is executed Distance required for deceleration stop from current speed Travel dis tance of the next block 4 The bank switching method for acceleration and deceleration times can be selected for unit version 3 1 and later by switching P0004 unit function selection bit 13 interpolation acceleration deceleration bank switching option 0 Selects the same banks for acceleration and dec...

Page 124: ... parallel branches and refreshed words 1966020000 The upper limit of speed resolution is 32767 command unit unit scan The value 1966020000 is obtained by converting 32767 command unit unit scan to the unit of minutes 32767 60 1000 No Address in MC Unit Name Type Unit Immediate updating P00M07 5026h M 20h Initial modal data 1 MOVE com mand value select Data No Data configuration Setting range 00000...

Page 125: ...position Data No Data configuration Setting range 00000000 to 00000004 Hex 0 to 4 Initial value 00000000 0 31 00 Interpolation feed decimal point position No Address in MC Unit Name Type Unit Immediate updating P00M11 to P00M20 502Ah M 20h to 5033h M 20h P00004 bit 13 0 Interpolation feed acceleration deceleration times banks 1 to 10 Data ms Yes P00004 bit 13 1 Interpolation feed acceleration time...

Page 126: ... 15 Acceleration deceleration bank selection for motion task 5 initial value 0 IW0A05 00 to 15 Acceleration deceleration bank selection for motion task 6 initial value 0 IW0A06 00 to 15 Acceleration deceleration bank selection for motion task 7 initial value 0 IW0A07 00 to 15 Acceleration deceleration bank selection for motion task 8 initial value 0 2 P00004 bit 13 1 Supports unit version 3 1 and ...

Page 127: ...the No column AA 1 to 32 axis number Abbreviation in the address column AA 0 to 31 axis number 1 IW0A0E 16 to 31 Deceleration bank selection for motion task 7 initial value 100 IW0A0F 16 to 31 Deceleration bank selection for motion task 8 initial value 100 Setting range for interpolation feed acceleration time 1 to 5 P00M11 to P00M15 are used for the inter polation feed acceleration time Other P00...

Page 128: ...lave nodes Setting Description 00000000 Hex 0 Not used as physical axes 00000001 to0000001E Hex 1 to 30 These axes are used as real axes MECHATROLINK II devices are used for real axes Sets the node addresses of MECHATROLINK II devices Node addresses of MECHATROLINK II devices 1 to 30 corre spond to the setting values 1 to 30 00000020 Hex 32 This axis is used as a virtual axis Other than the above ...

Page 129: ...ame Type Unit Immediate updating P1AA04 5343h AA 14h Output allocation points No of words Data 16 points word No Data configuration Setting range 00000000 to 0000000F Hex 0 to 15 Initial value 00000000 0 31 00 Output allocation points No Address in MC Unit Name Type Unit Immediate updating P1AA05 5344h AA 14h Axis allocation first address Data No Data configuration Initial value 00000000 0 31 16 1...

Page 130: ...eed P5AA05 motor rotation speed The maximum speed is limited by 32767 command unit unit scan P2AA01 command unit min 1966020000 Ts ms Ts s Unit scan time This indicates the unit cycle time of MC Unit determined by the numbers of tasks axes parallel branches and refreshed words 1966020000 The upper limit of speed resolution is 32767 command unit unit scan The value 1966020000 is obtained by convert...

Page 131: ... max rapid feed rate No Address in MC Unit Name Type Unit Immediate updating P2AA02 55C1h AA 14h Max manual feed rate Data Command unit min Yes Data configuration Setting range 00000001 to 7FFFFFFF Hex 1 to 2147483647 Initial value 00002710 10000 31 00 Max manual feed rate No Address in MC Unit Name Type Unit Immediate updating P2AA03 55C2h AA 14h Rapid feed rate Data Command unit min Yes Data con...

Page 132: ...d rate to zero Note 1 Enabling S curve filter causes the delay for the S curve time constant 2 This parameter cannot be changed during operation 3 For details of Accel decel patterns see 6 1 5 Axis Movement Operation Page 248 No Address in MC Unit Name Type Unit Immediate updating P2AA06 55C5h AA 14h Rapid feed deceleration time Data ms Yes Data configuration Setting range 00000000 to 0000EA60 Hex...

Page 133: ...ata No Data configuration Setting range 00000000 to 00000001 Hex 0 to 1 Initial value 00000000 0 31 00 S curve filter enabled No Address in MC Unit Name Type Unit Immediate updating P2AA10 55C9h AA 14h Manual feed S curve filter enabled Data Yes Data configuration Setting range 00000000 to 00000001 Hex 0 to 1 Initial value 00000000 0 31 00 S curve filter enabled No Address in MC Unit Name Type Uni...

Page 134: ...ommand unit P3AA03 100mm 0 01 mm 10000 command unit Note The setting of this parameter is ignored in the following cases When Software limit enabled disabled P3AA04 is set to either 0 or 2 When an origin has not been defined When Axis feed mode P5AA07 is set to 0010h unlimited length No Address in MC Unit Name Type Unit Immediate updating P3AA01 5840h AA 14h STEP operation travel distance Data Com...

Page 135: ...The error counter warning bit will turn ON if the position error exceeds the value set in this parameter Note Setting this parameter to 0 disables warning detection Explanation Sets the No of error pulses that causes alarm Note Setting this parameter to 0 disables alarm detection No Address in MC Unit Name Type Unit Immediate updating P3AA04 5843h AA 14h Software limit enabled disabled Data No Dat...

Page 136: ...rcent age of the motor s rated speed If 0 is set position control will be returned to at a feedback speed of 0 No Address in MC Unit Name Type Unit Immediate updating P3AA07 5846h AA 14h No 2 in position range Data Pulse Yes Data configuration Setting range 00000000 to 0000FFFF Hex 0 to 65535 Initial value 0000FFFF 65535 31 00 No 2 in position range No Address in MC Unit Name Type Unit Immediate u...

Page 137: ...t Name Type Unit Immediate updating P4AA01 5AC0h AA 14h Origin search method Data No Data configuration Setting range 00000000 to 00000003 Hex 0 to 3 Initial value 00000001 1 31 00 Origin search method Setting Explanation 0 Origin at power ON The motor position at powering ON is automatically defined as the origin If an origin search is performed in this mode the starting position of the origin se...

Page 138: ...fore inputting the origin determine input signal activates the alarm 3 3 level speed in 1 direction Origin search is executed only in 1 direction After starting an origin search in the phase Z detection direction at the origin search feed rate the speed is changed to the origin search approach speed at the rise of the origin proximity input signal Normally Open contact At the rise of the origin de...

Page 139: ... of the 1st level for 3 level speed origin search The maximum speed is limited by 32767 command unit unit scan No Address in MC Unit Name Type Unit Immediate updating P4AA04 5AC3h AA 14h Origin deceleration method Data No Data configuration Setting range 00000000 to 00000001 Hex 0 to 1 Initial value 00000000 0 31 00 Origin deceleration method No Address in MC Unit Name Type Unit Immediate updating...

Page 140: ...specified in P4AA03 Phase Z Phase C detection direction for the distance specified in this parameter Note This is the travel distance after the rise of the origin determine signal There fore make sure that the final travel distance does not exceed the positions of limit input signals Otherwise the alarm 3010h Over travel reverse alarm will occur No Address in MC Unit Name Type Unit Immediate updat...

Page 141: ...unit Explanation Sets the method of interpreting the position command specified by an imme diate value with a decimal point 0 1 1 0 1 2 0 01 3 0 001 4 0 0001 Note When pulse is selected for the unit this parameter is treated as 0 No Address in MC Unit Name Type Unit Immediate updating P4AA12 5ACBh AA 14h ABS origin offset Data Command unit Yes Data configuration Setting range 80000000 to 7FFFFFFF ...

Page 142: ...e decimal point position of the position command value for X axis is 0 01 MF1000 123 4567 MOVE J01 MF1000 is processed as MOVE J01 12345 Explanation Sets the method of interpreting the speed command specified by an immedi ate value with a decimal point 0 1 1 10 2 100 3 1000 4 10000 Ex When controlling X axis with task 1 and the speed command decimal point position P5AA03 for task 1 is 10 MOVEI J01...

Page 143: ...ccur 1 2147483647 P5AA04 P5AA06 value in the parameter 9001h P5AA05 2147483647 Explanation Sets the No of motor rotations related to the gear ratio between motor and machine Note 1 When pulse is selected for the unit the setting of this parameter is ig nored 2 When the following formula is not satisfied the alarm 3040h Gear ratio range error will occur 1 2147483647 P5AA04 P5AA06 value in the param...

Page 144: ... 5D45h AA 14h Gear ratio 2 Machine rotation speed Data Rotation No Data configuration Setting range 00000001 to 00989680 Hex 1 to 10000000 Initial value 00000001 1 31 00 Gear ratio 2 No Address in MC Unit Name Type Unit Immediate updating P5AA07 5D46h AA 14h Axis feed mode Data No Data configuration Initial value 00000000 0 31 07 04 00 0 0 0 0 0 0 0 Bit Function and explanation 00 to 03 Reserved 0...

Page 145: ... the latch request signal 02 Hex 2 External input signal 2 is used as the latch request signal 03 Hex 3 External input signal 3 is used as the latch request signal Note To set this parameter the input terminal has to be enabled in the servo parameter Pn511 It is allocated according to the initial setting however it will require special attention when the user has customized the setting of the para...

Page 146: ...ress for the specified variable Refer to the variable type for the address range 0000 to 0FFF 0 to 4 095 16 to 31 Variable type Set the variable area to be referenced by the zone bit 0001 System variable address range 0000 to 07FE Hex 0002 Global general purpose variable address range 0000 to 1FFE Hex 0003 Input variable address range 0000 to 0FFE Hex 0004 Output variable address range 0000 to 0FF...

Page 147: ...the range of the word 16 bits data To set bit 10 of output variable 0W0010 as a zone bit set P6ZZ02 to 0010000A Hex Bit Function and explanation 00 to 15 Address Set the bit to be turned ON and OFF 0000 to 000F Hex 0000 corresponds to bit 0 and 000F corre sponds to bit 15 16 to 31 Address Set the output variable address 0B00 to 0FFF Hex ...

Page 148: ...ng formulas If the following formula cannot be satisfied the alarm 3040h Gear ratio range error will occur 1 2147483647 P5AA04 P5AA06 9001h P5AA05 fraction to be reduced 2147483647 Command unit limit The maximum value of the command unit system has to satisfy the following formula because pulse command system is described with the range in 32 bit Command unit limit Command unit position Command un...

Page 149: ...000 60 9001h No of encoder pulses motor rotation unit cycle ms Ex When encoder resolution is 16 bits 10000h pulses r and unit cycle is 4 ms Precision of feedback speed r min 1 1000 60 65536 4 0 228 r min 0 22 r min From the above the feedback speed 2 will change in the unit of 0 22 r min Setting rated 1000 r min when the unit is it will be in the unit of 0 22 1000 0 02 Speed indication for not cau...

Page 150: ... marked Yes on the immediate updating columns can be changed without the power OFF ON A part of motion task parameters Axis speed parameters A part of Axis position parameters A part of Axis machine parameters 4 3 Variables There are six types of MC Unit variables as shown below Position data System variables Global general variables Input variables Output variables Task variables 4 3 1 Overview o...

Page 151: ...se 128 words in each task Data Access Type There are four data access types as shown in the following table Variables exclusively for tasks Task variables Can be used only in each task and are used as workspace etc during operations 128 words 8 tasks 2048 byte NO R W Name Purpose Size Backup to FLASH ROM R W V T hhhh b Type Notation Address range Position Data PLhhhh PL0000 PL27FF System variables...

Page 152: ...cification If the bit type is selected for data access the bit position in 16 bit word data needs to be specified with Bit No Example MB10002 indicates the second bit of MW1000 4 4 Position Data There are 10240 of position data that can be used In a motion program posi tioning is executed by specifying a position directly or by specifying a position in the position data indirect specification Posi...

Page 153: ...xis machine parameters is 0 mm and Position command decimal point position P5AA02 is 3 0 001 the position data 12345 is handled as 12 345 mm Example 2 Position data 12345 FFFFCFC7 Hex When Units P5AA01 of Axis machine parameters is 1 inch and Position command decimal point position P5AA02 is 2 0 01 the position data 12345 is handled as 123 45 inch 4 4 3 Indirect Specification Indirect specificatio...

Page 154: ...e PL0001 1000 30 PL0002 PL0002 10 Example of incorrect usage PL0001 SIN MF0010 Functions can not be used 4 The address range check is performed when executing the command If the specified address is outside of the range the alarm 2003h Variable address error will occur and the program will be stopped Classification Function Command Simple Arithmetic Assign Simple Arithmetic Add Simple Arithmetic S...

Page 155: ...en using the IORD or IOWR instruction Individual 2 Data can be loaded and saved using the Support Tool All or individual DM EM 0000 0001 10240 IOWR IORD C S W W D Support Tool Creation 2 Position data file CPU Unit Ladder program All or individual 2 Individual 1 MC Unit Address Position data Variables PL0000 data PL0001 data Input Output General PL27FF data Program Power ON or restart Store Flash ...

Page 156: ...task 1 8With without forced stop request Bit08 0 1 Reserved Nil FINS Task Con trol Setting SW0006 3003 Forced Stop Request from the Tool Object 2 Indicates forced stop request from the tool Bit00 31 0 1 Axis 1 32With without forced stop request Nil FINS Task Con trol Setting SW0007 SW0008 3004 Reserved Reserved Reserved Reserved SW0009 Status of Forced Stop from the Tool Object 1 Indicates status ...

Page 157: ... for Error log 1 Same as for Error log 1 SW001F SW0020 3010 SW0021 SW0022 3011 SW0023 Reserved Reserved Reserved Reserved SW0024 3012 Unit Error log 4 Same as for Error log 1 Same as for Error log 1 Same as for Error log 1 SW0025 SW0026 3013 SW0027 SW0028 3014 SW0029 Reserved Reserved Reserved Reserved SW002A 3015 Unit Error log 5 Same as for Error log 1 Same as for Error log 1 Same as for Error l...

Page 158: ...55 SW0056 302B SW0057 SW0058 302C SW0059 Reserved Reserved Reserved Reserved SW005A 302D Unit Error log 13 Same as for Error log 1 Same as for Error log 1 Same as for Error log 1 SW005B SW005C 302E SW005D SW005E 302F SW005F Reserved Reserved Reserved Reserved SW0060 3030 Unit Error log 14 Same as for Error log 1 Same as for Error log 1 Same as for Error log 1 SW0061 SW0062 3031 SW0063 SW0064 3032 ...

Page 159: ...one settings reference value and output address are correct Nil When power is turned ON SW008B Zone setting status bits No 17 to No 32 Outputs whether the zone bit settings reference value and output address are correct No 17 corresponds to bit 0 and No 32 corresponds to bit 15 0 The zone settings reference value and output address are incorrect 1 The zone settings reference value and output addre...

Page 160: ...remaining No of programs that can be saved 0 256 Program Always SW00A4 3052 Total memory capacity of the program area Outputs total memory capacity of the program area 2 097 152 2MB Byte Always SW00A5 SW00A6 3053 Remaining memory capacity of the program area Outputs remaining memory capacity of the program area 0 2 097 152 2MB Byte Always SW00A7 SW00A8 3054 Total quantities of Cam Data Outputs the...

Page 161: ...No 4 Outputs the block No of multiple execu tion command in each parallel branch 0 Not executing 1 800 Block When multiple execution com mand is stepping SW00BA 305D Task status 1 Single execution command block No 5 Outputs the block No of single execu tion command in each parallel branch 0 Not executing 1 800 Block When single exe cution command is stepping SW00BB Task status 1 Multiple execution...

Page 162: ...ame as for Task status 1 Same as for Task status 1 SW00D1 SW00D2 3069 SW00D3 SW00D4 306A SW00D5 SW00D6 306B SW00D7 SW00D8 306C SW00D9 SW00DA 306D SW00DB SW00DC 306E SW00DD SW00DE 306F SW00DF SW00E0 3070 SW00E1 SW00E2 3071 SW00E3 SW00E4 3072 Reserved Reserved Reserved Reserved SW00E5 SW00E6 3073 SW00E7 SW00E8 3074 SW00E9 SW00EA 3075 SW00EB SW00EC 3076 SW00ED SW00EE 3077 SW00EF Variable Address IORD...

Page 163: ...SW0103 SW0104 3082 Reserved Reserved Reserved Reserved SW0105 SW0106 3083 SW0107 SW0108 3084 SW0109 SW010A 3085 SW010B SW010C 3086 SW010D SW010E 3087 SW010F SW0110 3088 Motion task Task status 4 Same as for Task status 1 Same as for Task status 1 Same as for Task status 1 SW0111 SW0112 3089 SW0113 SW0114 308A SW0115 SW0116 308B SW0117 SW0118 308C SW0119 SW011A 308D SW011B SW011C 308E SW011D SW011E...

Page 164: ...ame as for Task status 1 Same as for Task status 1 SW0131 SW0132 3099 SW0133 SW0134 309A SW0135 SW0136 309B SW0137 SW0138 309C SW0139 SW013A 309D SW013B SW013C 309E SW013D SW013E 309F SW013F SW0140 30A0 SW0141 SW0142 30A1 SW0143 SW0144 30A2 Reserved Reserved Reserved Reserved SW0145 SW0146 30A3 SW0147 SW0148 30A4 SW0149 SW014A 30A5 SW014B SW014C 30A6 SW014D SW014E 30A7 SW014F Variable Address IORD...

Page 165: ...SW0163 SW0164 30B2 Reserved Reserved Reserved Reserved SW0165 SW0166 30B3 SW0167 SW0168 30B4 SW0169 SW016A 30B5 SW016B SW016C 30B6 SW016D SW016E 30B7 SW016F SW0170 30B8 Motion task Task status 7 Same as for Task status 1 Same as for Task status 1 Same as for Task status 1 SW0171 SW0172 30B9 SW0173 SW0174 30BA SW0175 SW0176 30BB SW0177 SW0178 30BC SW0179 SW017A 30BD SW017B SW017C 30BE SW017D SW017E...

Page 166: ...ame as for Task status 1 Same as for Task status 1 SW0191 SW0192 30C9 SW0193 SW0194 30CA SW0195 SW0196 30CB SW0197 SW0198 30CC SW0199 SW019A 30CD SW019B SW019C 30CE SW019D SW019E 30CF SW019F SW01A0 30D0 SW01A1 SW01A2 30D1 SW01A3 SW01A4 30D2 Reserved Reserved Reserved Reserved SW01A5 SW01A6 30D3 SW01A7 SW01A8 30D4 SW01A9 SW01AA 30D5 SW01AB SW01AC 30D6 SW01AD SW01AE 30D7 SW01AF Variable Address IORD...

Page 167: ...unter Outputs the number of times data has been sampled after tracing starts Delay time is not included Times Unit scan during trace execution SW01B6 30DB Trace status 2 Number of trace points Same as for trace status 1 Same as for trace status 1 Same as for trace status 1 SW01B7 Trace status 2 Execu tion status Same as for trace status 1 Same as for trace status 1 Same as for trace status 1 SW01B...

Page 168: ...01DD SW01DE 30EF SW01DF SW01E0 30F0 SW01E1 SW01E2 30F1 SW01E3 SW01E4 30F2 SW01E5 SW01E6 30F3 SW01E7 SW01E8 30F4 SW01E9 SW01EA 30F5 SW01EB SW01EC 30F6 Reserved Reserved Reserved Reserved SW01ED SW01EE 30F7 SW01EF SW01F0 30F8 SW01F1 SW01F2 30F9 SW01F3 SW01F4 30FA SW01F5 SW01F6 30FB SW01F7 SW01F8 30FC SW01F9 SW01FA 30FD SW01FB SW01FC 30FE SW01FD SW01FE 30FF SW01FF Variable Address IORD Address Group ...

Page 169: ...ition on current coordinate system when executing the SPEED or TORQUE commands Command unit Unit scan SW0205 SW0206 3103 Axis 1 status Machine Coordinate System Command position Outputs the command position on machine coordinate system 2147483648 to 2147483647 Same value as FB position on machine coordinate system when executing the SPEED or TORQUE commands Command unit Unit scan SW0207 SW0208 310...

Page 170: ...al phase Z or origin LS If deceleration LS is not used outputs 0 2147483648 2147483647 Command unit When origin search is com pleted SW0219 SW021A 310D Axis 1 status Number of multi turns Outputs the number of times upper and lower limits on the machine coordinate system are exceeded ABS encoder Cleared to 0 at origin set ting completion If Movement exceeding the multi turns limit is executed it i...

Page 171: ...uested 3 Latch completed next request dis abled 4 Latch completed next request enabled This status has the following influence on OW0440 bit10 0 SW022A 0 1 2 1 SW022A 3 4 Nil Unit scan SW022B Axis 1 status Executing cam table number Supported in Unit Ver 3 0 or later Outputs the number of the cam table currently executing The number is out put during execution of CAM and CAM BOX commands 0 Cam tab...

Page 172: ...21 SW0243 SW0244 3122 SW0245 SW0246 3123 SW0247 SW0248 3124 SW0249 SW024A 3125 SW024B SW024C 3126 SW024D SW024E 3127 SW024F SW0250 3128 Reserved Reserved Reserved Reserved SW0251 SW0252 3129 SW0253 SW0254 312A SW0255 SW0256 312B SW0257 SW0258 312C Axis 2 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0259 SW025A 312D SW025B Reserved Reserved Reserved Reserve...

Page 173: ...39 SW0273 SW0274 313A SW0275 SW0276 313B SW0277 SW0278 313C SW0279 SW027A 313D SW027B SW027C 313E SW027D SW027E 313F SW027F SW0280 3140 Reserved Reserved Reserved Reserved SW0281 SW0282 3141 SW0283 SW0284 3142 SW0285 SW0286 3143 SW0287 SW0288 3144 Axis 3 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0289 SW028A 3145 SW028B Reserved Reserved Reserved Reserve...

Page 174: ...51 SW02A3 SW02A4 3152 SW02A5 SW02A6 3153 SW02A7 SW02A8 3154 SW02A9 SW02AA 3155 SW02AB SW02AC 3156 SW02AD SW02AE 3157 SW02AF SW02B0 3158 Reserved Reserved Reserved Reserved SW02B1 SW02B2 3159 SW02B3 SW02B4 315A SW02B5 SW02B6 315B SW02B7 SW02B8 315C Axis 4 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW02B9 SW02BA 315D SW02BB Reserved Reserved Reserved Reserve...

Page 175: ...69 SW02D3 SW02D4 316A SW02D5 SW02D6 316B SW02D7 SW02D8 316C SW02D9 SW02DA 316D SW02DB SW02DC 316E SW02DD SW02DE 316F SW02DF SW02E0 3170 Reserved Reserved Reserved Reserved SW02E1 SW02E2 3171 SW02E3 SW02E4 3172 SW02E5 SW02E6 3173 SW02E7 SW02E8 3174 Axis 5 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW02E9 SW02EA 3175 SW02EB Reserved Reserved Reserved Reserve...

Page 176: ...81 SW0303 SW0304 3182 SW0305 SW0306 3183 SW0307 SW0308 3184 SW0309 SW030A 3185 SW030B SW030C 3186 SW030D SW030E 3187 SW030F SW0310 3188 Reserved Reserved Reserved Reserved SW0311 SW0312 3189 SW0313 SW0314 318A SW0315 SW0316 318B SW0317 SW0318 318C Axis 6 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0319 SW031A 318D SW031B Reserved Reserved Reserved Reserve...

Page 177: ...99 SW0333 SW0334 319A SW0335 SW0336 319B SW0337 SW0338 319C SW0339 SW033A 319D SW033B SW033C 319E SW033D SW033E 319F SW033F SW0340 31A0 Reserved Reserved Reserved Reserved SW0341 SW0342 31A1 SW0343 SW0344 31A2 SW0345 SW0346 31A3 SW0347 SW0348 31A4 Axis 7 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0349 SW034A 31A5 SW034B Reserved Reserved Reserved Reserve...

Page 178: ...B1 SW0363 SW0364 31B2 SW0365 SW0366 31B3 SW0367 SW0368 31B4 SW0369 SW036A 31B5 SW036B SW036C 31B6 SW036D SW036E 31B7 SW036F SW0370 31B8 Reserved Reserved Reserved Reserved SW0371 SW0372 31B9 SW0373 SW0374 31BA SW0375 SW0376 31BB SW0377 SW0378 31BC Axis 8 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0379 SW037A 31BD SW037B Reserved Reserved Reserved Reserve...

Page 179: ...C9 SW0393 SW0394 31CA SW0395 SW0396 31CB SW0397 SW0398 31CC SW0399 SW039A 31CD SW039B SW039C 31CE SW039D SW039E 31CF SW039F SW03A0 31D0 Reserved Reserved Reserved Reserved SW03A1 SW03A2 31D1 SW03A3 SW03A4 31D2 SW03A5 SW03A6 31D3 SW03A7 SW03A8 31D4 Axis 9 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW03A9 SW03AA 31D5 SW03AB Reserved Reserved Reserved Reserve...

Page 180: ...E1 SW03C3 SW03C4 31E2 SW03C5 SW03C6 31E3 SW03C7 SW03C8 31E4 SW03C9 SW03CA 31E5 SW03CB SW03CC 31E6 SW03CD SW03CE 31E7 SW03CF SW03D0 31E8 Reserved Reserved Reserved Reserved SW03D1 SW03D2 31E9 SW03D3 SW03D4 31EA SW03D5 SW03D6 31EB SW03D7 SW03D8 31EC Axis 10 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW03D9 SW03DA 31ED SW03DB Reserved Reserved Reserved Reserv...

Page 181: ...F9 SW03F3 SW03F4 31FA SW03F5 SW03F6 31FB SW03F7 SW03F8 31FC SW03F9 SW03FA 31FD SW03FB SW03FC 31FE SW03FD SW03FE 31FF SW03FF SW0400 3200 Reserved Reserved Reserved Reserved SW0401 SW0402 3201 SW0403 SW0404 3202 SW0405 SW0406 3203 SW0407 SW0408 3204 Axis 11 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0409 SW040A 3205 SW040B Reserved Reserved Reserved Reserv...

Page 182: ...11 SW0423 SW0424 3212 SW0425 SW0426 3213 SW0427 SW0428 3214 SW0429 SW042A 3215 SW042B SW042C 3216 SW042D SW042E 3217 SW042F SW0430 3218 Reserved Reserved Reserved Reserved SW0431 SW0432 3219 SW0433 SW0434 321A SW0435 SW0436 321B SW0437 SW0438 321C Axis 12 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0439 SW043A 321D SW043B Reserved Reserved Reserved Reserv...

Page 183: ...29 SW0453 SW0454 322A SW0455 SW0456 322B SW0457 SW0458 322C SW0459 SW045A 322D SW045B SW045C 322E SW045D SW045E 322F SW045F SW0460 3230 Reserved Reserved Reserved Reserved SW0461 SW0462 3231 SW0463 SW0464 3232 SW0465 SW0466 3233 SW0467 SW0468 3234 Axis 13 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0469 SW046A 3235 SW046B Reserved Reserved Reserved Reserv...

Page 184: ...41 SW0483 SW0484 3242 SW0485 SW0486 3243 SW0487 SW0488 3244 SW0489 SW048A 3245 SW048B SW048C 3246 SW048D SW048E 3247 SW048F SW0490 3248 Reserved Reserved Reserved Reserved SW0491 SW0492 3249 SW0493 SW0494 324A SW0495 SW0496 324B SW0497 SW0498 324C Axis 14 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0499 SW049A 324D SW049B Reserved Reserved Reserved Reserv...

Page 185: ...59 SW04B3 SW04B4 325A SW04B5 SW04B6 325B SW04B7 SW04B8 325C SW04B9 SW04BA 325D SW04BB SW04BC 325E SW04BD SW04BE 325F SW04BF SW04C0 3260 Reserved Reserved Reserved Reserved SW04C1 SW04C2 3261 SW04C3 SW04C4 3262 SW04C5 SW04C6 3263 SW04C7 SW04C8 3264 Axis 15 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW04C9 SW04CA 3265 SW04CB Reserved Reserved Reserved Reserv...

Page 186: ...71 SW04E3 SW04E4 3272 SW04E5 SW04E6 3273 SW04E7 SW04E8 3274 SW04E9 SW04EA 3275 SW04EB SW04EC 3276 SW04ED SW04EE 3277 SW04EF SW04F0 3278 Reserved Reserved Reserved Reserved SW04F1 SW04F2 3279 SW04F3 SW04F4 327A SW04F5 SW04F6 327B SW04F7 SW04F8 327C Axis 16 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW04F9 SW04FA 327D SW04FB Reserved Reserved Reserved Reserv...

Page 187: ...89 SW0513 SW0514 328A SW0515 SW0516 328B SW0517 SW0518 328C SW0519 SW051A 328D SW051B SW051C 328E SW051D SW051E 328F SW051F SW0520 3290 Reserved Reserved Reserved Reserved SW0521 SW0522 3291 SW0523 SW0524 3292 SW0525 SW0526 3293 SW0527 SW0528 3294 Axis 17 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0529 SW052A 3295 SW052B Reserved Reserved Reserved Reserv...

Page 188: ...A1 SW0543 SW0544 32A2 SW0545 SW0546 32A3 SW0547 SW0548 32A4 SW0549 SW054A 32A5 SW054B SW054C 32A6 SW054D SW054E 32A7 SW054F SW0550 32A8 Reserved Reserved Reserved Reserved SW0551 SW0552 32A9 SW0553 SW0554 32AA SW0555 SW0556 32AB SW0557 SW0558 32AC Axis 18 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0559 SW055A 32AD SW055B Reserved Reserved Reserved Reserv...

Page 189: ...B9 SW0573 SW0574 32BA SW0575 SW0576 32BB SW0577 SW0578 32BC SW0579 SW057A 32BD SW057B SW057C 32BE SW057D SW057E 32BF SW057F SW0580 32C0 Reserved Reserved Reserved Reserved SW0581 SW0582 32C1 SW0583 SW0584 32C2 SW0585 SW0586 32C3 SW0587 SW0588 32C4 Axis 19 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0589 SW058A 32C5 SW058B Reserved Reserved Reserved Reserv...

Page 190: ...D1 SW05A3 SW05A4 32D2 SW05A5 SW05A6 32D3 SW05A7 SW05A8 32D4 SW05A9 SW05AA 32D5 SW05AB SW05AC 32D6 SW05AD SW05AE 32D7 SW05AF SW05B0 32D8 Reserved Reserved Reserved Reserved SW05B1 SW05B2 32D9 SW05B3 SW05B4 32DA SW05B5 SW05B6 32DB SW05B7 SW05B8 32DC Axis 20 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW05B9 SW05BA 32DD SW05BB Reserved Reserved Reserved Reserv...

Page 191: ...E9 SW05D3 SW05D4 32EA SW05D5 SW05D6 32EB SW05D7 SW05D8 32EC SW05D9 SW05DA 32ED SW05DB SW05DC 32EE SW05DD SW05DE 32EF SW05DF SW05E0 32F0 Reserved Reserved Reserved Reserved SW05E1 SW05E2 32F1 SW05E3 SW05E4 32F2 SW05E5 SW05E6 32F3 SW05E7 SW05E8 32F4 Axis 21 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW05E9 SW05EA 32F5 SW05EB Reserved Reserved Reserved Reserv...

Page 192: ...01 SW0603 SW0604 3302 SW0605 SW0606 3303 SW0607 SW0608 3304 SW0609 SW060A 3305 SW060B SW060C 3306 SW060D SW060E 3307 SW060F SW0610 3308 Reserved Reserved Reserved Reserved SW0611 SW0612 3309 SW0613 SW0614 330A SW0615 SW0616 330B SW0617 SW0618 330C Axis 22 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0619 SW061A 330D SW061B Reserved Reserved Reserved Reserv...

Page 193: ...19 SW0633 SW0634 331A SW0635 SW0636 331B SW0637 SW0638 331C SW0639 SW063A 331D SW063B SW063C 331E SW063D SW063E 331F SW063F SW0640 3320 Reserved Reserved Reserved Reserved SW0641 SW0642 3321 SW0643 SW0644 3322 SW0645 SW0646 3323 SW0647 SW0648 3324 Axis 23 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0649 SW064A 3325 SW064B Reserved Reserved Reserved Reserv...

Page 194: ...31 SW0663 SW0664 3332 SW0665 SW0666 3333 SW0667 SW0668 3334 SW0669 SW066A 3335 SW066B SW066C 3336 SW066D SW066E 3337 SW066F SW0670 3338 Reserved Reserved Reserved Reserved SW0671 SW0672 3339 SW0673 SW0674 333A SW0675 SW0676 333B SW0677 SW0678 333C Axis 24 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0679 SW067A 333D SW067B Reserved Reserved Reserved Reserv...

Page 195: ...49 SW0693 SW0694 334A SW0695 SW0696 334B SW0697 SW0698 334C SW0699 SW069A 334D SW069B SW069C 334E SW069D SW069E 334F SW069F SW06A0 3350 Reserved Reserved Reserved Reserved SW06A1 SW06A2 3351 SW06A3 SW06A4 3352 SW06A5 SW06A6 3353 SW06A7 SW06A8 3354 Axis 25 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW06A9 SW06AA 3355 SW06AB Reserved Reserved Reserved Reserv...

Page 196: ...361 SW06C3 SW06C4 3362 SW06C5 SW06C6 3363 SW06C7 SW06C8 3364 SW06C9 SW06CA 3365 SW06CB SW06CC 3366 SW06CD SW06CE 3367 SW06CF SW06D0 3368 Reserved Reserved Reserved Reserved SW06D1 SW06D2 3369 SW06D3 SW06D4 336A SW06D5 SW06D6 336B SW06D7 SW06D8 336C Axis 26 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW06D9 SW06DA 336D SW06DB Reserved Reserved Reserved Reser...

Page 197: ...79 SW06F3 SW06F4 337A SW06F5 SW06F6 337B SW06F7 SW06F8 337C SW06F9 SW06FA 337D SW06FB SW06FC 337E SW06FD SW06FE 337F SW06FF SW0700 3380 Reserved Reserved Reserved Reserved SW0701 SW0702 3381 SW0703 SW0704 3382 SW0705 SW0706 3383 SW0707 SW0708 3384 Axis 27 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0709 SW070A 3385 SW070B Reserved Reserved Reserved Reserv...

Page 198: ...91 SW0723 SW0724 3392 SW0725 SW0726 3393 SW0727 SW0728 3394 SW0729 SW072A 3395 SW072B SW072C 3396 SW072D SW072E 3397 SW072F SW0730 3398 Reserved Reserved Reserved Reserved SW0731 SW0732 3399 SW0733 SW0734 339A SW0735 SW0736 339B SW0737 SW0738 339C Axis 28 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0739 SW073A 339D SW073B Reserved Reserved Reserved Reserv...

Page 199: ...A9 SW0753 SW0754 33AA SW0755 SW0756 33AB SW0757 SW0758 33AC SW0759 SW075A 33AD SW075B SW075C 33AE SW075D SW075E 33AF SW075F SW0760 33B0 Reserved Reserved Reserved Reserved SW0761 SW0762 33B1 SW0763 SW0764 33B2 SW0765 SW0766 33B3 SW0767 SW0768 33B4 Axis 29 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0769 SW076A 33B5 SW076B Reserved Reserved Reserved Reserv...

Page 200: ...C1 SW0783 SW0784 33C2 SW0785 SW0786 33C3 SW0787 SW0788 33C4 SW0789 SW078A 33C5 SW078B SW078C 33C6 SW078D SW078E 33C7 SW078F SW0790 33C8 Reserved Reserved Reserved Reserved SW0791 SW0792 33C9 SW0793 SW0794 33CA SW0795 SW0796 33CB SW0797 SW0798 33CC Axis 30 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW0799 SW079A 33CD SW079B Reserved Reserved Reserved Reserv...

Page 201: ...D9 SW07B3 SW07B4 33DA SW07B5 SW07B6 33DB SW07B7 SW07B8 33DC SW07B9 SW07BA 33DD SW07BB SW07BC 33DE SW07BD SW07BE 33DF SW07BF SW07C0 33E0 Reserved Reserved Reserved Reserved SW07C1 SW07C2 33E1 SW07C3 SW07C4 33E2 SW07C5 SW07C6 33E3 SW07C7 SW07C8 33E4 Axis 31 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW07C9 SW07CA 33E5 SW07CB Reserved Reserved Reserved Reserv...

Page 202: ...F1 SW07E3 SW07E4 33F2 SW07E5 SW07E6 33F3 SW07E7 SW07E8 33F4 SW07E9 SW07EA 33F5 SW07EB SW07EC 33F6 SW07ED SW07EE 33F7 SW07EF SW07F0 33F8 Reserved Reserved Reserved Reserved SW07F1 SW07F2 33F9 SW07F3 SW07F4 33FA SW07F5 SW07F6 33FB SW07F7 SW07F8 33FC Axis 32 status Same as for Axis 1 status Same as for Axis 1 status Same as for Axis 1 status SW07F9 SW07FA 33FD SW07FB Reserved Reserved Reserved Reserv...

Page 203: ...x i 1 i 1 to 32 Examples Axis 2 axis Servo status address 1 hexadecimal SW021C Hex 30 Hex 2 1 SW024C Hex Axis 2 axis Servo status address 2 hexadecimal SW021D Hex 30 Hex 2 1 SW024D Hex Classification Command name Command Code Remark No operation Not executing 0000h Axis movement Positioning MOVE 0001h Linear interpolation MOVEL 0002h Circular interpolation MOVEC 0003h Origin search DATUM 0004h Int...

Page 204: ...15 Reserved SW021D D00 P_OT Forward rotation drive prohibit Input 0 OFF 1 ON D01 N_OT Reverse rotation drive prohibit Input 0 OFF 1 ON D02 DEC Origin search deceleration limit switch input 0 OFF 1 ON D03 PA Encoder phase A input 0 OFF 1 ON D04 PB Encoder phase B input 0 OFF 1 ON D05 PC Encoder phase C input 0 OFF 1 ON D06 EXT1 No 1 external latch input 0 OFF 1 ON D07 EXT2 No 2 external latch input...

Page 205: ...00 32word R OW0220 64word R OW0260 32word R OW0280 128word R OW0300 1280word R W CPU Unit CIO Area DM EM CIO Area Word Output for CPU Bus Unit Unit task control CIO Area Word Input for CPU Bus Unit Unit task status DM Area Word Output for CPU Bus Unit Task control DM Area word Input for CPU Bus Unit Unit task status Custom Bit Area Output Axis control Custom Bit Area Input Axis status Custom Data ...

Page 206: ... Reserved R W IW0440 IW045F 32 x x 31 Axis 1 32 Control bit R W IW0460 IW047F 32 Reserved R W IW0480 IW049F 32 d d 31 Axis1 32 Control Data R W IW04A0 IW04BF 32 Axes 1 to 32 internal override R W IW04C0 IW04DF 32 Reserved R W IW04E0 IW09FF 1312 Reserved R W IW0A00 IW0A07 8 1 P0004 bit 13 0 Motion tasks 1 to 8 are acceleration deceleration time banks 2 P0004 bit 13 1 Motion tasks 1 to 8 are acceler...

Page 207: ... IW002F IW0030 00 15 16 MECHATROLINK II Input Axis3 Same as for MECHA TROLINK II Input Axis1 Same as for MECHATROLINK II Input Axis1 IW003F IW0040 00 15 16 MECHATROLINK II Input Axis4 Same as for MECHA TROLINK II Input Axis1 Same as for MECHATROLINK II Input Axis1 IW004F IW0050 00 15 16 MECHATROLINK II Input Axis5 Same as for MECHA TROLINK II Input Axis1 Same as for MECHATROLINK II Input Axis1 IW0...

Page 208: ...MECHATROLINK II Input Axis23 Same as for MECHA TROLINK II Input Axis1 Same as for MECHATROLINK II Input Axis1 IW017F IW0180 00 15 16 MECHATROLINK II Input Axis24 Same as for MECHA TROLINK II Input Axis1 Same as for MECHATROLINK II Input Axis1 IW018F IW0190 00 15 16 MECHATROLINK II Input Axis25 Same as for MECHA TROLINK II Input Axis1 Same as for MECHATROLINK II Input Axis1 IW019F IW01A0 00 15 16 M...

Page 209: ...Execution 0 No 1 No Writes present positions in position data according to teach ing type No 06 Servo parameter Save 0 No 1 No Saves servo parameter to Flash ROM EEPROM in servo driver No 07 11 Reserved Reserved 12 15 Present Value Monitor Select Selects Data to be output to present value monitor 0 Zero output 1 FB position selected coordi nate system 2 FB position machine coordi nate system 3 Com...

Page 210: ...05 00 15 1 Zone Reservation Bits No 17 to 32 Enables or disables zone bits No 17 to 32 No 17 corresponds to bit 0 and No 32 corresponds to bit 15 0 Disable Do not use 1 Enable Use IW0306 00 15 13 Reserved Reserved Reserved IW030F IW0310 00 15 1 m 20 Unit Control Data Teaching Address Specifies the teaching start address 0 10239 IW0311 00 15 15 Reserved Reserved Reserved IW031F IW0320 00 1 n 3 Rese...

Page 211: ... executed No 06 Single Block Operating Mode 0 Turns OFF single block operat ing mode 1 Turns On single block operat ing mode No No 07 Task Override Enable 0 Disables task override value Override 100 1 Enables task override value No No 08 15 Reserved Reserved IW0341 00 15 7 n 5 Motion Task 2 Control Same as for Motion Task 1 Same as for Motion Task 1 IW0342 n 6 Motion Task 3 Control Same as for Mot...

Page 212: ...5 m 27 IW0366 00 15 2 m 28 Motion Task 4 Control Data Same as for Motion Task 1 Same as for Motion Task 1 IW0367 m 29 IW0368 00 15 2 m 30 Motion Task 5 Control Data Same as for Motion Task 1 Same as for Motion Task 1 IW0369 m 31 IW036A 00 15 2 m 32 Motion Task 6 Control Data Same as for Motion Task 1 Same as for Motion Task 1 IW036B m 33 IW036C 00 15 2 m 34 Motion Task 7 Control Data Same as for M...

Page 213: ...on 05 STEP 0 No 1 Continues STEP operation Starts STEP operation Stops STEP operation 06 Origin Search 0 No 1 Continues origin search Starts origin search Stops origin search 07 Machine Origin Return 0 No 1 Continues Machine origin return PTP Starts Machine origin return PTP Stops Machine origin return PTP 08 Error Counter Reset 0 No 1 No Resets error counter Command position present position No 0...

Page 214: ... No 13 Axis Machine Lock 0 Cancels axis machine lock mode 1 Axis machine lock mode No No 14 Reserved Reserved 15 Manual Automatic Mode 0 Manual mode 1 Automatic mode Stops manual operation in progress with deceleration stop Stops automatic operation in progress with deceleration stop Variable Address R R W bit Size CPU Unit Word Classification Name Specifications ...

Page 215: ... 1 Same as for Axis 1 IW0451 x 17 Axis 18 Control Bits Same as for Axis 1 Same as for Axis 1 IW0452 x 18 Axis 19 Control Bits Same as for Axis 1 Same as for Axis 1 IW0453 x 19 Axis 20 Control Bits Same as for Axis 1 Same as for Axis 1 IW0454 x 20 Axis 21 Control Bits Same as for Axis 1 Same as for Axis 1 IW0455 x 21 Axis 22 Control Bits Same as for Axis 1 Same as for Axis 1 IW0456 x 22 Axis 23 Con...

Page 216: ...s 16 Override Same as for Axis 1 IW0490 d 16 Axis 17 Control Data Axis 17 Override Same as for Axis 1 IW0491 d 17 Axis 18 Control Data Axis 18 Override Same as for Axis 1 IW0492 d 18 Axis 19 Control Data Axis 19 Override Same as for Axis 1 IW0493 d 19 Axis 20 Control Data Axis 20 Override Same as for Axis 1 IW0494 d 20 Axis 21 Control Data Axis 21 Override Same as for Axis 1 IW0495 d 21 Axis 22 Co...

Page 217: ...l Data Axis 15 internal override Same as for Axis 1 IW04AF Axis 16 Control Data Axis 16 internal override Same as for Axis 1 IW04B0 Axis 17 Control Data Axis 17 internal override Same as for Axis 1 IW04B1 Axis 18 Control Data Axis 18 internal override Same as for Axis 1 IW04B2 Axis 19 Control Data Axis 19 internal override Same as for Axis 1 IW04B3 Axis 20 Control Data Axis 20 internal override Sa...

Page 218: ...erved IW04CC Axis 13 Control Data Reserved Reserved IW04CD Axis 14 Control Data Reserved Reserved IW04CE Axis 15 Control Data Reserved Reserved IW04CF Axis 16 Control Data Reserved Reserved IW04D0 Axis 17 Control Data Reserved Reserved IW04D1 Axis 18 Control Data Reserved Reserved IW04D2 Axis 19 Control Data Reserved Reserved IW04D3 Axis 20 Control Data Reserved Reserved IW04D4 Axis 21 Control Dat...

Page 219: ...leration time 2 P0004 bit 13 1 Interpolation feed acceleration time setting 1 to 5 P00M11 to P00M15 are used as interpolation feed acceleration times Other P00M02 Used as interpola tion acceleration time IW0A01 00 15 7 Motion task 2 con trol data Same as for motion task 1 Same as for motion task 1 IW0A02 Motion task 3 con trol data Same as for motion task 1 Same as for motion task 1 IW0A03 Motion ...

Page 220: ...F IW0A40 00 15 192 Reserved Reserved Reserved IW0AFF IW0B00 00 15 160 a_A General I O A General I O A CH1 160 Reflects data from General I O A CPU to MC Unit IW0B9F IW0BA0 00 15 160 a_B General I O B General I O B CH1 160 Same as for General I O A IW0C3F IW0C40 00 15 160 a_C General I O C General I O C CH1 160 Same as for General I O A IW0CDF IW0CE0 00 15 160 a_D General I O D General I O D CH1 16...

Page 221: ... OW031F 14 Reserved R OW0320 1 n 3 Reserved R OW0321 OW032F 15 Reserved R OW0330 OW0331 1 m 21 Reserved R OW0332 OW033F 15 Reserved R OW0340 OW0347 8 n 17 n 24 Motion task 1 8 Status bits R OW0348 OW035F 24 Reserved R OW0360 OW037F 32 m 42 m 73 Motion task 1 8 Status data R OW0380 OW043F 192 Reserved R OW0440 OW045F 32 x 32 x 63 Axis 1 32 Status bits R OW0460 OW047F 32 Reserved R OW0480 OW04DF 96 ...

Page 222: ... 15 16 MECHATROLINK II Output Axis 1 CH2 Same as for MECHA TROLINK II Output Axis 1 Same as for MECHATROLINK II Output Axis 1 OW002F OW0030 00 15 16 MECHATROLINK II Output Axis 1 CH3 Same as for MECHA TROLINK II Output Axis 1 Same as for MECHATROLINK II Output Axis 1 OW003F OW0040 00 15 16 MECHATROLINK II Output Axis 1 CH4 Same as for MECHA TROLINK II Output Axis 1 Same as for MECHATROLINK II Outp...

Page 223: ...13F OW0140 00 15 16 MECHATROLINK II Output Axis 1 CH20 Same as for MECHA TROLINK II Output Axis 1 Same as for MECHATROLINK II Output Axis 1 OW014F OW0150 00 15 16 MECHATROLINK II Output Axis 1 CH21 Same as for MECHA TROLINK II Output Axis 1 Same as for MECHATROLINK II Output Axis 1 OW015F OW0160 00 15 16 MECHATROLINK II Output Axis 1 CH22 Same as for MECHA TROLINK II Output Axis 1 Same as for MECH...

Page 224: ...us 1 Same as for Axis 1 OW0215 00 15 16 Servo Status 2 Same as for Axis 1 OW0216 00 15 16 Slave Status Axis 3 Alarm warning code Same as for Axis 1 OW0217 00 15 16 Servo Status 1 Same as for Axis 1 OW0218 00 15 16 Servo Status 2 Same as for Axis 1 OW0219 00 15 16 Slave Status Axis 4 Alarm warning code Same as for Axis 1 OW021A 00 15 16 Servo Status 1 Same as for Axis 1 OW021B 00 15 16 Servo Status...

Page 225: ...atus 1 Same as for Axis 1 OW023F 00 15 16 Servo Status 2 Same as for Axis 1 OW0240 00 15 16 Slave Status Axis 17 Alarm warning code Same as for Axis 1 OW0241 00 15 16 Servo Status 1 Same as for Axis 1 OW0242 00 15 16 Servo Status 2 Same as for Axis 1 OW0243 00 15 16 Slave Status Axis 18 Alarm warning code Same as for Axis 1 OW0244 00 15 16 Servo Status 1 Same as for Axis 1 OW0245 00 15 16 Servo St...

Page 226: ...Same as for Axis 1 OW0266 00 15 16 Servo Status 2 Same as for Axis 1 OW0267 00 15 16 Slave Status Axis 30 Alarm warning code Same as for Axis 1 OW0268 00 15 16 Servo Status 1 Same as for Axis 1 OW0269 00 15 16 Servo Status 2 Same as for Axis 1 OW026A 00 15 16 Slave Status Axis 31 Alarm warning code Same as for Axis 1 OW026B 00 15 16 Servo Status 1 Same as for Axis 1 OW026C 00 15 16 Servo Status 2 ...

Page 227: ...tatus 1 Started MECHATROLINK II device search 07 External Forced Stop Request 0 No external forced stop request from FINS etc not from input variable 1 External forced stop requested from FINS etc not from input variable 08 External Forced Stop Status 0 No forced stop request or pro cessing for stopping 1 Stopped by forced stop request 09 Operating Mode Supported in Unit Ver 3 0 or later Gives the...

Page 228: ...orresponds to bit 15 0 The upper or lower limit setting for the zone is incorrect or the Zone Enable Bit is OFF dis abled 1 The upper and lower limit set tings for the zone are correct and the Zone Enable Bit is ON enabled OW0306 00 15 12 Reserved Reserved Reserved OW030F OW0310 00 15 1 m 38 Unit Status Data Unit Alarm Code Outputs the alarm code for alarm occurring on Unit level OW0311 00 15 1 m ...

Page 229: ...s OW0344 n 21 Motion Task 5 Sta tus Same as for Motion Task 1 Status Same as for Motion Task 1 Status OW0345 n 22 Motion Task 6 Sta tus Same as for Motion Task 1 Status Same as for Motion Task 1 Status OW0346 n 23 Motion Task 7 Sta tus Same as for Motion Task 1 Status Same as for Motion Task 1 Status OW0347 n 24 Motion Task 8 Sta tus Same as for Motion Task 1 Status Same as for Motion Task 1 Statu...

Page 230: ...sk 5 Sta tus Data Same as for Motion Task 1 Status Data Same as for Motion Task 1 Status Data OW0371 m 59 OW0372 m 60 OW0373 m 61 OW0374 m 62 Motion task 6 Sta tus Data Same as for Motion Task 1 Status Data Same as for Motion Task 1 Status Data OW0375 m 63 OW0376 m 64 OW0377 m 65 OW0378 m 66 Motion task 7 Sta tus Data Same as for Motion Task 1 Status Data Same as for Motion Task 1 Status Data OW03...

Page 231: ...out put and within in position range 07 Positioning Completed No 2 0 Command value being output or outside of NO 2 in position range 1 Command value not being out put and within No 2 in position range 08 Error Counter Warning 0 Error amount is within the range of error counter warning value 1 Error amount is outside exceeded of the range of error counter warning value 09 Axis Machine Lock Status 0...

Page 232: ...me as for Axis 1 Status Bits OW0450 x 48 Axis 17 Status Bits Same as for Axis 1 Status Bits Same as for Axis 1 Status Bits OW0451 x 49 Axis 18 Status Bits Same as for Axis 1 Status Bits Same as for Axis 1 Status Bits OW0452 x 50 Axis 19 Status Bits Same as for Axis 1 Status Bits Same as for Axis 1 Status Bits OW0453 x 51 Axis 20 Status Bits Same as for Axis 1 Status Bits Same as for Axis 1 Status ...

Page 233: ...Status Data Same as for Axis 1 Status Data Same as for Axis 1 Status Data OW048D d 45 OW048E d 46 OW048F d 47 Axis 6 Status Data Same as for Axis 1 Status Data Same as for Axis 1 Status Data OW0490 d 48 OW0491 d 49 OW0492 d 50 Axis 7 Status Data Same as for Axis 1 Status Data Same as for Axis 1 Status Data OW0493 d 51 OW0494 d 52 OW0495 d 53 Axis 8 Status Data Same as for Axis 1 Status Data Same a...

Page 234: ...04BE d 94 OW04BF d 95 Axis 22 Status Data Same as for Axis 1 Status Data Same as for Axis 1 Status Data OW04C0 d 96 OW04C1 d 97 OW04C2 d 98 Axis 23 Status Data Same as for Axis 1 Status Data Same as for Axis 1 Status Data OW04C3 d 99 OW04C4 d 100 OW04C5 d 101 Axis 24 Status Data Same as for Axis 1 Status Data Same as for Axis 1 Status Data OW04C6 d 102 OW04C7 d 103 OW04C8 d 104 Axis 25 Status Data...

Page 235: ...Status Data Same as for Axis 1 Status Data OW04DB d 123 OW04DC d 124 OW04DD d 125 Axis 32 Status Data Same as for Axis 1 Status Data Same as for Axis 1 Status Data OW04DE d 126 OW04DF d 127 OW04E0 00 15 1568 Reserved Reserved Reserved OW0AFF OW0B00 00 15 160 a_A General I O A General I O A CH1 160 Sets Data to be output to general I O A MC Unit to CPU OW0B9F OW0BA0 00 15 160 a_B General I O B Gene...

Page 236: ... also possible to read or write data from or to the servo driver using IORD IOWR instructions of the CPU Unit These functions enable the PLC to manage the parameters of the servo driver Refer to the servo driver s manual for more details Note Servo parameters operate with the setting saved in the servo driver There fore it will be required to setup parameters of a driver when the driver is replace...

Page 237: ...Unit Transfer Using IORD IOWR Instructions Specify the address 7000 Hex 78FF Hex corresponding to the parameter No Pn000 Pn8FF of the serve driver The three rightmost digits of the MC Unit address should match with the parameter No Note For details on IORD IOWR instructions refer to 5 2 IOWR Instruction to Transfer Data Page 221 and 5 3 IORD Instruction to Transfer Data Page 228 4 8 2 Data Configu...

Page 238: ... will be in servo lock state 2 Makes the motor decelerate to stop with the torque set in Pn406 as maximum torque and the motor will be in free run state 2 AC DC power supply input select 0 DC power supply input not supported Input AC power supply to L1 L2 or L3 terminal 0 1 DC power supply input supported Input DC power supply to 1 terminal 3 Warning code output select 0 ALO1 ALO2 and ALO3 output ...

Page 239: ... 2 0 F Same as above 0 2 Reserved 0 3 Reserved 0 Pn004 S Reserved 2 0000H 1210H 0200H 0 Reserved 0 1R Reserved constant 0 0 1 2R Reserved constant 0 0 Automatically set to 2 1 3R Reserved constant 0 0 1 Pn005 Advanced function selection switch 5 2 0000H 0001H 0000H 0 Brake control function select 0 Controls the brake by servo 0 1 Controls the brake by controller 1 Reserved 0 2 Reserved 0 3 Reserve...

Page 240: ...Reserved 0 0 1 2 Pn10C Mode switch Torque command 2 0 800 200 Rotary Pn10D Mode switch Speed command 2 r min 0 10000 0 Rotary Pn10E Mode switch Acceleration 2 10 r min s 0 3000 0 Pn10F Mode switch Error pulse 2 Pulse 0 10000 0 Pn110 Real time auto tuning related switch 2 0000H 3212H 0010H 0 Online auto tuning method 0 Tuning just at beginning of an operation 0 1 Always tuning 2 No auto tuning 1 Sp...

Page 241: ...5535 65535 Rotary Pn206 No of full closed pulses 2 P R 25 65535 16384 Pn207 S Position command function switch 2 0000H 0011H 0010H 0 Reserved 0 0 1 1S Position control option 1 Uses V REF as the speed feed forward input 1 0 Do not set It is automatically set to 1 2 3 Reserved 0 Pn208 Reserved 2 0 01 ms 0 6400 0 Linear Pn280 Linear scale pitch 2 um 0 65535 0 Linear Pn281 Encoder output resolution 2...

Page 242: ... Pn481 Magnetic pole detection speed loop gain 2 Hz 1 2000 40 Linear Pn482 Magnetic pole detection speed loop integral time 2 0 01 ms 15 51200 3000 Linear Pn483 Forward rotation thrust limit 2 0 800 30 Linear Pn484 Reverse rotation thrust limit 2 0 800 30 Pn500 Positioning completed width 2 Com mand unit pulse for COIN output 0 250 7 Rotary Pn501 Clamp at zero level 2 r min 0 10000 10 Rotary Pn502...

Page 243: ... from SI6 CN1 46 input terminal Pn50B S Input signal select 2 2 0000H FFFFH 8883H 0S N OT signal allocation 0 F Same as above 3 1S ALM RST signal alloca tion 8 Do not set It is automatically set to 8 8 2S P CL signal allocation 0 F Allocation of forward current limiting signal 8 3S N CL signal allocation 0 F Allocation of reverse current limiting signal 8 Pn50C S Input signal select 3 2 0000H FFFF...

Page 244: ...me as above 0 3 S RDY signal allocation 0 3 Same as above 3 Pn50F Output signal select 2 2 0000H 3333H 0200H 0 CLT signal allocation 0 3 Same as above 0 1 VLT signal allocation 0 3 Same as above 0 2 BK signal allocation 0 3 Same as above 2 3 WARN signal allocation 0 3 Same as above 0 Pn510 Output signal select 3 2 0000H 0033H 0000H 0 NEAR signal allocation 0 3 Same as above 0 1 C PHASE signal allo...

Page 245: ...5 input terminal 6 Input from SI6 CN1 46 input terminal 7 Fix the signal enable 8 Fix the signal disable D Input reverse signal from SI4 CN1 44 input terminal E Input reverse signal from SI5 CN1 45 input terminal F Input reverse signal from SI6 CN1 46 input terminal 0 3 9 F Fixed at disable the signal 2 EXT2 signal allocation 0 F Same as above 5 3 EXT3 signal allocation 0 F Same as above 6 Pn512 O...

Page 246: ...E6 twice in a row plus the setting value 0 3 Reserved 0 0 Sequence relations Pn801 Advanced function select 6 Soft LS 2 0000H 0113H 0003H 0 Software limit function 0 Software limit enabled 3 1 Forward software limit disabled 2 Reverse software limit disabled 3 Both Forward reverse software limits dis abled 1 Reserved 0 0 2 Software limit checked by commands 0 No software limit check by commands 0 ...

Page 247: ... deceleration bias 2 Com mand unit s2 0 32767 0 Pn811 Exponential acceleration deceleration time constant 2 0 1 ms 0 5100 0 Pn812 Moving average time 2 0 1 ms 0 5100 0 Monitor Pn813 Option monitor 2 0000H 0099H 0032H 0 Option monitor 1 select 0 Follows the analog monitor 1 Pn003 0 2 1 Follows the analog monitor 1 Pn003 1 2 Initial multi turns data IMTDATA 3 Encoder count direct value PGCNT after m...

Page 248: ...ed 2 2 100 Com mand unit s 0 65535 5 Pn819 Pn81A Origin return final travel distance 4 Com mand unit 230 1 230 1 100 Pn81B Backlash compensation amount 2 0 1 Com mand unit 32768 32767 0000H Pn81C Reserved constant 2 0000H Pn81D Compensation function select 2 0000H 0001H 0000H Pn81E Input signal monitor select 2 0000H 7777H 0000H 0 IO12 allocation 0 No allocations 0 1 Monitors SI0 CN1 40 input term...

Page 249: ...n absolute encoder 0000 Hex Use it as an absolute encoder 0100 Hex Use it as an incremental encoder Supplementary When using an absolute encoder as an incremental encoder the present position does not show 0 at switching ON the MC Unit This is a normal condition because the MC Unit is counting the initial incremental pulses of the absolute encoder Bit 0000 0 No 9004 Rated rotation speed Sets the m...

Page 250: ...tor model automati cally sets this parameter Note Entering numerical value cannot change this parameter Data 0000 0 No 900B Latch range No This is the address of Latch range Note Selecting the motor model automati cally sets this parameter Note Entering numerical value cannot change this parameter Data 0000 0 No 900C Multi turn limit Sets the No of multi turns of an absolute encoder When using an ...

Page 251: ...nd NS115 are combined and set 0001h for W series Servo Drivers with built in com munications Data 0000 0 No No Name Configuration and explanation Type Initial value Unit Immediate updating 15 00 Position loop gain address 15 00 Position loop gain index User constant No Name Content Setting Remark Pn004 1 Electronic gear conversion of the feedback count in position control No conversion 0 Determine...

Page 252: ...OIN COIN BK BK S RDY S RDY 41 SI1 42 SI2 43 SI3 44 SI4 45 SI5 46 SI6 40 SI0 25 26 27 28 29 30 SO1 SO2 SO3 Not used W Series Driver CN1 User s constant No Content W series default setting Default setting with NS115 mounted the Support Tool initial value Pn50A Input signal select 1 8100H 8881H 2881H Pn50B Input signal select 2 6548H 6588H 8883H Pn511 Input signal select 5 8888H 8888H 6541H Pn50E Out...

Page 253: ...tion Management The full closed control does not support an absolute encoder but an incremental encoder If the encoder that is attached on the motor is an absolute encoder the usage is the same as for an incremental encoder Setting for Reverse Rotations Pn202 Electronic gear numerator Pn203 Electronic gear denominator t2 t1 t3 t4 Phase A Phase B t1 t2 t3 t4 0 2 µs Forward rotation Reverse rotation...

Page 254: ...from SI6 CN1 46 input terminal 7 Fixed at enabled the signal 8 Fixed at disabled the signal 9 Input reverse signal from SI0 CN1 40 input terminal A Input reverse signal from SI1 CN1 41 input terminal B Input reverse signal from SI2 CN1 42 input terminal C Input reverse signal from SI3 CN1 43 input terminal D Input reverse signal from SI4 CN1 44 input terminal E Input reverse signal from SI5 CN1 45...

Page 255: ...ge Length Cam table No 2 byte 1 32 Fixed length No of data sets 2 byte 1 16 000 Title 64 byte ASCII Password 8 byte ASCII CAM data size 4 byte 12 128 004 Byte size below decimal point Decimal point position 2 byte 0 65535 Reserved 2 byte Phase 4 byte integer 2147483648 2147483647 Flexible length Displacement 4 byte integer 2147483648 2147483647 Phase 4 byte integer 2147483648 2147483647 Displaceme...

Page 256: ...Servo Parameters 215 5 2 IOWR Instruction to Transfer Data 221 5 2 1 Overview 221 5 2 2 IOWR Intelligent I O Write 222 5 2 3 Flags 223 5 2 4 Precautions When Using IOWR 223 5 2 5 IOWR Program Example 223 5 3 IORD Instruction to Transfer Data 228 5 3 1 Overview 228 5 3 2 IORD Intelligent I O Read 228 5 3 3 Flags 230 5 3 4 Precautions when Executing IORD Instruction 230 5 3 5 IORD Program Example 23...

Page 257: ...sition data in the MC Unit can be uploaded to CX Motion MCH Servo parameters can be trans ferred to the memory in the servo driver 2 Read and write data in the MC Unit directly using IOWR IORD instructions in the ladder program The IOWR IORD instructions can be used to read or write data while the CPU Unit is running Note Make sure that parameters and data are appropriate to operate Personal Compu...

Page 258: ... started 2 Do not turn OFF the MC Unit or restart the Unit while data is being saved Doing so may damage the flash memory in the MC Unit It may take up to 30 seconds to save data 3 Data cannot be saved while data is being transferred or the Unit is busy 4 Flash memory has a limited service life Data can be written up to 100 000 times 5 1 3 Types of Data for Transfer and Storage The following types...

Page 259: ...ords position No No No Yes No No Global general variable These variables can be accessed from all tasks No No No No No No Input variable Input status from CPU Unit MECHATROLINK II devices No No No No No No Output variable Output from programs to CPU Unit or MECHA TROLINK II devices See 3 No No No No No Task variable These variables can be used only in each task No No No No No No Present position p...

Page 260: ...Read RAM of the servo driver 2 RAM of the MC Unit 3 IORD instruction of the CPU Unit RAM of the servo driver 4 the Support Tool Write RAMs of the servo driver and the MC Unit 5 IOWR instruction of the CPU Unit RAMs of the servo driver and the MC Unit 6 PARAM command of the MC Unit RAM of the servo driver 7 the Support Tool Save EEPROM of the servo driver and Flash ROM of the MC Unit 8 The Paramete...

Page 261: ...eters are read from the servo driver The servo parameters in the MC Unit will not be affected RAM Flash ROM RAM EEPROM Support Tool MC Unit Servo Driver Servo Parameters Servo Parameters Servo Parameters Servo Parameters Servo Parameters RAM Flash ROM RAM EEPROM IORD Instruction MC Unit Servo Driver Servo Parameters Servo Parameters Servo Parameters Servo Parameters Servo Parameters ...

Page 262: ... servo driver The written servo parameters will be the object of Flash ROM save Writing is executed regardless of whether it is immediately enabled or enabled when the power is turned ON RAM Flash ROM RAM EEPROM Support Tool MC Unit Servo Driver Servo Parameters Servo Parameters Servo Parameters Servo Parameters Servo Parameters ...

Page 263: ...in the RAMs of both the MC Unit and the servo driver Writing is executed regardless of whether it is immediately enabled or enabled when the power is turned ON RAM Flash ROM RAM EEPROM IOWR Instruction MC Unit Servo Driver Servo Parameters Servo Parameters Servo Parameters Servo Parameters Servo Parameters ...

Page 264: ... power is turned ON Contents of EEPROM and RAM in the servo driver will be identical with each other They are not identical while change is in process however they will be identical after writing When a servo parameter that is not immediately enabled is changed the parameter that was written would be different from the one having been read 7 Saving by Support Tool RAM Flash ROM RAM EEPROM PARAM In...

Page 265: ...n Replacing a Servo Driver Servo parameters stored in the servo driver are used for actual operations For that reason make sure to read the servo parameters before the replace ment and restore them into the newly replaced servo driver RAM Flash ROM RAM EEPROM Support Tool Allocated IF Area MC Unit Servo Driver Servo Parameters Servo Parameters Servo Parameters Servo Parameters ...

Page 266: ...r program IOWR C Control code S First source word Data Address Internal Memory Area Position data D Destination unit No and total number of words written Servo parameter axis specification System parameters Servo parameters Present position preset 1 IOWR Instruction Setting C Indicates the first destination address in the MC Unit memory area for data storage S Indicates the first word No of the CP...

Page 267: ...000 32767 n 0 to C Indirect DM EM BCD D00000 32767 E00000 32767 En_00000 32767 n 0 to C D Destination unit num ber and total number of words written Total number of words transferred Hex Destination unit number Hex Specifies the total number of transferred words No of transferred words and unit number of data transfer destination destination unit No Total number of words to transfer 0002 to 0008 H...

Page 268: ... Hex in the MC Unit Position data to be transferred Destination addresses 34567890 PL0456 12345678 PL0457 38765432 PL0458 123456 PL0459 Name Symbol ON OFF Error Flag ER The total No of words transferred in D is not between 0000 and 0008 Hex The unit No in D is not between 8000 and 800F Hex The specified CPU Bus Unit does not support the IOWR instruction The specified CPU Bus Unit has a setting err...

Page 269: ...it No 0 and the No of transferred words 8 words Four position data x 2 words 8 Flag OUT R3 OUT R2 Work Bit Work Bit D00100 BF15 D00101 0034 D00102 614E D00103 00BC D00104 FC88 D00105 FDB0 D00106 E240 D00107 0001 3456789 123456 38765432 12345678 DIFU R1 R1 R3 R2 IOWR 55C6 D00100 00028000 Execution Condition Work bit Set the Manual Feed Acceleration Time data in DM Area with D00100 as the first addr...

Page 270: ...ication is to be Axis No 1 as shown below IORD IOWR control addresses address in MC Unit corresponding to the parameter Nos of the servo driver Pn000 to Pn8FF are as shown below Procedure 1 2 3 1 Set the data in the data area of the transfer source 2 Specify the servo parameter axis 3 Transfer the parameter setting values for the number needed Axis No Setting value for specifying axis 1 0h 2 1h 3 ...

Page 271: ...W500 02 W500 05 W500 06 W500 07 W500 06 DIFU W500 05 IOWR 7000 D0110 00028000 W500 07 W500 08 W500 08 W500 02 Servo parameter axis specification 6000Hex Transfer source first address The first address in which the first No of transferred axis is set Ex Values in D0100 D0101 No of transferred words 2 words Transfer destination unit No 0Hex Flag ER Flag First servo parameter No Pn000 Transfer source...

Page 272: ...will turn ON to interrupt the IOWR instruction 2 And then on the MC Unit check if the data in operands is applicable for processing in the MC Unit Data check If the data is applicable for processing the Flag will turn ON If the data is not applicable for processing the Flag will not turn ON and the instruction will be interrupted Transfer should be completed by the rise of the Flag Transferred dat...

Page 273: ...rogram C Control code S Transfer source unit No and No of read words D Transfer destination first word No Data MC Unit Address Internal Memory Area Position data System variable System parameters Servo parameters Note To read servo parameters it is necessary to specify the servo parameter axis in advance 1 IORD Instruction Setting C Indicates the first address of MC Unit memory area S Specifies to...

Page 274: ...F Hex Ex When reading 3 position data 6 words from the unit No 3 set as the operand as shown below 00068003 No of transferred words 0006 6 words unit No 8003 No 3 S Transfer destination first word Transfer destination first word No Specifies the first word of the CPU Unit in which the data to be transferred has been set Refer to the CJ series manuals for more details Area Value used for specificat...

Page 275: ...MC Unit to the D00100 toD00107 Position data to be read Destination address PL0456 4567890 D00100 to D00101 PL0457 12345678 D00102 to D00103 PL0458 38765432 D00104 to D00105 PL0459 123456 D00106 to D00107 Name Symbol ON OFF Error Flag ER The No of transferred words in D is not between 0000 and 0008 Hex The unit number data in D is not between 8000 and 800F Hex The specified CPU Bus Unit does not s...

Page 276: ...e first position data address in the MC Unit No of transferred words 8 words transfer destination unit No 0 Four position data x 2 words 8 words Specifies the first word of destination where the position data will be stored OUT R3 OUT R2 Work bit Work bit Flag D00100 BF15 D00101 0034 D00102 614E D00103 00BC D00104 FC88 D00105 FDB0 D00106 E240 D00107 0001 3456789 123456 38765432 12345678 DIFU R1 R1...

Page 277: ...parameter Nos Pn000 to Pn8FF of the servo driver are as shown below Procedure 1 2 3 1 Set the data in the data area of the transfer source 2 Specify the servo parameter axis 3 Read the parameter setting values for the number needed Axis No Setting value for axis specification 1 0h 2 1h 3 2h 30 1Dh 31 1Eh 32 1Fh Parameter No Address in MC Unit Pn000 7000h Pn001 7001h Pn002 7002h Pn8FD 78FDh Pn8FE 7...

Page 278: ...500 02 W500 05 W500 06 W500 07 W500 06 DIFU W500 05 IORD 7000 00028000 D0110 W500 07 W500 08 W500 08 W500 02 Servo parameter axis specification 6000 Hex Transfer source first address The first address in which the first No of the transferred axis has been set Ex Values in D0100 D0101 No of transferred words 2 words Transfer destination unit No 0 Hex Flag ER Flag First servo parameter No Pn000 No o...

Page 279: ... is restarted from the CPU Unit To preserve the data that has been transferred it must be saved to the Flash Memory in the MC Unit Once it is saved in the Flash Memory it can be read and used from the next time the power is turned ON or the Unit is restarted When the data is saved all the data including parameters existing at that point are saved Note 1 Do not turn OFF the power or restart the CPU...

Page 280: ...nstruction In this example Position data is transferred to the position data address in the MC Unit using the IOWR instruction The transferred position data is then saved in the Flash Memory Program Example Transferring One Data Item R1 R2 R2 IOWR 0456 D00100 00088000 R3 R3 R3 n 0 02 n 15 02 DIFU R1 Execution condition Sets position data in DM area starting from D100 Specifies the first position d...

Page 281: ...75 03 WR1 OK WR1 NG DIFU 013 W375 00 28000 D9520 5001 IOWR 223 WR1 BUSY P_EQ Flag CF003 P_ER Error ER Flag Flag CF006 W375 02 W375 03 W375 01 W300 00 Number of parallel branches Number of parallel branches Parameter save command SET W301 00 Parameter save command DIFU 013 W375 05 Parameter save command W301 00 RESET IOWR 223 0000 D9522 28000 Position Data 1 Position Data 1 Flash memory save comple...

Page 282: ...mand Parameter save command Flash memory save completed 1515 02 W375 07 W300 01 Parameter save command W300 00 000009 000081 000007 000077 W300 01 Parameter save command WR2 OK Position data save command 000010 000083 Position data save command 1500 01 1500 02 W300 01 a78 a83 c1500 c09 c1500 c09 ...

Page 283: ...238 Saving Data Section 5 4 ...

Page 284: ...ion 276 6 1 11 Arithmetic Command 277 6 1 12 Data Used for Operand 281 6 1 13 Virtual Axis 282 6 1 14 I O Axis 283 6 1 15 Parameters having Influence on Axis Operation 284 6 1 16 Coordinate System 285 6 2 Command Overview 286 6 2 1 Command List 286 6 2 2 Command Format 290 6 2 3 Command List Operand List 295 6 2 4 Program Number and Axis Declaration 297 6 2 5 Default Mode and Coordinate System 297...

Page 285: ...xis cannot be shared among several motion tasks simultaneously To use a single axis for multiple tasks exit the program used for the relevant axis After exiting the program run the other programs to be used by the relevant axis There is no need to use the motion tasks in the applications that use only the allocation bit area of the CPU Unit to operate i e applications that do not require the motio...

Page 286: ...obal general variable a simplified interlock can be provided Programming Language Motion tasks are described with the common language 6 1 2 Task Execution Format Motion tasks are executed stepwise and a maximum of 8 tasks can be exe cuted individually in parallel IN OUT IN OUT IN OUT IN OUT CPU Unit MC Unit MECHATROLINK II Device Sequence control Global general variable Motion task MOVE J01 100 MO...

Page 287: ...ely so the stepping of respective blocks can be considered independent as well Basic Concept 1 2 3 1 The maximum number of motion commands that can be executed in a mo tion task in one Unit cycle 1 2 3 4 6 or 8 ms can be specified in MC Units The maximum number of commands is specified using the following pa rameters Unit Versions Earlier Than 3 0 System parameter P00002 Number of parallel branche...

Page 288: ...is value restricts the maximum number of parallel branches as well When the number of parallel branches written in a motion program is smaller than the value in P00002 the value in P00002 is divided by the ac tual number of parallel branches to calculate the number of commands that can be executed simultaneously in the branches If the number of parallel branches written in a motion program is grea...

Page 289: ...ck Operation Mode regardless of SINGLE MULTI one block is executed at a time Operation image It takes three cycles to execute one single execution command and the maxi mum number of simultaneous executions is set to four No parallel branching The diagram below is the operation image of the above table if 3 single execu tion commands are axis movement commands for Axis 1 2 and 3 and all the multipl...

Page 290: ...operation image of the above table if 4 single execu tion commands No 2 3 6 and 9 are axis movement commands for Axis 1 2 3 and 4 and all the multiple execution commands are operation related arithmetic logic etc commands Speed of Axis No 1 Operation related commands Time Speed of Axis No 2 Speed of Axis No 3 Time Time Time No Command Cycle Comments 1 2 3 4 5 6 7 8 9 10 11 12 1 SINGLE Not axis mov...

Page 291: ...hree cycles to execute one single execution command and the maxi mum number of simultaneous executions is set to two The number of parallel Branches is set to two In this case the number of simultaneous executions per branch is one The following diagram can be applicable as for an operation image if the sin gle execution commands moving axes 1 and 2 while the multiple execution commands perform ca...

Page 292: ... commands Note 1 JOINT command is treated as a single execution command because it al ways waits for completion of the previous block execution 2 JWAIT command is treated as a single execution command because it al ways waits for completion of JOINT command s execution in each se quence Speed of axis No 1 Time Time Time Time Speed of axis No 2 Operation related command Left branch Operation relate...

Page 293: ...s with the following system parameters makes it possible to select symmetrical asymmetrical acceler ation deceleration patterns Acceleration deceleration time cannot be changed during axis movement Motion task main programs Program numbers 0 499 Motion task sub programs Program numbers 500 999 Block 2 N 800 Command Comment NSTOP ABL INC Command Comment No Name Usage P00M02 Interpolation feed accel...

Page 294: ...aximum rapid feed rate P2AA05 Rapid feed acceleration time P2AA06 Rapid feed deceleration time P2AA07 Manual feed acceler ation time Axis control bits JOG STEP Machine origin return Origin search P2AA08 Manual feed deceler ation time No Name Usage Speed Trapezoidal Waveform S curve Waveform Time S curve time constant Delay until operation reaches the intended speed 0 No Name Usage P00M04 Interpola...

Page 295: ...feed deceleration time 2 P00M06 pass mode 2 or 3 The rates of acceleration and deceleration will be maintained while moving in a triangular curve This setting differs from P00M06 pass mode 0 or 1 in that the maximum interpolation feed rate is used when calculating the acceleration and decel eration times P00M01 Maximum interpolation feed rate P00M02 Interpolation feed acceleration time P00M03 Inte...

Page 296: ...05 Interpola tion feed S curve time constant MOVEC P00M02 Interpola tion feed acceleration time Refer to Acceleration Deceleration Times and Pass Mode page 254 for details P00M03 Interpola tion feed deceleration time Refer to Acceleration Deceleration Times and Pass Mode page 254 for details Time P00M04 Interpola tion feed S curve filter enable P00M05 Interpola tion feed S curve time constant DATU...

Page 297: ...M table Depending on the CAM table Depending on the CAM table CONNECT SYNC P2AA05 Rapid feed acceleration time Note When trailing Acceleration deceler ation Note When trailing ADDAX SPEED Specified by operand T Specified by operand T Time TORQUE Specified by operand T Specified by operand T Time Axis opera tion end SYNCR P2AA05 Rapid feed acceleration time P2AA06 Rapid feed deceleration time Accel...

Page 298: ...itions for Pass Mode The following setting and programming conditions must be met to enable con tinuous axis operation without stopping in pass mode 1 2 3 1 The number of parallel branches P00002 divided by the number of paral lel branches in the program must be 2 or higher Ex If P00002 is set to 4 and there are no parallel branches used in the pro gram i e if the number of branches in the program...

Page 299: ...ifically the numbers of the parameters where the acceleration decelera tion times are set are substituted for input variables to specify acceleration deceleration times This called bank selection Bank selection is possible not only in pass mode but also in stop mode PRGRAM P000 Q00000003 PARAM P00111 100 Interpolation feed acceleration time bank 1 for task 1 PARAM P00112 200 Interpolation feed acc...

Page 300: ...bank 3 0 60000 100 ms P00M14 Interpolation feed acceleration decelera tion time bank 4 0 60000 100 ms P00M15 Interpolation feed acceleration decelera tion time bank 5 0 60000 100 ms P00M16 Interpolation feed acceleration decelera tion time bank 6 0 60000 100 ms P00M17 Interpolation feed acceleration decelera tion time bank 7 0 60000 100 ms P00M18 Interpolation feed acceleration decelera tion time ...

Page 301: ...for motion task 6 0 10 0 IW0A06 00 15 Acceleration deceleration bank selection for motion task 7 0 10 0 IW0A07 00 15 Acceleration deceleration bank selection for motion task 8 0 10 0 No Bits Name Setting range Initial value 100000 Ta Td Tp 200000 Speed Time P00M06 Acceleration time Ta Passing time Tp Deceleration time Td Value Meaning 0 Interpolation acceleration time Pass mode with fixed accelera...

Page 302: ...ng deceleration Parameter No IORD IOWR Address Name Bits Value Initial value P00004 5003h Unit func tion select 13 Interpolation acceleration deceleration bank switching option Selects the bank switching method for acceleration and deceleration times used dur ing interpolation accelera tion deceleration 0 Selects the same banks for acceleration and deceleration times 1 Selects different banks for ...

Page 303: ...Uses P00M11 to P00M15 as interpolation feed acceler ation time Other P00M02 Uses interpo lation feed acceleration time IW0A01 Acceleration deceleration bank selection for motion task 2 Motion task 2 acceleration time bank selection IW0A02 Acceleration deceleration bank selection for motion task 3 Motion task 3 acceleration time bank selection IW0A03 Acceleration deceleration bank selection for mot...

Page 304: ...eleration time bank selection IW0A0F Reserved Motion Task 8 deceleration time bank selection Variable address P00004 13 0 P00004 13 1 Name Specification Name Specification Value of P00M06 Operating mode P00004 13 0 P00004 13 1 Acceleration time Deceleration time Acceleration time Deceleration time 0 Interpolation acceleration time Pass mode with fixed acceleration disabled Pass Mode Bank selection...

Page 305: ...000 Command position exceeds 20000 IW0A00 1 Acceleration bank 1 specification IW0A08 1 Deceleration bank 1 specification ABL MOVEL J01 0 F1000000 WAIT SL0204 80000 Command position exceeds 80000 IW0A00 2 Acceleration bank 2 specification IW0A08 2 Deceleration bank 2 specification ABL MOVEL J01 100000 F1000000 END 3 Interpolation deceleration time Pass mode with fixed acceleration enabled Pass Mode...

Page 306: ... exceeds 170000 IW0A00 3 Acceleration bank 3 specification ABL MOVEL J01 300000 F600000 ABL MOVEL J01 400000 F1000000 END Interpolation deceleration time Fixed acceleration pass mode disabled P00106 1 Enabled when the block executed after parameter change begins to deceler ate Program Example Set P00M11 to P00M15 P00M16 to P00M20 beforehand 0 Ta0 Td0 Ta1 Td1 Ta2 Td2 Speed Interpolation acceleratio...

Page 307: ...celeration time Fixed acceleration pass mode enabled P00106 3 Enabled when block after parameter change is executed Program Example Set P00M11 to P00M15 P00M16 to P00M20 beforehand Execution with PROG P0002 Q0001 motion task 1 PMD IW0A00 1 Acceleration bank 1 specification IW0A08 1 Deceleration bank 1 specification ZRN JO1 0 ABS MVS J01 100000 F600000 IOW SL0204 20000 Command position exceeds 2000...

Page 308: ...speed after override for MOVET command Override Changing Speed with the PLC The speed can be changed during operations by multiplying override to the rapid feed rate The axis override is used for rapid feed rate Range of the axis override is between 0 and 327 67 When a value outside of the range is set the override 0 is used For details of the axis override see 7 4 4 Axis Control Bits Axis Status ...

Page 309: ...327 67 Examples of Actual Calculated Speed Are Shown in the Following Ta ble Interpolation Feed Rate Interpolation Feed Rate The feed rate for the axis movement commands MOVEL MOVEC and MOVETRAV can be set in the Operand F in motion programs Overwriting the value in F can change the feed rate though it is not valid during operations During motion program execution the previously specified interpol...

Page 310: ... feed rate for the axes the maximum speed of the axis that has the longest travel distance the fastest axis will be used as the upper limit For details on the task override see 7 4 3 Motion Task Control Bits page 443 Command Speed limit operation MOVEL Interpolation feed rate is limited in order to prevent the speed of the axis that has the longest travel distance from exceeding the speed specifie...

Page 311: ...esent position latch Detects latch position The trigger to store the latch position Variable Specifications Remark Output variables Axis status bits bit 10 Counter latch completed 0 Started to execute function that requires counter latch 1 Completed counter latch Relation to SW022A 0 SW022A 0 1 2 1 SW022A 3 4 System variables SW022A 30 Axis No 1 0 No latch request 1 Parameter being overwritten 2 L...

Page 312: ...is Link operation Electronic CAM Synchronous Electronic shaft Trailing synchronization Travel distance super impose Speed control Torque control Trailing synchronization cancel Travel distance super impose cancel Speed control cancel Torque control cancel Target position change Parameter value change Workpiece coordinate system OFFSET change Present value latch Classification Function Name Command...

Page 313: ... D D A B B B B A A A Trailing synchro nization SYNC Master A A A C C A A A C F C F A F C F A A A A B B I I B A A C SYNC slave Completed E E E E E E E E A E A E A E A E A A D D A B B B B A A A Not Completed E E E E E E E E A E A E A E A E A A D D A B B B B A A A Axis operation Travel distance superimpose ADDAX Master A A A A A A A A A A A A A A A A A A A A B B I I B A A A ADDAX Slave A A A A A A A ...

Page 314: ...M ADDAX S SPEED TORQUE SYNCR ADDAXR SPEEDR TORQUER MOVEMODI PARAM OFFPOS LATCH Meaning A Can be executed B The function executed later will be ignored C Can be executed when no latch is requested However when latch is being requested and the function is executed the alarm 301Ah Counter latch resource violation will occur and the program will be interrupted Also if the function is executed when wri...

Page 315: ...de error will occur Position Torque Execute TORQUE command when the axis is being stopped When executing TORQUE command during axis movement the alarm 2014 Control mode error will occur Speed Position Execute a command for position con trol mode after SPEEDR command was executed to switch to the position control mode When executing a command for position control mode without executing SPEEDR comma...

Page 316: ...d feed S curve filter disable END When MOVEL MOVE command was executed in Stop Mode Program example PROG P0001 Q00000001 STOPMODE INC MOVEL J01 10000 F100000 INC MOVE J01 10000 END 6 1 6 Synchronous Command There are five different types of synchronous commands MOVELINK Link operation start CAMBOX Electronic cam synchronous CONNECT Electronic shaft SYNC Trailing synchronization ADDAX Travel distan...

Page 317: ...arm will not occur and a new synchronous operation will be established Program Restart When a program is stopped after establishing synchronization and resumed the following operations will be as described below depending on the com mand MOVELINK CAMBOX The latest interrupted synchronization is re executed Whether the condition for starting the synchronization is met or not met will be reflected w...

Page 318: ...ies not in the resolution for 1 motor rotation on each motor but in the relations on travel distances between the master and slave axes in synchronization An example is shown using the following parameters Program MOVELINK J02 6000 J01 100 A50 D50 Q5 I0 B0 According to the conditions mentioned above the travel distance pulse of each axis for linking distance will be as follows PROG P000 Q00000003 ...

Page 319: ...nd exe cution completion the program can execute a single execution command axis movement etc on a slave axis different from the one previously used However when a new single execution command such as axis movement etc is to be executed after completion of the previous synchronous operation the operation of the new command is started specifying the same slave axis as the one previously or currentl...

Page 320: ... the operation of J01 4 Monitoring the command execution status of the system variable SW0228 for Axis 1 the advancement of task 1 is held until the com mand code becomes 0000 no axis movement 5 J01 is finished with the MOVELINK command of 1 after 4 another sin gle execution command can be executed 6 1 7 Modal Data Data that is selected by the following commands and that can be omitted later in th...

Page 321: ... however the actual resolution is deter mined based on the system scan cycle remainder to be omitted 6 1 10 Conditional Expression Conditional expressions can be used for the following commands Conditional expressions are shown in the following table Immediate values or variables are the only the objects of comparison If other data types are used the program cannot be downloaded 2 PASSMODE STOPMOD...

Page 322: ...umber type Long type Word type Operation is performed with the type of the highest priority and the opera tion result is converted to the type on the left and stored Integer immediate value is treated as long type and decimal immediate value is treated as real number type Less than Immediate value or Variable Immediate value or Variable Equal to or greater than Immediate value or Variable Immediat...

Page 323: ... the opera tion numerical value range Yes Yes Read No Yes Yes Yes Yes Multiply MW MW MW 1st Term No No Write No Yes Yes Yes No 2nd Term Within the opera tion numerical value range Yes Yes Read No Yes Yes Yes Yes 3rd Term Within the opera tion numerical value range Yes Yes Read No Yes Yes Yes Yes Divide MW MW MW 1st Term No No Write No Yes Yes Yes No 2nd Term Within the opera tion numerical value r...

Page 324: ...m No No Write No Yes No Yes No 2nd Term Within the opera tion numerical value range Yes Yes Read No Yes No Yes No Tangent TAN MF TAN MF 1st Term No No Write No No No Yes No 2nd Term Within the opera tion numerical value range Yes Yes Read No No No Yes No ARC Sine ASIN MF ASIN MF 1st Term No No Write No No No Yes No 2nd Term Within the opera tion numerical value range Yes Yes Read No No No Yes No A...

Page 325: ...pecified bit OFF RESET MB RESET MB MB 1st Term No No Write Yes No No No No Logic operation expres sion Shift right SFTR SFTR MB N Object to be shifted No No Write No Yes Yes No No Shift amount Object to be shifted is the word type 1 to 16 Object to be shifted is the long type 1 to 32 Yes No Read No Yes No No No Shift left SFTL SFTL MB N Object to be shifted No No Write No Yes Yes No No Shift amoun...

Page 326: ...d No Yes Yes No Yes Block transfer XFER XFER MW MW N Begin ning of transfer source No No Read No Yes No No No Begin ning of transfer destina tion No No Write No Yes No No No No of transfers Both transfer source and desti nation are Sys tem variable 1 to 2048 address Global general variable 1 to 8192 address Input variable 1 to 4096 address Output variable 1 to 4096 address Task variable 1 to 128 a...

Page 327: ...xis machine lock Ignored IORD IOWR of Servo parameters PARAM command Alarm 2019h Parameter setting error will occur and the program is stopped IORD IOWR Error completion the Support Tool Required as well as the real axis Only writing into MC Unit possible Origin search Same operation as machine origin return Positioning to the origin Hardware OT Does not operate because external input cannot be in...

Page 328: ...eed 2 Always 0 Error Always 0 Torque command value Always 0 Workpiece origin shift amount Same as for the real axis Origin margin Always 0 No of multi turns Same as for the real axis MECHATROLINK servo status Always 0 Absolute position setting value Always 0 Error on the communica tion path Synchronous communication error etc Does not occur Function item Specifications Function item Specifications...

Page 329: ...ble M task P00M05 Interpolation S curve Time Constant M task P00M06 Pass Mode Select M task P00M07 Modal Data Initial Value 1 Move Command Value Select M task P00M08 Modal Data Initial Value 2 Operating Mode Select M task P00M09 Modal Data Initial Value 3 Interpolation Feed rate M task P00M10 Interpolation Speed Multiplier with Decimal Point Axis allocation P1AA01 Physical axis setting Axis speed ...

Page 330: ... do with either motion programs or motion tasks The coordinate system select coordinate system type and No that have been set by ORIGIN WORK command is the data for each motion pro gram It has nothing to do with axes or motion tasks Axis machine P5AA03 Speed Multiplier with Decimal Point Axis machine P5AA04 Command unit One Machine Rotation Axis machine P5AA05 Gear Ratio 1 Motor Rotation Speed Axi...

Page 331: ...uting End Command If a program is ended using the END command neither the offset value nor coordinate system select are initialized 6 2 Command Overview 6 2 1 Command List There are two types of commands for the MC Unit Single Execution Command In a motion task two or more commands of this type cannot be executed together in one scan It can be executed simultaneously however with multiple executio...

Page 332: ...OPERATION MOVELINK S Synchronizes the slave to the master based on travel distance of the master in acceleration and deceleration Depends on the link option ELECTRONIC CAM SYNCHRONOUS CAMBOX S Executes cam operation accord ing to cam table and master axis Depends on the link option ELECTRONIC SHAFT CONNECT S Synchronizes the slave to the master in a fixed ratio to the master axis Synchronization e...

Page 333: ...TOPMODE M Waits for in position in each interpolation block Mode change com pleted MACHINE COORDI NATE SYSTEM SELECT ORIGIN S Sets coordinate system to machine coordinate system Coordinate system change completed WORKPIECE COORDINATE SYS TEM SELECT WORK S Sets coordinate system to work piece coordinate system Coordinate system change completed WORKPIECE COORDINATE SYS TEM OFFSET CHANGE OFFPOS M Ch...

Page 334: ...i tions Condition check completed ELS M ENDIF M No block being exe cuted REPEAT WHILE WHILE M Repeats until a given condition is satisfied Condition check completed WEND M No block being exe cuted REPEAT FOR FOR M Repeats for a given number of times variable constant or immediate value Condition check completed NEXT M No block being exe cuted PARALLEL EXECU TION PARALLEL S Executes specified secti...

Page 335: ...ine Result assigned ARC TANGENT ATAN x Finds the arc tangent Result assigned SQUARE ROOT SQR x Finds the square root Result assigned EXPONENT EXP x Finds the exponent Result assigned NATURAL LOGA RITHM LOG x Finds the natural logarithm Result assigned DECIMAL FRAC x Finds the decimal portion Result assigned SIGN SGN x Returns 1 for 0 or greater and 1 for negative values Result assigned Bit opera t...

Page 336: ... gle axis CAM_ axis name Cam table number K displacement data multiplier T execu tion time S starting data number E ending data number Axis opera tion Link operation MOVELINK_ slave axis name slave axis travel distance master axis name master axis travel distance A master axis travel distance in acceleration D master axis travel distance in deceleration Q link option I link start position B master...

Page 337: ...r parameter setting value Pass Mode PASSMODE Stop Mode STOPMODE Machine coordinate system select ORIGIN Workpiece coordi nate system select WORK_C workpiece coordinate system number Workpiece coordi nate system offset change OFFPOS_C workpiece coordinate system number axis name workpiece coordinate system offset amount 8 Present position latch LATCH_ axis name latch position storing variable I lat...

Page 338: ...1 JOINT processing N JWAIT Selective execution SWITCH_ conditional variable CASE_ conditional constant processing 1 BREAK DEFAULT processing N SEND No operation single NOPS No operation multi ple NOPM Simple arithmetic operation Assign variable numerical value Add variable numerical value numerical value Subtract variable numerical value numerical value Multiply variable numerical value numerical ...

Page 339: ...e LOG numerical value Decimal variable FRAC numerical value Sign variable SGN numerical value Bit opera tions Specified bit ON variable SET logic operation expression Specified bit OFF variable RESET logic operation expression Shift right SFTR shift object variable _N shift amount Shift left SFTL shift object variable _N shift amount Data opera tions BCD BIN variable BIN numerical value BIN BCD va...

Page 340: ...PEEDR No numerical value specified TORQUE Specified torque TORQUER No numerical value specified MOVEMODI Changed target position PARAM Servo parameter number OFFPOS Workpiece coordinate system offset amount LATCH Latch position storing variable A MOVELINK Master axis travel distance at acceleration Travel distance at acceleration B MOVELINK Master axis classification Indicates the master axis clas...

Page 341: ...number and program number PROG Program number GOSUB Sub program number Q MOVEC Rotation direction specification Indicates option items MOVETRAV Operating mode MOVELINK Link option CAMBOX Link option PROG Axis declaration R MOVEC Radius Indicates radius S CAM Starting data number Indicates the start number and number of steps CAMBOX Starting data number FOR Number of increment steps T MOVET Positio...

Page 342: ... and coordinate systems can be used when executing com mands The following table shows the default settings for these Program No Program 0000 0499 Main program for motion tasks 0500 0999 Sub program for motion tasks J32 J31 J30 J29 J28 J27 J26 J25 J24 J23 J22 J21 J20 J19 J18 J17 J16 J15 J14 J13 J12 J11 J10 J09 J08 J07 J06 J05 J04 J03 J02 J01 0 0 0 0 2 8 0 E Coordinate system General description Co...

Page 343: ...rd data with a sign in the MC Unit 2 The actual value is determined by the setting value of the parameter P5AA02 Position command decimal point position Description The MOVE command executes positioning at rapid feed rate specified in the parameter P2AA03 Rapid feed rate to the position specified with the position command value If multiple axes are specified all axes start moving simultaneously Th...

Page 344: ...avel distance of each axis determines completion of the movement MOVE command execution will be completed when positioning for all the specified axes is completed in position During the command execution the command code 0001h is output to the system variable Command execution status SW0228 for Axis 1 For details of command codes see 4 5 System Variables Command Code in Command Execution Status on...

Page 345: ...ecimal point position Description The MOVEL command executes linear interpolation at the specified inter polation feed rate to the position specified with the position command value The interpolation feed rate indicates the combined speed of all the speci fied axes The MOVEL command execution will be completed when the travel dis tance command output for all the specified axes is completed or No 2...

Page 346: ...terpolation can be performed Specifying the number of turns for helical circular interpolation can realize winding operation with multi turns Command type Single execution command 1 0 1 0 1 0 1 0 Combined speed F Axis n speed Time Axis m speed Motion task status data Executing block No Axis n status bit Axis operating Axis n status bit Positioning completed Axis m status bit Axis operating Axis m ...

Page 347: ...tion command decimal point position 4 The actual value is determined by the setting value of the parameter P00M10 Interpolation feed decimal point position 5 When P00004 bit01 0 ABL specification disable there is no influence and INC specification is always used Operand Setting range Decimal Variable specification INC ABL influ ence Bit Word Long word Real number Indirect specifi cation Rotation d...

Page 348: ...4 bit01 Circular arc interpolation center position When specifying the radius radius is always treated as the distance to be moved from the present position The unit system of the horizontal axis is used for the radius Operand Setting range Decimal Variable specification INC ABL influ ence Bit Word Long word Real number Indirect specifi cation Rotation direction 1 1 No No Yes See note 1 Yes Yes Se...

Page 349: ...ear axis command value are added helical circular interpolation can be realized If Number of turns is specified to realize multiple rotations for helical circular interpolation the end position has to be specified Interpolation feed rate is handled as shown in the table below depending on the interpolation type and the setting of the parameter P00004 bit00 Helical circular interpolation speed Inte...

Page 350: ...along the rotating angle When executing circular interpolation on the axis with S curve filter set ting an arc larger than the specified arc may be drawn The greater the S curve time constant is the greater the overshoot amount Specified arc Actual arc will be Operate only after thorough adjustment is made Origin Search DATUM The DATUM command performs an origin search for the specified axis Comma...

Page 351: ...ut signal is used as origin proximity input sig nal for origin search method 1 and 3 P4AA06 Origin determine sig nal 0 Phase Z C 1 External input signal 1 2 External input signal 2 3 External input signal 3 Sets the signal to determine latch the origin P4AA07 Origin search feed rate 1 to 2147483647 It is limited by 32767 command unit unit scan Specifies the speed for the 1st level of the 3 level s...

Page 352: ...n becomes the origin There is no axis movement Limit reversal It is durable even if the relations between the present position and the origin are not constant Operation start The operation is started in the origin search start direction at the origin search feed rate CW CCW input The operation direction is reversed Origin proximity signal input ON Changes the speed to the origin search approach sp...

Page 353: ...es below the decimal point are to be omitted Description Positioning is executed to the position specified with the position com mand value at the speed specified in the parameter P2AA03 Rapid feed rate If a signal specified in the parameter P5AA08 External input signal select 1 is input during positioning positioning is executed at the speed specified with Speed after signal input and for the dis...

Page 354: ...d to long word data with a sign in the MC Unit 2 The actual value is determined by the setting value of the parameter P5AA02 Position command decimal point position Description Positioning is performed to the position specified with the position com mand value within the time period specified with the positioning time Speed of each axis is determined by the following expression Speed of each axis ...

Page 355: ...positioning time specified cannot be kept Positioning time does not include the time required for completing in posi tion check MOVET command execution will be completed when positioning for all the specified axes is completed in position During the command execution the command code 0006h is output to the system variable Command execution status SW0228 for axis 1 For details of command codes see ...

Page 356: ...or axis 6 The actual value is determined by the setting value of the parameter P00M10 Interpolation feed decimal point position 7 Position command decimal point position Operand Setting range Decimal Variable specification INC ABL influ ence Bit Word Long word Real number Indirect specifi cation Operating mode 1 2 3 or 4 No No Yes See note 1 Yes Yes See note 2 Yes No Winding axis rota tions 214748...

Page 357: ...ve or negative value specified in Winding axis rotations corre sponds to the rotation direction CCW or CW respectively Note The winding axis should be operated in the unlimited feed mode If it is operated in the limited feed mode the alarm 3015h Axis classification error will occur Traverse axis winding width specifies the traverse width No of winds per layer No of pitches Unit is command unit Whe...

Page 358: ...ion time S starting data number E ending data number Ex CAM_ J01 1 K100 00 T500 Operand Axis name J01 to J32 Note 1 Word data is extended to long word data with a sign in the MC Unit 2 Figures below the decimal point are to be omitted 3 The minimum command unit is 0 01 4 When CAM table is specified The greatest CAM data number in CAM ta ble When specifying with global variable 8188 1FFC Hex When s...

Page 359: ...ecification error will occur The CAM operation from the starting position to the ending position is executed within the execution time specified in T Execution time When either of the following conditions is met the phase will return to 0 i e to the beginning or end of the table and data is read Note that this operation is executed only when the CAM data is used as the CAM table If the specificati...

Page 360: ...Restriction on phase To use the CAM data for CAM Electronic cam single axis and CAM BOX Electronic cam synchronous commands the phase data should be arranged in an ascending order i e the greater the data number is the larger the phase will be 7 3000 13600 8 3500 16400 9 4000 18400 10 4500 19600 11 5000 20000 12 5500 19600 13 6000 18400 14 6500 16400 15 7000 13600 16 7500 10000 17 8000 6400 18 850...

Page 361: ...eration D master axis travel distance in deceleration Q link option I link start position B master axis classification Ex MOVELINK_ J02 2000 00 J01 100000 00 A2000 00 D2000 00 Operand Axis name J01 to J32 Data Restriction CAM data Even with the starting and ending points specified the other data will not be ignored Therefore the conditions mentioned above have to be met even for the unused area Po...

Page 362: ...axis travel distance Master axis travel distance in acceleration and Master axis travel distance in deceleration as shown in the table below Link start position 2147483648 to 2147483647 Yes No Yes See note 1 Yes Yes See note 2 Yes No See note 5 Master axis classifi cation 0 or 1 No No Yes See note 1 Yes Yes See note 3 Yes No Operand Setting range Decimal Variable specification INC ABL influ ence B...

Page 363: ...Slave axis travel distance Slave axis travel distance in acceleration Slave axis travel distance in deceleration Decelera tion Master axis travel distance in decelera tion Interval Master axis Slave axis Slave axis travel distance Master axis travel distance in deceleration 2 Master axis travel distance in acceleration 2 Master axis travel distance at constant speed Master axis travel distance in ...

Page 364: ...and in line 1 has not yet completed processing one unit cycle thereby cancelling this portion of the unit cycle upon the execution of line 3 To deal with this problem insert a NOPS command after the MOVE command as shown below By inserting the NOPS command the MOVELINK command will be executed after line 1 is completed Unit Versions Before Unit Ver 3 0 If the next operation is executed while the M...

Page 365: ...ion area in the first MOVELINK command part of the deceleration area will be eliminated when switching to the next command If there is no deceleration area in the first MOVELINK command the axis will travel the expected travel distance 4 MOVELINK MOVELINK As above Case First command Next command Remarks 1 CAMBOX CAMBOX Moves the expected travel distance 2 CAMBOX MOVELINK Moves the expected travel ...

Page 366: ...ave axis travel dis tance output completed CAMBOX 0 or omitted Slave axis travel distance output com pleted 1 Command execution started 8 Slave axis travel dis tance output completed 9 Command execution started MOVELINK 0 or omitted Slave axis travel distance output com pleted 1 Command execution started MOVELINK 0 or omitted Slave axis travel distance output com pleted 2 Slave axis travel dis tan...

Page 367: ...nd Setting range Decimal Variable specification INC ABL influ ence Bit Word Long word Real number Indirect specifi cation CAM table number 1 to 32 100 200 No No Yes See note 1 Yes Yes See note 2 Yes No Link distance 0 to 2147483647 Yes No Yes See note 1 Yes Yes See note 3 Yes No See note 4 Displacement data multiplier 20000 to 20000 Yes No Yes See note 1 Yes Yes See note 5 Yes No Starting data num...

Page 368: ...ed When slave axis travel distance output is completed When command execution is started Repeat 1 When command execution is started When command execution is started Repeat 2 When slave axis travel distance output is completed When latch for master axis is detected Repeat 3 When command execution is started When latch for master axis is detected Repeat 4 When slave axis travel distance output is c...

Page 369: ...Command Execution Status on page 158 Phase and Displacement of CAM Data Restriction on phase To use the CAM data for CAM Electronic cam single axis and CAM BOX Electronic cam synchronous commands the phase data should be arranged in an ascending order i e the greater the data number is the larger the phase will be When specifying the starting and ending points the restriction varies depending on t...

Page 370: ...ommand in line 1 has not yet completed processing one unit cycle thereby cancelling this unit cycle upon the execution of line 3 To deal with this problem insert a NOPS command after the MOVE command as shown below By inserting the NOPS command the CAMBOX command will be executed after line 1 is completed Unit Versions Before Unit Ver 3 0 If the next operation is executed while the Master axis is ...

Page 371: ...vel the expected distance even if the following opera tions are performed while the Master axis continues to travel Set the link option Q using the following combinations to enable the axes to travel the expected travel distance Case First command Next command Remarks 1 CAMBOX CAMBOX Moves the expected travel distance 2 CAMBOX MOVELINK Moves the expected travel distance 3 MOVELINK CAMBOX Moves the...

Page 372: ...ted Slave axis travel distance output com pleted 1 Command execution is started 8 Slave axis travel dis tance output completed 9 Command execution started MOVELINK 0 or omitted Slave axis travel distance output is completed 1 Command execution started MOVELINK 0 or omitted Slave axis travel distance output com pleted 2 Slave axis travel dis tance output completed 4 Slave axis travel dis tance outp...

Page 373: ... Gear ratio denominator The value in Gear ratio denominator is common for all the slave axes If there are different ratios within one block they are to be reduced to a common denominator to set the ratios A negative value can also be set for Gear ratio numerator which can make the travel directions of the master and slave axes opposite 0 0 Slave axis displacement Master axis phase Cam 1 Cam 2 Cam ...

Page 374: ...variable Command execution status SW0228 for Axis 1 For details of command codes see 4 5 System Variables Command Code in Command Execution Status on page 158 Trailing Synchronization SYNC The Trailing Synchronization SYNC command performs trailing synchroniza tion operation with a specified master axis Command type Single execution command Format SYNC_ slave axis name catch up position offset mas...

Page 375: ...r ON position is specified as the position on the coordinate system of the slave axis If the speed in synchronization exceeds the speed specified in the param eter P2AA01 Maximum rapid feed rate the alarm 3011h Synchroniz ing slave axis excessive speed will occur Master axis classification determines whether to synchronize the slave axis with the master axis command value or feedback value SYNC co...

Page 376: ... the param eter P2AA03 Rapid feed rate So acceleration or deceleration may occur depending on the speed at the start of command execution The deceleration for deceleration stop observes the speed determined by the setting values in the parameter P2AA03 Maximum rapid feed rate and P2AA06 Rapid feed deceleration time When Travel distance for deceleration stop is not specified behavior will vary depe...

Page 377: ... name B master axis classifica tion ADDAXR_ slave axis name 8 Ex ADDAX_ J02 J01 ADDAXR_ J02 Operand Axis name J01 to J32 Note 1 Word data is extended to long word data with a sign in the MC Unit 2 Figures below the decimal point are to be omitted Description The travel distance of the specified master axis is superimposed onto the slave axis operation Master axis classification determines whether ...

Page 378: ...xample Speed Control Speed Control Cancel SPEED SPEEDR The speed of the axis is controlled in the speed control mode Command type Single execution command Format SPEED_ axis name speed command value 8 _T speed change rate SPEEDR_ axis name 8 _T speed change rate Ex SPEED_ J01 100 00 J02 100 00 _T100 SPEEDR_ J01 J02 _T100 Superimposed only for this interval Master axis Slave axis ADDAXR command ADD...

Page 379: ...imal point are to be omitted 4 There is no influence ABL specification is always used Description The speed command is output to the specified axis The speed command unit is specified in the parameter P00004 bit02 Unit function select Speed command value P00004 bit02 0 0 01 of the rated speed P00004 bit02 1 0 01r min If Speed change rate is set to 0 the specified speed is output instantly If the m...

Page 380: ...e mode can be switched from the speed control mode to the position control mode To change the speed of SPEED command being executed to the rapid feed rate of MOVE command smoothly the system automatically reads the position loop gain before starting execution of SPEED com mand except for the following cases 1 When the position loop gain before execution of SPEED command is different from the posit...

Page 381: ...Operand Axis name J01 to J32 T1 T2 T3 T4 V2 V3 T3 Program Image SPEED J01 V1 T T1 Speed control started SPEED J01 V2 T T2 Speed changed SPEED J01 V3 T T3 Speed and direction changed SPEEDR J01 T T4 Speed control completed Speed Rated Speed Rated Speed Time Operand Setting range Decimal Variable specification INC ABL influ ence Bit Word Long word Real number Indirect specifi cation Torque command v...

Page 382: ...is value can be used as the output torque default value Torque change rate is enabled for all the specified axes TORQUE command execution will be completed when the torque com mand for all the specified axes reaches Torque command value The TORQUER command is processed as follows 1 The torque command is deceleration for all specified axes according to the torque change rate and the torque command ...

Page 383: ...Multiple execution command Format MOVEMODI_ axis name changed target position 8 Ex MOVEMODI_ J01 100 00 J02 200 00 Operand Axis name J01 to J32 T1 T2 T3 T4 Tq1 Tq2 Tq3 T3 Program image TORQUE J01 Tq1 T T1 Torque control started TORQUE J01 Tq2 T T2 Torque changed TORQUE J01 Tq3 T T3 Torque and direction changed TORQUER J01 T T4 Torque control completed Torque Max Torque Max torque Time Operand Sett...

Page 384: ...ation deceleration on the axis of MOVEMODI object are as shown in the table below MOVEMODI command execution is completed when the target position is changed internally and completed successfully There is no influence of the operation status of the axis whose target position has been changed Speed status Remaining travel distance When remaining travel distance is increased When remaining travel di...

Page 385: ...is operations positioning is performed with relative specification Command type Multiple execution command Format INC INC_ other command Ex INC_MOVE J01 1000 00 J02 2000 00 Operand Nil Description Command values after INC command are interpreted as incremental incre mental value specification 1 0 1 0 Speed Rapid feed rate Target position change command Positioning up to this point is performed wit...

Page 386: ...ain If a parameter that cannot be changed is changed the alarm 2019h Parameter setting error will occur Parameters changed using PARAM command remains enabled until any one of the following is executed 1 Power is turned ON or Unit is restarted 2 PARAM command is executed 3 Parameter is changed using IOWR instruction 4 Parameter is downloaded from a the Support Tool PARAM command execution will be ...

Page 387: ...tion for the next block will start after speed decreases to 0 and positioning enters No 2 in position range Interpolation 1 Interpolation 2 Interpolation 3 P00M06 Name Operation 0 Interpolation acceleration time Acceleration disabled Operation proceeds to the next using interpolation acceleration time of the previous block 1 Interpolation deceleration time Acceleration disabled Operation proceeds ...

Page 388: ...inate system number Ex WORK_C1 Operand Note 1 Word data is extended to long word data with a sign in the MC Unit 2 Figures below the decimal point are to be omitted 3 There are three workpiece coordinate systems for each axis Description Coordinate values after WORK command are treated as values on the workpiece coordinate system There are three workpiece coordinate systems for each axis and they ...

Page 389: ...specification is always used Description Offset value of the workpiece coordinate system is changed The offset amount between the machine coordinate system origin and the workpiece coordinate system origin is specified in Workpiece coordinate system offset value 4000 0 9000 15000 0 3000 10000 12000 15000 14000 20000 20000 Machine coordinate system Workpiece coordinate system Positioning to 20000 1...

Page 390: ... specified axis is stored The latched position is assigned in Latch position storing variable Latch signal is accepted only in the sections specified in Latch check start position and Latch check end position The latch position assigned in Latch position storing variable Latch check start position and Latch check end position are values on the coordinate system currently being selected Present pos...

Page 391: ...it is waiting for a latch signal after executing LATCH command in which the latch check position has been specified When Latch check start end positions are specified in LATCH command the motor parameters 900A Latch range No and 900B Latch range No in the servo driver will be automatically updated Restarting the MC Unit or restoring power only to the MC unit including temporary power interruption ...

Page 392: ...clear the range Example 3 LATCH Jxx xxxxxx Latch range cleared latch resource acquired LATCH Jxx xxxxxx I0 J0 Latch resource released DATUM Jxx Origin search Execute PARAM command to clear the range Example 4 PARAM Jxx 820 0 Servo parameter positive latch possible range cleared PARAM Jxx 822 0 Servo parameter negative latch possible range cleared DATUM Jxx Origin search Single Block Ignored NSTOP ...

Page 393: ...Command disabled enabled is OFF Axis status bit Axis not used used is ON Axis status bit Manual Automatic mode is OFF If the axis declared in a sub program cannot be reserved when calling a motion sub program when the axis is used in the main program or in the sub program called by the same main program the alarm 2007h Axis reservation disable will occur The axis declared in a sub program cannot b...

Page 394: ...ecified sub program is called Command type Single execution command Format GOSUB_P sub program number Ex GOSUB_P500 Operand Note 1 Word data is extended to long word data with a sign in the MC Unit 2 Figures below the decimal point are to be omitted Description Sub programs are executed Sub programs can be nested up to 5 levels If the nesting limit is exceeded the alarm 2002h Sub program nesting e...

Page 395: ... specified in Dwell time The unit is in ms During DWELL command execution if the motion program is stopped except for block stop waiting will be cancelled When the program is resumed with the motion task control bit Start Mode 1 resume from where the operation was stopped waiting will be resumed for the remain ing time DWELL command is not an axis movement command however it is the cancel object o...

Page 396: ...ution of the next block will be interrupted and then the block after the interrupted block will be executed Command type Single execution command Format STOPOP_ conditional expression Ex STOPOP_ DW0001 1 The formats of conditional expressions are shown in the following table Immediate values and variables are the only comparison objects If a different data type is used an alarm will occur in pre a...

Page 397: ...and ELSE Multiple execution command ENDIF Multiple execution command Format IF_ conditional expression processing 1 ELSE processing 2 ENDIF Ex IF_ DW0001 1 MOVE J01 100 00 J02 200 00 ELSE MOVE J03 100 00 J04 10 00 ENDIF The formats of conditional expressions are shown in the following table Immediate values and variables are the only comparison objects If a different data type is used an alarm wil...

Page 398: ... WEND The formats of conditional expressions are shown in the following table Immediate values and variables are the only comparison objects If a different data type is used an alarm will occur in pre analysis Operand Nil Description As long as the conditional expression is being satisfied processing between WHILE and WEND is repeatedly executed Processing can be described over multiple lines IF E...

Page 399: ...s for repeat count becomes equal to or greater than Repeat end value When decrementing when No of increment steps is signed minus the condition will be until Repeat end value becomes equal to or greater than Work register for repeat count Number of increment steps specifies the incrementing amount of Work resisters for repeat count If negative value is set it will be the decrement ing amount WHILE...

Page 400: ...J02 200 00 JOINT ABL MOVE J03 100 00 J04 50 00 JWAIT Operand Description Processing for the number of branches specified in PARALLEL command is executed in parallel The parallel branches queue at JWAIT command and parallel branching is completed FOR NEXT False True Processing Add No of increments steps to work registers for repeat count Work registers for repeat count Repeat end value Operand Sett...

Page 401: ...cessing 1 2 and N can be described over multiple lines The following sequence is fixed when commands are executed in the order processing 1 processing 2 and processing N When using PARALLEL_N1 JOINT command cannot be described Selective Execution SWITCH CASE BR EAK SEND Processing is selected and executed depending on the value of the condi tional variable Command type SWITCH Multiple execution co...

Page 402: ...T and SEND commands will be executed If DEFAULT block is omitted nothing will be executed CASE command within processing 1 2 and N is ignored which means that the same processing can be executed under a different condition There is no limit on the number of CASE commands actually the number of blocks per program limits it SWITCH command cannot be used within processing 1 2 and N selec tive branche...

Page 403: ...ectly connected to the PLC or the general purpose output of the MC unit The program example is shown below Program PROG P0001 Q00000001 Program declared MOVE J01 200000 J01 moved to the position 200000 NOPS Block stopped till completion of single execution command MOVE IW0B00 0055 Value output in Unit Cycle of MC unit next to the one where MOVE J01 300000 single execution command NOPS was executed...

Page 404: ...te Being a multiple execution command they are output without waiting for com pletion of the single execution command MOVE Timing chart No Operation Multiple NOPM No processing will occur Command type Multiple execution command Format NOPM Ex NOPM Operand Nil Description No processing will occur however NOPM command functions as a multi ple execution command NOPM command is used when motion progra...

Page 405: ...JWAIT END Timing chart Note Without NOPM command J01 and J02 are started on the timing described below Program PROG P0001 Q00000001 Program declared PARALLEL N2 PL0000 IL0B00 1000 Result of IL0B00 x 1000 assigned to PL0000 PL0001 IL0B02 500 Result of IL0B02 x 500 assigned to PL0001 MOVEL J01 PL0000 F PL0001 J01 moved to the position PL0000 at the speed PL0001 JOINT PL0002 IL0B02 1000 Result of IL0...

Page 406: ...alue on the right side cannot be stored in the left side the alarm 2005h Operation overflow will occur Precaution for Handling the Data Types 1 2 3 1 Bit type When the bit type is used all the operands must be the bit type The integer immediate values 0 and 1 are treated as the bit type 2 Types other than the bit type Types other than the bit type are prioritized in the following order Real number...

Page 407: ...that of the left If the value on the right side cannot be stored in the left side the alarm 2005h Operation overflow will occur Operand Setting range Decimal Variable specification INC ABL influ ence Bit Word Long word Real number Indirect specifi cation First term Variable No No Yes Yes Yes No No Second term Operation numerical value range See note Yes No Yes Yes Yes Yes No Third term Operation n...

Page 408: ...EXCLUSIVE OR the bit type cannot be used for variables Description The logic operation is executed with logic operators on each bit corre sponding to the second and third terms The result will be output to the bit corresponding to the first term If the types are different on both sides the type on the right is converted to that of the left If the value on the right side cannot be stored in the lef...

Page 409: ...rand Note Figures below the decimal point are to be omitted Description The reversed bits NOT on the right side are assigned to the left side If the types are different on both sides the type on the right is converted to that of the left If the value on the right side cannot be stored in the left side the alarm 2005h Operation overflow will occur Precaution for Handling the Data Types 1 2 3 1 Bit ...

Page 410: ...o type ACOS Not executed as an independent command no type ATAN Not executed as an independent command no type SQR Not executed as an independent command no type EXP Not executed as an independent command no type LOG Not executed as an independent command no type FRAC Not executed as an independent command no type SGN Not executed as an independent command no type Format First term Function Second...

Page 411: ...ht side is integer type Input unit is 0 01deg The range of the specified data is 32768 to 32767 0 01deg If input is outside the specified range the alarm 200Fh Other operand error will occur If the value on the right side is real number type Input unit is deg If the value on the left side is integer type The value 10 000 times the actual result is output If the value on the left side is real numbe...

Page 412: ...an independent command no type RESET Not executed as an independent command no type Format First term SET logic operation expression First term RESET logic operation expression Ex MB01000 SET MB01001 MB01002 Operand Description If the logic operation expression on the right side is true SET command turns ON the bit specified on the left side If the logic operation expression on the right side is t...

Page 413: ...s Shift object variable to the right for the amount specified in Shift amount SFTL command shifts Shift object variable to the left for the amount spec ified in Shift amount SFTR and SFTL commands are executed only inside word or long word type variables 6 3 10 Data Operation BCD to BIN BIN BCD data is converted into BIN data Command type Not executed as an independent command no type Format First...

Page 414: ...integer data Block Transfer XFER Data is transferred as a block Command type Multiple execution command Format XFER transfer source first data _ transfer destination first data _N number of transferred data Ex XFER MW1000_ MW1100_N2 Operand 1 2 3 4 0 4 D 2 1234 BCD 1234 binary Operand Setting range Decimal Variable specification INC ABL influ ence Bit Word Long word Real number Indirect specifi ca...

Page 415: ... scans Clear CLEAR The specified data is cleared to 0 Command type Multiple execution command Format CLEAR first cleared data _N number of cleared data Ex CLEAR MW1000_N2 Transfer destination first data Variable No No Yes No No No No Number of trans ferred data System vari able 1 to 2048 address Global general variable 1 to 8192 address Input variable 1 to 4096 address Output vari able 1 to 4096 a...

Page 416: ...l scans Operand Setting range Decimal Variable specification INC ABL influ ence Bit Word Long word Real number Indirect specifi cation First cleared data Variable No No Yes No No No No Number of cleared data Global general variable 1 to 8192 address Input variable 1 to 4096 address Output vari able 1 to 4096 address Task variable 1 to 128 address No No Yes No No No No 0001 0000 0002 0000 0003 0000...

Page 417: ...372 Command Details Section 6 3 ...

Page 418: ...1 4 CPU Unit s Influence 381 7 2 Operating Mode 382 7 2 1 Manual Mode Automatic Mode 383 7 2 2 Manual Mode 384 7 2 3 Automatic Mode 386 7 3 Allocations for the CPU Unit 396 7 3 1 Allocations for the CPU Unit 396 7 3 2 DM Area Words for Unit 20 Words CPU Unit MC Unit 402 7 3 3 Custom Bit Area 411 7 3 4 Custom Data Area 415 7 4 Interface Specifics 420 7 4 1 Unit Control Bits 420 7 4 2 Unit Status Bi...

Page 419: ... PC Area words Allocated DM Area words Custom Bit Area words Custom Data Area words During I O Refresh Control Status When the power is ON or re starting Area range setting MC Unit Motion program Startup Stop Command analysis General input Status General output Com mand Variable Set the Custom area range to use Area Brev ity Direction Usage Remark No of words min No of words max Allocated PC AREA ...

Page 420: ...d the MC Unit s Unit Cycle are exactly the same There is a possibility that none of data is notified to the MC Unit In this case set a longer or shorter Cycle Time for the CPU Unit 7 1 3 Allocated Area List Word Allocation Based on the Unit Number The bit area and the range of respective DM areas are allocated based on the unit number of the Unit CPU Bus Unit Allocated Bit Area Words 25 words are ...

Page 421: ...ge setting in the allocated DM area words The area range setting is used when the power is turned ON for the first time Therefore if changed afterwards it will be ignored The change will be enabled at the next power ON 3 Word 1575 1599 11 Word 1775 1799 4 Word 1600 1624 12 Word 1800 1824 5 Word 1625 1649 13 Word 1825 1849 6 Word 1650 1674 14 Word 1850 1874 7 Word 1675 1699 15 Word 1875 1899 Unit N...

Page 422: ...l I O area range setting Unit version 2 0 or earlier m 10 and m 11 Unit version 2 1 or later m 10 m 11 m 80 and m 81 CIO WR DM EM a_E Depends on the general I O area range setting Unit version 2 0 or earlier m 12 and m 13 Unit version 2 1 or later m 12 m 13 m 82 and m 83 CIO WR DM EM a_F Depends on the general I O area range setting Unit version 2 0 or earlier m 14 and m 15 Unit version 2 1 or lat...

Page 423: ... Direction The first address in the CPU Unit is specified with PORT_A First address m 5 In the MC Unit the custom I O areas can be treated as I O variables in the motion program when the transfer direction is MC Unit to CPU output vari ables when transfer direction is CPU Unit to MC Unit input variables No Name Purpose P1AA01 Physical axis setting The greatest axis number that is going to be used ...

Page 424: ...04 bit 8 is set to 0 The area type in the CPU Unit is specified with PORT_A Area type bits 08 to 14 of m 4 In addition the transfer direction is specified with PORT_A Direction The first address in the CPU Unit is specified with PORT_A First address m 5 Area Variables General I O A Variable areas and custom addresses can be set for the following variables System variables Global general variables ...

Page 425: ... Examples 2 and 3 in following diagram Meaning Word Bits Name Function General I O A area range setting first time only at MC Unit m 74 00 to 15 PORT_A transfer area type at MC Unit General I O A area transfer area type at MC Unit hexa decimal 0000 System variables 0001 Global general variables 0002 Input variables 0003 Output variables 0004 Position data 0005 Reserved 0006 Task variable 1 0007 Ta...

Page 426: ...llowing three operating modes 1 2 3 1 RUN Mode Programs can be executed normally 2 MONITOR Mode Programs can be executed normally Data saved in the memory can be modified 3 PROGRAM mode Programs cannot be executed Programming and debugging are possible Transfer area First transfer address at MC Unit Final transfer address at MC Unit First transfer address at MC Unit Final transfer address at MC Un...

Page 427: ... error is stored in the error log From this point on no commands can be accepted from the CPU Unit Note that however various operations can be received from the Support Tool Event commu nications can be used Load rejection Load is rejected from applications in debugging When Load rejection is notified the MC Unit interprets all the inputs from the CPU Unit as all 0 Due to this the program operatio...

Page 428: ...the Support Tool Program read write parameter read write and other editing functions read write can be used from the Support Tool and present values can be monitored in this mode Data cannot be saved to flash mem ory however from the Support Tool All commands can be used All commands can be used Tool Mode This mode is used for debugging with the MC Unit operated from the CPU Unit Switch to this mo...

Page 429: ...lock status Deceleration Stop Decelerates to stop JOG STEP Origin search Machine origin return Axis Alarm Reset Clears the alarm occurring on the axis level and MLK slave alarm Error Counter Reset Resets the error counter Position command value present position STEP Starts STEP operation PTP operation for debugging JOG Starts JOG operation Machine Origin Return Starts machine origin return PTP Ori...

Page 430: ...ted along with the function currently being executed Servo Unlock Deceleration Stop Axis Alarm Reset Error Counter Reset STEP JOG Machine Origin Return Origin Search Forced Origin Present Position Preset ABS Origin Setting Servo Lock Servo Unlock No Yes Yes No No No No No No No No Deceleration Stop Yes Yes Yes No No No No No No No No Axis Alarm Reset Yes No Yes No No No No No No No No Error Counte...

Page 431: ...N Axis Operating ON No Origin ON Axis Alarm Occurring Servo Unlock Other stop request ON Positioning Completed OFF Virtual axis Not a Servo axis Command Disabled Enabled OFF Axis Alarm Reset No OFF Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Deceleration Stop OFF No Yes Yes Yes Yes Yes Yes Yes Yes No No Servo Lock No OFF Yes Yes Yes Yes No Yes Yes Yes Yes No No Servo Unlock No OFF Yes Yes Yes Yes ...

Page 432: ...suming motion programs interrupted in midway of MOVE MOVEL MOVEC MOVEI MOVET command execution in Start Mode 1 or 2 are explained in the following pages When a program is stopped in the middle of a block for a finite length axis The Executing Motion Block No indicates the block where the motion pro gram was stopped Start Mode Operation 0 3 Reads the program number and execute the program from the ...

Page 433: ...cated by Exe cuting Block Number 2 Resumes pro gram from the next block of the one indicated by Executing Block Number Start point Command s track Actual track Manual intervention Interruption Restart point End point Start point End point Start point Command s track Actual track Manual intervention Restart point Interruption End point Start point End point Start Mode Operation 1 Resumes pro gram f...

Page 434: ...g modes can be combined with the MOVE MOVEL and MOVET commands with P00004 bit 06 continuous operation using infinite length axis for multiple rotations set to 1 to enable positioning to the final tar get position as follows Axis 1 is set to a turntable Axis 1 is set as an infinite length axis The command value for axis 1 is set between 0 and 359 The following command is executed MOVE J01 500 This...

Page 435: ...ommand s track Actual track Manual intervention End point Restart point Block stop Start point End point Start point Command s track Actual track Manual intervention End point Restart point Block stop Start point End point Start Mode Operation 1 Resumes pro gram from mid way of the block indicated by Exe cuting Block Number 2 Resumes pro gram from the next block of the one indicated by Executing B...

Page 436: ... first time after the power is turned ON 2 Executing a program from the first block 3 When the program number was changed Turning ON R3 will start the execution Motion Program Operating Bit The Motion program operating bit turns ON during program execution and turns OFF when program execution is completed or stopped Motion Program Completed Bit When a motion program is completed the motion program...

Page 437: ...ng interrupted programs varies depending on the command used or stopping status For details see 7 4 3 Motion Task Control Bits page 443 2 Executes the program continuously from the next block of the block indicated by Executing Motion Block Number Motion task 1 Control data m 22 IW0360 00 15 Motion task 1 Program number Specifies the program number to be executed in motion tasks 0 499 Axis 1 Contr...

Page 438: ...cute Servo lock for all the applicable axes the bit In Servo Lock is ON and to set the operating mode to Automatic Mode the bit In Manual Auto matic mode is ON Therefore make sure to insert the conditions R1 and R2 of the above ladder program Automatic Manual mode switch X 32 15 X 33 15 Axis 1 Automatic Mode Axis 2 Automatic Mode X 32 03 X 33 03 Axis 1 In Servo lock Axis 2 In Servo lock X 32 13 X ...

Page 439: ...3 x 0 15 x 1 15 Manual Automatic Mode W20015 See note W20115 See note n 4 02 Start Mode 1 150402 n 4 04 Deceleration Stop 150404 n 4 01 Motion Program Start 150401 m 22 Program Number Setting DM30022 x 32 15 x 33 15 Automatic Mode W23215 See note W23315 See note x 32 03 x 33 03 In Servo Lock W23203 See note W23303 See note x 32 13 x 33 13 Command Enabled W23205 See note W23305 See note n 17 01 Mot...

Page 440: ... hand if the MC Unit accessed later than the CPU Unit and the access timings overlap between them in the next cycle the MC Unit will not be able to access the memory in the next cycle MC Unit executes internal processing in a constant Unit Cycle 1 ms 2 ms 3 ms 4 ms 6 ms or 8 ms depending on the settings such as the number of axes number of tasks and number of parallel branches When using the Minim...

Page 441: ...te that however the status bit Motion program operating will be turned OFF when execution of the motion program is completed Therefore make sure that the Unit Cycle of the MC Unit is longer than the Cycle Time of the CPU Unit even when the number of commands in a program is small Dwell Time DWELL command can be used in that case for example 7 3 Allocations for the CPU Unit 7 3 1 Allocations for th...

Page 442: ...il Nil 05 Teaching Execution 0 Nil 1 Nil Writes present position specified with teaching type to position data Nil 06 Servo Parameter Save 0 Nil 1 Nil Saves servo parameters into Flash ROM EEPROM in the Servo Nil 07 11 Reserved Reserved 12 15 Present Value Moni tor Select Selects data to be output to the present value mon itor 0 Zero output 1 Feedback position coordinate system currently being sel...

Page 443: ...cated by Executing Motion Block Number Operation at resuming interrupted programs varies depending on the command used or stopping status For details see 7 4 3 Motion Task Control Bits page 443 2 Executes program continuously from the next block of the one indicated by Executing Motion Block Number 04 Deceleration Stop 0 Nil 1 Prohibits motion program start Executes deceleration stop regardless of...

Page 444: ...Motion task 8 Control bit n 11 IW0347 00 15 Same as for Motion Task 1 Same as for Motion Task 1 Classification Word Variable bit Name Specifications Alarm identifica tion n 12 OW0300 00 Alarm Occurring 0 No alarm 1 Alarm occurring in MC Unit linked to LED ERC indicator 01 Unit Alarm Occurring 0 No alarm occurring on Unit level 1 Alarm occurring on Unit level 02 Reserved Reserved 03 10 Motion Task ...

Page 445: ...0 There is no forced stop request from anything other than input variables 1 There is forced stop request from something other than input variables 08 External Forced Stop Status 0 No forced stop request or processing for stop 1 Stop by external forced stop request completed 09 Operating Mode Supported in Unit Ver 3 0 or later Displays the current MC Unit operating mode 0 RUN or CPU Mode 1 Tool Mo...

Page 446: ...Unit Ver 3 0 or later Returns the Motion Program Operating Bit status from the CPU Unit 0 Motion Program Operating Bit OFF 0 1 Motion Program Operating Bit ON 1 07 15 Reserved Reserved Motion task 2 Status bit n 18 OW0341 00 15 Same as for Motion Task 1 Status Same as for Motion Task 1 Status Motion task 3 Status bit n 19 OW0342 00 15 Same as for Motion Task 1 Status Same as for Motion Task 1 Stat...

Page 447: ... CPU Unit Allocation of the axis number 1 0000H Upper limit varies depending on bit area type Note The transfer size is maximum effective axis number x 4 words General I O A area range set tings First time only m 4 00 07 PORT_A Number of Transferred Words General I O A Number of Transferred Words 1 160 words 08 14 PORT_A Area Type Specifies area type on CPU Unit 0 Not used no transfer 1 CIO 2 WR 3...

Page 448: ...he custom bit area in the area type specification word m the first address is to be spec ified Set the first address in hexadecimal Hex The setting ranges are as fol lows CIO area 0000 to 17BB Hex 0 to 6075 WR area 0000 to 01BB Hex 0 to 443 When Does not use the custom bit area 0000 is specified in area type specification word m this setting is not necessary Setting example Ex1 General I O F area ...

Page 449: ...anation Area type specification word m 2 Specifies the memory area of PLC to which the custom data area is allo cated 00 Does not use the custom data area 01 CIO area Specifies CIO area of PLC starting from the specified first address m 3 02 WR area Specifies WR area of PLC starting from the specified first address m 3 100 132 101 133 130 162 131 163 Control bit Axis 01 Axis 02 Axis 31 Axis 32 Sta...

Page 450: ...ess word m 3 When CIO 0001 WR 0002 DM 0003 or EM area 0004 is specified for the operation data area in the area type specification word m 2 the first address is to be specified Set the first address in hexadecimal Hex The setting ranges are as fol lows CIO area 0000 to 177F Hex 0 to 6015 WR area 0000 to 017F Hex 0 to 383 DM area 0000 to 7F7F Hex 0 to 32639 EM area 0000 to 7F7F Hex 0 to 32639 When ...

Page 451: ...ified with the area type specifi cation word m 4 bit08 to 14 and the first address word m 5 1 CPU Unit MC Unit The specified No of words word m 4 bit00 to 07 is transferred from the memory area of PLC specified in the area type specification word m 4 bit08 to 14 and the first address word m 5 to input variables of MC Unit with PORT_A from IW0B00 on When EM area 04 is specified for the operation da...

Page 452: ...2607 EM area 0000 to 7F5F Hex 0 to 32607 When Does not use the general I O area 00 is specified in the area type specification word m 4 bit 08 to 14 this setting is not necessary Setting example Ex1 0Ahex 10 words of the custom I O area starting from word 4E20Hex 20000 in EM area of PLC are transferred to input variables of MC Unit IW0B00 Ex2 The custom I O area is allocated to the memory area of ...

Page 453: ...iables 0000 0FFF Position data 0000 27FF 0000 and 27FF correspond to xxxx in PLxxxx Task variables 0000 007F The settings for PORT_B to PORT_H are the same m 76 to m 89 Setting example The following settings are used to transfer 10 words 0A Hex words of data from EM 20000 4E20 Hex in the EM Area of the PLC to position data PL0000 to PL0004 in the MC Unit for custom I O area A Bit 08 of parameter P...

Page 454: ...s for Motion Task 1 Same as for Motion Task 1 m 25 IW0363 Motion task 3 Control data m 26 IW0364 00 15 Same as for Motion Task 1 Same as for Motion Task 1 m 27 IW0365 Motion task 4 Control data m 28 IW0366 00 15 Same as for Motion Task 1 Same as for Motion Task 1 m 29 IW0367 Motion task 5 Control data m 30 IW0368 00 15 Same as for Motion Task 1 Same as for Motion Task 1 m 31 IW0369 Motion task 6 C...

Page 455: ... Motion Task 1 Status data Same as Motion Task 1 Status data m 47 OW0365 00 15 m 48 OW0366 00 15 m 49 OW0367 00 15 Motion task 3 Status data m 50 OW0368 00 15 Same as Motion Task 1 Status data Same as Motion Task 1 Status data m 51 OW0369 00 15 m 52 OW036A 00 15 m 53 OW036B 00 15 Motion task 4 Status data m 54 OW036C 00 15 Same as Motion Task 1 Status data Same as Motion Task 1 Status data m 55 OW...

Page 456: ... Nil 03 Servo Unlock 0 Nil 1 Prohibits Servo lock Cancels Servo lock state Nil 04 JOG 0 Nil 1 Continues JOG operation Starts JOG operation Stops JOG operation 05 STEP 0 Nil 1 Continues STEP operation Starts STEP operation Stops STEP operation 06 Origin Search 0 Nil 1 Continues Origin Search Starts Origin Search Stops Origin Search 07 Machine Origin Return 0 Nil 1 Continues Machine Origin Return PT...

Page 457: ...or Axis 1 Same as for Axis 1 Axis 9 control bits x 8 IW0448 00 15 Same as for Axis 1 Same as for Axis 1 Axis 10 control bits x 9 IW0449 00 15 Same as for Axis 1 Same as for Axis 1 Axis 11 control bits x 10 IW044A 00 15 Same as for Axis 1 Same as for Axis 1 Axis 12 control bits x 11 IW044B 00 15 Same as for Axis 1 Same as for Axis 1 Axis 13 control bits x 12 IW044C 00 15 Same as for Axis 1 Same as ...

Page 458: ...ts x 27 IW045B 00 15 Same as for Axis 1 Same as for Axis 1 Axis 29 control bits x 28 IW045C 00 15 Same as for Axis 1 Same as for Axis 1 Axis 30 control bits x 29 IW045D 00 15 Same as for Axis 1 Same as for Axis 1 Axis 31 control bits x 30 IW045E 00 15 Same as for Axis 1 Same as for Axis 1 Axis 32 control bits x 31 IW045F 00 15 Same as for Axis 1 Same as for Axis 1 Classification Word Variable bit ...

Page 459: ... output 06 Positioning Com pleted 0 Outputting positioning command or axis is outside of in position range 1 Not outputting positioning command and axis is within in position range 07 Positioning Com pleted No 2 0 Outputting positioning command or axis is outside of No 2 in position range 1 Not outputting positioning command and axis is within No 2 in position range 08 Error Counter Warn ing 0 Err...

Page 460: ...15 Same as for Axis 1 Same as for Axis 1 Axis 22 Status bits x 53 OW0455 00 15 Same as for Axis 1 Same as for Axis 1 Axis 23 Status bits x 54 OW0456 00 15 Same as for Axis 1 Same as for Axis 1 Axis 24 Status bits x 55 OW0457 00 15 Same as for Axis 1 Same as for Axis 1 Axis 25 Status bits x 56 OW0458 00 15 Same as for Axis 1 Same as for Axis 1 Axis 26 Status bits x 57 OW0459 00 15 Same as for Axis ...

Page 461: ...ide Same as for Axis 1 Control data Axis 26 Control data d 25 IW0499 00 15 Axis 26 Override Same as for Axis 1 Control data Axis 27 Control data d 26 IW049A 00 15 Axis 27 Override Same as for Axis 1 Control data Axis 28 Control data d 27 IW049B 00 15 Axis 28 Override Same as for Axis 1 Control data Axis 29 Control data d 28 IW049C 00 15 Axis 29 Override Same as for Axis 1 Control data Axis 30 Cont...

Page 462: ... 00 15 Same as for Axis 1 Status data Same as for Axis 1 Status data d 57 OW0499 d 58 OW049A Axis 10 Status data d 59 OW049B 00 15 Same as for Axis 1 Status data Same as for Axis 1 Status data d 60 OW049C d 61 OW049D Axis 11 Status data d 62 OW049E 00 15 Same as for Axis 1 Status data Same as for Axis 1 Status data d 63 OW049F d 64 OW04A0 Axis 12 Status data d 65 OW04A1 00 15 Same as for Axis 1 St...

Page 463: ... 102 OW04C6 d 103 OW04C7 Axis 25 Status data d 104 OW04C8 00 15 Same as for Axis 1 Status data Same as for Axis 1 Status data d 105 OW04C9 d 106 OW04CA Axis 26 Status data d 107 OW04CB 00 15 Same as for Axis 1 Status data Same as for Axis 1 Status data d 108 OW04CC d 109 OW04CD Axis 27 Status data d 110 OW04CE 00 15 Same as for Axis 1 Status data Same as for Axis 1 Status data d 111 OW04CF d 112 O...

Page 464: ... A General I O C a_C IW0C40 IW0CDF or OW0C40 OW0CDF 00 15 General I O C Word 1 160 Same as for General I O A General I O D a_D IW0CE0 IW0D7F or OW0CE0 OW0D7F 00 15 General I O D Word 1 160 Same as for General I O A General I O E a_E IW0D80 IW0E1F or OW0D80 OW0E1F 00 15 General I O E Word 1 160 Same as for General I O A General I O F a_F IW0E20 IW0EBF or OW0E20 OW0EBF 00 15 General I O F Word 1 160...

Page 465: ...ands from the PLC to the MC Unit make sure to check the bit Unit Ready For details of the bit Unit Ready see page 440 7 4 1 Unit Control Bits Function If an error that requires stopping internal operation of the Unit occurs it will be detected as an alarm Using Unit Alarm Reset after having removed the cause of the error can clear the alarm Command and Operation The alarm on Unit level will be cle...

Page 466: ...nterruption etc System Parameter Nil Program Example On MC Unit there are three types of alarms Unit alarm Task alarm Axis alarm Unit Alarm 0 No Alarm occurring on Unit level or the bit Unit Alarm Reset is ON 1 Alarm occurring on unit level Unit Alarm Code Output the code of the alarm occurring on Unit level Name Specifications R1 n 0 00 n 15 01 R1 n 4 to 11 01 n 17 to 24 00 R1 x 0 to 31 00 x 32 t...

Page 467: ... 1 0 1 0 1 0 Alarm Identification Alarm Occurring Alarm Identification Unit Alarm Occurring Unit Status Bit Unit Alarm Unit Status Data Alarm Code Internal Alarm Status 0 XXXX 0 1 0 1 0 1 0 1 0 1 0 T1 Tu When the bit Unit Alarm is turned OFF whether reset has been accepted or not will be checked Unit Control Bit Unit Alarm Reset Alarm Identification Alarm Occurring Alarm Identification Unit Alarm ...

Page 468: ...m is turned OFF whether reset has been accepted or not will be checked When Unit Alarm Reset is turned OFF Unit Alarm bit will be turned ON Unit Control Bit Unit Alarm Reset Alarm Identification Alarm Occurring Alarm Identification Unit Alarm Occurring Unit Status Bit Unit Alarm Unit Status Data Alarm Code Internal Alarm Status ...

Page 469: ... 0 XXXX 0 T1 Tu XXXX T1 Tu Another alarm occurs when Unit Alarm Reset has been ON Unit Alarm will not turn ON when an alarm occurs while Unit Alarm Reset is ON When the bit Unit Alarm is turned OFF whether reset has been accepted or not will be checked When Unit Alarm Reset is turned OFF Unit Alarm will turn ON Unit Control Bit Unit Alarm Reset Alarm Identification Alarm Occurring Alarm Identifica...

Page 470: ...rt Basic operation Name Specifications Flash Save Com pleted 0 Neither parameter nor position data save is completed 1 Parameter or position data save is completed including error completion R1 n 0 01 n 15 02 DIFU R1 System Parameter Save condition Flash Save Completed System Parameter Save Work bit n 0 01 System Parameter Save 1 0 1 0 Tu Tu When Flash Save Completed is turned ON System Parameter ...

Page 471: ...normal completion or error completion the bit Flash Save Completed will turn ON The same status bit is used for saving system parameters Therefore it is not recommended to save position data simultaneously with system parameters Effect of Other Functions Nil Effect on Other Functions Nil 1 0 1 0 Turning OFF after reception will not interrupt saving Flash Save Completed will not turn ON because Sys...

Page 472: ...n Data Save Work bit n 0 02 Position Data Save 1 0 1 0 Tu Tu When Flash Save Completed is turned ON Position Data Save will be turned OFF When Position Data Save is turned OFF Flash Save Completed will turn OFF Unit Control Bit Position Data Save Unit Status Bit Flash Save Completed Data in Flash Memory Current Updated Words Variables Bits Name I O n 0 IW0300 03 Teaching Condition Setting Output n...

Page 473: ...erenced when the bit Teaching Execu tion is turned ON and it cannot be changed during execution of teaching If Teaching Condition Setting is omitted after teaching execution the address of teaching object will be incremented for the number of axes specified with the bits Teaching Axis Setting 1 16 and Teaching Axis Setting 17 32 Condition setting and execution can be performed simultaneously by tu...

Page 474: ... 17 32 are OFF or when the bits No Origin for any of the axes are ON When the addition of Teaching Address Monitor and the addresses for the number of teaching object axes exceeds the position data range The bit Teaching Condition Setting Completed indicates the completion status normal or error of teaching condition setting and it will be turned OFF when the bit Teaching Condition Setting is turn...

Page 475: ...atus In Position control No effect In Speed control No effect In Torque control No effect Status bits Busy No effect In Servo Lock No effect No Origin Cannot execute Teaching if it is turned ON Axis Operating No effect Positioning Completed No effect Positioning Completed No 2 No effect Axis Machine Lock Status No effect Command Disabled Enabled Cannot execute Teaching if it is turned OFF Axis Not...

Page 476: ...ondition Setting Teaching Condition Setting Completed Teaching Condition Setting Work bit Teaching Axis Setting Teaching Storing First Address Setting n 0 03 Teaching Condition Setting Teaching Execution Condition No Origin Teaching Execution Completed Teaching Execution Teaching Type Switch Work bit n 0 04 Teaching Type n 0 05 Teaching Execution ...

Page 477: ...nitor is updated Changing only the address after the rise of Teaching Condition Setting cannot be accepted Unit Control Bit Teaching Condition Setting Unit Control Bit Teaching Axis Setting 1 32 Unit Control Bit Teaching Address Number of axes 8 Unit Status Bit Teaching Warning Unit Status Bit Teaching Condition Setting Completed Unit Status Data Teaching Address Monitor ...

Page 478: ...of axes is zero Error occurs because the address is 10240 or higher No of axes 0 No of axes 8 Unit Control Bit Teaching Condition setting Unit Control Bit Teaching Axis Setting 1 32 Unit Control Bit Teaching Address Unit Status Bit Teaching Warning Unit Status Bit Teaching Condition Setting Completed Unit Status Bit Teaching Address Monitor ...

Page 479: ...100F PL1010 PL1017 Completed normally and the address will be incremented The feedback position is stored Unit Control Bit Teaching Execution Unit Control Bit Teaching Type Unit Status Bit Teaching Warning Unit Status Bit Teaching Execution Completed Unit Status Data Teaching Address Monitor Position Data FB position Stored FB position Stored ...

Page 480: ... PL100F PL1010 PL1017 Completed with error because no origin has been defined The feedback position is not stored Unit Control Bit Teaching Execution Unit Control bit Teaching Type Unit Status Bit Teaching Warning Unit Status Bit Teaching Execution Completed Unit Status Data Teaching Address Monitor Axis Status Bit No Origin Teaching object axis Unit status Bit Command Disabled Enabled Teaching ob...

Page 481: ... data Therefore it is not recommended to save servo parameters simultaneously with position data Effect of Other Functions Nil Effect on Other Functions Nil System Parameter Nil Program Example Name Specifications Servo Parameter Save 0 Nil 1 Nil Saves servo parameters in the Flash ROM and EEPROM Nil Name Specifications Flash Save Com pleted 0 Neither parameter nor position data save is completed ...

Page 482: ...it Monitor data cannot be selected for each axis 1 0 1 0 Tu Tu When Flash Save Completed is turned ON Servo Parameter Save will be turned OFF When Servo Parameter Save is turned OFF Flash Save Completed will be turned OFF Current Updated Unit Control Bit Servo Parameter Save Unit Status Bit Flash Save Completed Data in Flash Memory 1 0 1 0 Turning OFF after the reception will not interrupt process...

Page 483: ... 5 Feedback speed 1 Outputs feedback speed command unit min About the precision refer to page 103 6 Feedback speed 2 Outputs feedback speed or r min About the precision refer to page 103 7 Command speed 1 Outputs command speed command unit min 8 Command speed 2 Outputs command speed or r min 9 Error Outputs error 10 Torque Outputs Torque command value 11 and above Reserved for system Outputs 0 Nam...

Page 484: ...alue as for 4 3 Command position selected coordinate system Value range 2147483648 to 2147483647 Unit Command unit 4 Command position machine coordinate system Value range 2147483648 to 2147483647 Unit Command unit 5 Feedback speed 1 Value range Unit Command unit min Same value as for 7 6 Feedback speed 2 Value range Unit 0 01 motor rated speed or 0 01 r min Same value as for 8 7 Command speed 1 V...

Page 485: ...is Not Used Used No effect In Manual Automatic Mode No effect Classification Item Effects No Name Purpose P00004 Unit Function Select Determining the unit for the feedback speed 2 Present Value Monitor Condition n 0 12 to 15 Present Value Monitor Select Word Variable Bit Name I O n 15 OW0303 00 Unit Ready Input T1 Command position Machine coordinate system Error Error Error Command position Machin...

Page 486: ...y the MC Unit and CPU Unit establish communications asynchro nously To make the MC Unit receive instructions from PLC without fail make sure to send instructions from the CPU Unit to the MC Unit when the bit Unit Ready is ON Example of always using Task 1 and 2 as start tasks Note Programs for arithmetic operation etc that do not use axes may start motion tasks with the bit Unit Ready however prog...

Page 487: ...ng FINS etc other than input variable 1 There is a forced stop request from something FINS etc other than input variable External Forced Stop Status 0 No forced stop request or processing for the stop 1 Stopped with a forced stop request Address Name Description SW0004 Forced stop request from tool Details of the request Indicates the forced stop request from tool Bit00 Axis task stop Bit01 Axis t...

Page 488: ...to start the program from the beginning The program number has been changed he program has been changed deleted or transferred The CAM data has been changed deleted or transferred Note that all the programs and CAM data other than the ones being exe cuted are also the objects If the bit Start Mode is 0 or equivalent to 0 Motion Program Number will be referenced when Motion Program Start is turned ...

Page 489: ...eted the value imme diately before will be held Command Operation MOVE MOVEL MOVEC MOVEI MOVET See 7 2 3 Automatic Mode page 386 MOVETRAV MOVELINK CAMBOX 1 cycle When interrupted midway of a block resumes to fin ish the remaining travel distance When interrupted at the end of a block the entire program will be exe cuted from the beginning again DATUM CAM The entire program is executed again from t...

Page 490: ...in one Unit Scan regardless of the Scan Time of the ladder program or the Unit Scan Time of the MC Unit complete execution status cannot be reflected in the ladder pro gram Effect of Other Functions When the bits Deceleration Stop and Block Stop are turned ON motion program execution cannot be started by turning ON the bit Motion Pro gram Start The axes declared with PROG command of the program to...

Page 491: ... Mode x 1 15 Axis 2 Automatic Manual Mode R1 In Automatic Mode R2 In Servo Lock R3 Command Enabled Axis 1 In Automatic Mode Axis 2 In Automatic Mode Axis 1 In Servo Lock Axis 2 In Servo Lock Axis 1 Command Enabled Axis 2 Command Enabled Start Mode Switch 1 Start Mode Switch 2 Program No Setting Start Button n 4 02 Start Mode 1 n 4 03 Start Mode 2 Program No Setting Motion Program Operating In Auto...

Page 492: ...n Program Start during operation is ignored Executing Motion Program Number is held even after operation completion Motion Task Control Bit Motion Program Start Motion Task Control Bit Start Mode Motion Task Control Data Motion Program Number Motion Task Status Bit Motion Program Operating Motion Task Status Bit Motion Program Operation Completed Motion Task Status Data Executing Motion Program Nu...

Page 493: ...to be executed Row No The 3rd to 5th rows are executed in one scan so only the 5th row executed at the end of the scan will remain as data Executing Motion Block Number will be held even after the operation is completed Motion Task Control Bit Motion Program Start Motion Task Status Bit Motion Program Operating Motion Task Status Bit Motion Program Operation Completed Motion Task Status Data Execu...

Page 494: ...am from top 1 Executes the program from the block indicated by Executing Motion Block Number Operation at resuming the interrupted program varies depending on the command used or stopping status 2 Executes the program continuously from the next block of the block indicated by Executing Motion Block Number Deceleration Stop 0 No 1 Prohibits motion program start Executes deceleration stop regardless...

Page 495: ...OFF after deceleration or block stop is completed Motion program Operation Com pleted 0 When starting program operation 1 END command was executed Motion Program Number Specifies the program number to be executed in motion task 0 499 Executing Motion Program Number Outputs the program number of the program currently being executed in motion task or temporarily being stopped Executing Motion Block ...

Page 496: ...Number and Executing Motion Block Number will be held The bit Motion Program Operation Completed is turned ON because END command has not been executed Time Motion Task Control Bit Deceleration Stop Motion Task Control Bit Motion Program Start Motion Task Control Bit Start Mode Motion Task Status Bit Motion Program Operating Motion Task Status Bit Motion Program Operation Completed Motion Task Sta...

Page 497: ...ed Row No The bit Deceleration Stop is turned ON after having stated the execution of this block J01 speed J02 speed Executing Motion Program Number and Executing Motion Block Number will be held after completion of deceleration stop Time Time Motion Task Control Bit Deceleration Stop Motion Task Status Data Executing Motion Block Number Single execution command ...

Page 498: ... Deceleration Stop is turned ON after having started execution of this block J01 Speed Time Motion Task Control Bit Deceleration Stop Motion Task Status Bit Motion Program Operating Motion Task Status Data Executing Motion Block Number Single execution command Control Mode Speed Control Position Control Word Variable Bit Name I O n 4 n 11 IW0340 IW0347 05 Block Stop Task 1 Block Stop Task 8 Output...

Page 499: ...pecifications Command Operation MOVELINK Link Operation Before synchronization condition is satisfied Cancels standing by for synchronization and stops After synchronization condition is satisfied Cancels synchronization and executes deceleration stop CAMBOX Electronic Cam Syn chronous Before synchronization condition is satisfied Cancels standing by for synchronization and stops After synchroniza...

Page 500: ...n Block Stop 1 In Block Stop Motion Program Number Specifies program number to be executed in motion task 0 499 Executing Motion Program Number Outputs the program number of the program currently being executed in motion task or temporarily being stopped Executing Motion Block Number Single execution command Outputs the block number of the single execution command currently being executed with mot...

Page 501: ...op completion Executing Motion Program Number and Executing Motion Block Number will be held The bit Motion Program Operation Completed does not turn ON because END command has not been executed Time Motion Task Control Bit Block Stop Motion Task Control Bit Motion Program Start Motion Task Control Bit Start Mode Motion Task Status Bit Motion Program Operating Motion Task Status Bit Motion Program...

Page 502: ...s turned ON after starting execution of this block J01 speed J02 speed Although the 3rd block is currently being executed execution of the 4th block has already been started Therefore the operation will stop at the end of the 4th block Time Time Motion Task Control Bit Block Stop Motion Task Status Data In Block Stop Motion Task Status Data Executing Motion Block Number Single execution command ...

Page 503: ...rol Motion Task Control Bit Block Stop Motion Task Status Bit Motion Program Operating Motion Task Status Bit Motion Program Operation Completed Motion Task Status Data Executing Motion Block Number Single execution command Control Mode Word Variable Bit Name I O n 4 n 11 IW0340 IW0347 06 Single Block Operation Mode Task 1 Single Block Operation Mode Task 8 Output Item Block Stop Single Block Oper...

Page 504: ...ame Specifications Motion Program Start 0 Nil 1 Nil Starts motion program operation following the specified Start Mode No Start Mode 0 3 Reads program number and executes the program from top 1 Executes the program from the block indicated by Executing Motion Block Number Operation at resuming interrupted pro grams varies depending on the command used or stopping status 2 Executes the program cont...

Page 505: ...Executing Motion Block Number Single execution command Outputs the block number of the single execution command currently being executed with motion task or temporarily being stopped During execution of parallel branching the block number of the leftmost block is output Executed Motion Block Number Multiple execution command Outputs the block number of the multiple execution com mand currently bei...

Page 506: ...er and Executing Motion Block Number will be held Since END command has not been executed the bit Motion Program Operation Completed is not turned ON Current Row Number Motion Task Control Bit Single Block Operation Mode Motion Task Control Bi Motion Program Start Motion Task Control Bit Start Mode Motion Task Status Bit Motion Program Operating Motion Task Status Bit Motion Program Operation Comp...

Page 507: ...Override Circular Interpolation MOVEC Task Override Origin Search DATUM Axis Override Applicable only for origin search feed rate Interrupt Feeding MOVEI Axis Override Internal Over ride Time specified Positioning MOVET Axis Override Internal Over ride Specified time period will not be kept Traverse MOVETRAV Task Override Electronic Cam Single Axis CAM Disable Axis Operation Link Operation MOVELIN...

Page 508: ...ogram Example Timing Chart Basic Operation MOV 0000 m 23 Task Override Enable Condition Override Data Setting n 4 to 11 07 Task Override Enable 300 00 200 00 100 00 50 00 150 00 250 00 0 200 00 150 00 0 00 300 00 400 00 1 0 T1 T1 T1 T1 T1 The bit Task Override Enable is turned OFF Therefore override 100 00 is used The bit Task Override Enable is turned ON So the value in Task Override is enabled T...

Page 509: ... 0 1 0 T1 T1 MOVEL J01 10000 1 MOVE J01 3000 2 Program Example MOVEL Operation of 1 MOVEL Speed is affected by Task Override MOVEL Speed is not affected by Axis Override MOVE Operation of 2 MOVE Speed is not affected by Task Override MOVE Speed is affected by Axis Override Speed Time Motion Task Control Bit Task Override Enable Motion Task Control Data Motion Task Override Axis Control Bit Axis Ov...

Page 510: ... Functions When an alarm occurs it affects other functions operation failure operation interruption etc System Parameter Nil Name Specifications Motion Task Alarm Reset 0 Nil 1 Does not turn ON the bit Motion Task Alarm Clears the alarm occurring in motion task Nil Name Specifications Alarm Occurring 0 No alarm 1 Alarm occurring in MC Unit linked to ERC indicator Motion Task Alarm Occurring 1 8 0 ...

Page 511: ...set over the Unit Task and Axis to clear an alarm occurring on the MC Unit with out fail R1 n 0 00 n 15 01 R1 n 4 to 11 01 n 17 to 24 00 R1 x 0 to 31 00 x 32 to 63 00 DIFU R1 Alarm Reset Condition Work bit n 0 00 Unit Alarm Reset Unit Alarm Occurring Unit Alarm Reset Task Alarm Occurring Axis Alarm Occurring Task Alarm Reset n 4 to 11 01 Task Alarm Reset x 0 to 31 00 Axis Alarm Reset Axis Alarm Re...

Page 512: ...k Alarm Motion Task Status Data Motion Task Alarm Code Internal Alarm Status 0 XXXX 0 1 0 1 0 1 0 1 0 1 0 T1 Tu When the bit Motion Task Alarm is turned OFF whether reset has been accepted or not will be checked Motion Task Control Bit Motion Task Alarm Reset Alarm Identification Alarm Occurring Alarm Identification Motion Task Alarm Occurring Motion Task Status Bit Motion Task Alarm Motion Task S...

Page 513: ...s been accepted or not will be checked The bit Motion Task Alarm will be turned ON when the bit Motion Task Alarm Reset is turned OFF Motion Task Control Bit Motion Task Alarm Reset Alarm Identification Alarm Occurring Alarm Identification Motion Task Alarm Occurring Motion Task Status Bit Motion Task Alarm Motion Task Status Data Motion Task Alarm Code Internal Alarm Status ...

Page 514: ... will not be turned ON When the bit Motion Task Alarm is turned OFF whether reset has been accepted or not will be checked The bit Motion Task Alarm will be turned ON when the bit Motion Task Alarm Reset is turned OFF Motion Task Control Bit Motion Task Alarm Reset Alarm Identification Alarm Occurring Alarm Identification Motion Task Alarm Occurring Motion Task Status Bit Motion Task Alarm Motion ...

Page 515: ...ted successfully The bit Deceleration Stop or Block Stop is ON Parameter No Name P00M01 Maximum interpolation feed rate P2AA01 Maximum rapid feed rate 1 0 0 200 00 100 00 100 00 T1 T1 The override exceeded 100 and the bit Speed Clamp Warning was turned ON Override reduced to 100 and the bit Speed Clamp Warning was turned OFF Speed Maximum rapid feed rate Time Axis Control Data Axis Override Axis S...

Page 516: ...ming Chart Function The bit Start indicates the ON OFF status of the bit Motion Program Operat ing Status Condition 0 200 600 200 1 0 1 0 1 0 T1 T1 No 600 is outside of the range Therefore it is not executed and the bit Start Warning is turned ON Program operation was started successfully and the bit Start Warning is turned OFF Motion Task Control Bit Motion Program Start Motion Task Control Data ...

Page 517: ...00 100 1 1 0 1 0 T1 T1 0 Motion Task Control Bit Motion Program Start Motion Task Control Data Motion Program Number Motion Task Status Bit Motion Program Operating Motion Task Status Bit Start Bit Motion Task Status Bit Executing Motion Program Number When bit Motion Program Start turns ON OFF bit Start also turns ON OFF accordingly Name Specifications Deceleration Stop 0 Nil 1 Prohibits JOG STEP...

Page 518: ...fluenced Execution prohibited IOWR Present Position Preset Not influenced Execution prohibited Operation At rising edge ON R1 x 0 to 31 01 x 32 to 63 05 DIFU R1 Deceleration Stop Condition Deceleration Stop Axis Operating Work bit x 0 to 31 01 Deceleration Stop Axis 0 1 0 T1 1 0 T1 Jog operation cannot be executed because thee bit Deceleration Stop has been ON Turning OFF the bit Deceleration Stop...

Page 519: ...t In Servo Lock Similarly once the bit Servo Unlock is turned ON the processing will not be interrupted i e the bit In Servo Lock will turn OFF even if the bit Servo Unlock is turned OFF before the rise of the bit In Servo Lock Status Condition Servo Lock status ON OFF status is output to the bit In Servo Lock Effect of Other Functions Word Variables Bits Name I O x 0 x 31 IW0440 IW045F 02 Servo L...

Page 520: ... effect Positioning Completed No effect Positioning Completed No 2 No effect Axis Machine Lock Status No effect Command Disable Enable Servo Lock Unlock cannot be executed when OFF Axis Not Used Used No effect In Manual Automatic Mode No effect Classification Item Effect Function Axis Control Bit JOG Axis Control Bit STEP Axis Control Bit Origin Search Axis Control Bit Machine Origin Return Other ...

Page 521: ...rol Bit Servo Lock Axis Control Bit Servo Unlock Axis Status Bit In Servo Lock 1 0 1 0 1 0 Tu Tu Cannot execute Servo Lock because the bit Servo Unlock is ON Cannot execute Servo Lock because the bit Servo Unlock has been turned ON before the bit In Servo Lock is turned ON Turning OFF the bit Servo Lock before the rise of the bit In Servo Lock will not interrupt the processing i e the bit In Servo...

Page 522: ...rection of JOG and STEP operation to negative direction Nil Nil Name Specifications Busy 0 Not executing any of the functions listed below 1 Executing one of the functions listed below or the com mand bit is ON JOG STEP Origin Search Machine Origin Return Error Counter Reset Forced Origin and ABS Origin Setting Axis Operating 0 No axis operating command 1 Axis operating command being output Positi...

Page 523: ...us No effect Command Disabled Enabled JOG cannot be executed when OFF Axis Not Used Used JOG cannot be executed when ON In Manual Automatic Mode JOG cannot be executed when ON Classification Item Effect Parameter No Name P2AA02 Maximum manual feed rate P2AA04 Manual feed rate P2AA07 Manual feed acceleration time P2AA08 Manual feed deceleration time P2AA10 Manual feed acceleration deceleration type...

Page 524: ...rection cannot be changed after the JOG operation has been started The bit Positioning Completed is not included in completion condition Time Axis Control Bit JOG Operation Axis Control Bit JOG STEP Direction Axis Status Bit Busy Axis Status Bit Axis Operating Axis Status Bit Positioning Completed Axis Status Bit Axis Not Used Used ...

Page 525: ... The bit Positioning Completed is not included in completion condition Time Axis Control Bit JOG Operation Axis Control Bit JOG STEP Direction Axis Status Bit Busy Axis Status Bit Axis Operating Axis Status Bit Positioning Completed Axis Status Bit Axis Not Used Used Change the rotation direction using the JOG STEP Direction Bit Word Variable Bit Name I O x 0 x 31 IW0440 IW045F 05 STEP Operation A...

Page 526: ...ontinues STEP operation Starts STEP operation Stops STEP operation JOG STEP Direction 0 Sets the direction of JOG and STEP operation to positive direction 1 Sets the direction of JOG and STEP operation to negative direction Nil Nil Name Specifications Busy 0 Not executing any of the functions listed below 1 Executing one of the functions listed below or the com mand bit is ON JOG STEP Origin Searc...

Page 527: ... Lock Status No effect Command Disabled Enabled STEP cannot be executed when OFF Axis Not Used Used STEP cannot be executed when ON In Manual Automatic Mode STEP cannot be executed when ON Classification Item Effect Parameter No Name P2AA02 Maximum manual feed rate P2AA04 Manual feed rate P2AA07 Manual feed acceleration time P2AA08 Manual feed deceleration time P2AA10 Manual feed acceleration dece...

Page 528: ...tarted The bit Positioning Completed is not included in completion condition In order to complete the operation check if the bit Positioning Completed is turned ON and then turn OFF the bit STEP Operation Time Axis Control Bit STEP Operation Axis Control Bit JOG STEP Direction Axis Status Bit Busy Axis Status Bit Axis Operating Axis Status Bit Positioning Completed Axis Status Bit Axis Not Used Us...

Page 529: ...2 Override cannot be used for Origin search approach speed and Origin search creep speed 0 T1 1 0 1 0 1 0 1 0 1 0 1 0 T1 T1 Speed Actual travel distance STEP operation travel distance The bit Busy will be turned OFF when the axis operation is completed because the bit STEP Operation has been turned OFF Time Axis Control Bit STEP Operation Axis Control Bit JOG STEP Direction Axis Status Bit Busy Ax...

Page 530: ... the functions listed below or the com mand bit is ON JOG STEP Origin Search Machine Origin Return Error Counter Reset Forced Origin and ABS Origin Setting No Origin 0 Origin on machine coordinate system is defined 1 Origin on machine coordinate system is not defined Axis Operating 0 No axis operating command 1 Axis operating command being output Positioning Com pleted 0 Outputting positioning com...

Page 531: ...ermining acceleration deceleration P2AA07 Manual feed acceleration time For determining acceleration deceleration P2AA08 Manual feed deceleration time For determining acceleration deceleration P2AA10 Manual feed acceleration deceleration type For determining acceleration deceleration pattern P4AA01 Origin search method For determining origin search pattern P4AA02 Origin search start direction For ...

Page 532: ...Bit 05 Bit 14 Bit 03 Bit 15 Bit 04 Bit 00 Busy Axis Operating Axis Not Used Used In Servo Lock In Manual Mode No Origin Alarm Occurring Origin Search R1 DIFU R1 x 0 to 31 06 Origin Search Condition Work bit x 0 to 31 06 Origin Search Axis Status x 32 to 63 words Bit 02 Bit 05 Bit 14 Bit 03 Bit 15 Bit 04 Bit 00 Busy Axis Operating Axis Not Used Used In Servo Lock In Manual Mode Alarm Occurring Orig...

Page 533: ... Positioning Completed is included in the completion conditions Operation Origin search operation Axis control Bit Origin Search Axis Status Bit Machine Origin Axis Status Bit Busy Axis Status Bit No Origin Axis Status Bit Axis Operating Axis Status Bit Positioning Completed Axis Status Bit Axis Not Used Used ...

Page 534: ...1 0 1 0 1 0 1 0 1 0 T1 T1 Operation When origin search operation is started the bit No Origin will be turned ON The bit Positioning completed is included in the completion conditions The origin is not determined due to premature completion Origin search operation Axis Control Bit Origin Search Axis Status Bit Machine Origin Axis Status Bit Busy Axis Status Bit No Origin Axis Status Bit Axis Operat...

Page 535: ...ng any of the functions listed below 1 Executing one of the functions listed below or the com mand bit is ON JOG STEP Origin Search Machine Origin Return Error Counter Reset Forced Origin and ABS Origin Setting No Origin 0 Origin on machine coordinate system is defined 1 Origin on machine coordinate system is not defined Axis Operating 0 No axis operating command 1 Axis operating command being out...

Page 536: ...ne Lock Status No effect Command Disabled Enabled Machine origin return cannot be executed when OFF Axis Not Used Used Machine origin return cannot be executed when ON In Manual Automatic Mode Machine origin return cannot be executed when ON Classification Item Effect Parameter No Name P2AA02 Maximum manual feed rate P2AA04 Manual feed rate P2AA07 Manual feed acceleration time P2AA08 Manual feed d...

Page 537: ...ed when starting the operation The bit Positioning completed is included in the completion conditions Machine origin return operation Axis Control Bit Machine Origin Return Axis Status Bit Machine Origin Axis Status Bit Busy Axis Status Bit No Origin Axis Status Bit Axis Operating Axis Status Bit Positioning Completed Axis Status Bit Axis Not Used Used ...

Page 538: ...mpleted is included in the completion conditions The axis cannot reach the machine origin due to the premature completion Machine origin return operation Operation Axis Control Bit Machine Origin Return Axis Status Bit Machine Origin Axis Status Bit Busy Axis Status Bit No Origin Axis Status Bit Axis Operating Axis Status Bit Positioning Completed Axis Status Bit Axis Not Used Used Word Variable B...

Page 539: ...everal communication scans In this case the processing to output a position command that resets the error counter to the MECHATROLINK II Servo is called the Error counter reset Status Condition Effect of Other Functions Error counter reset cannot be executed while the bit Axis Operating is ON Effect on Other Functions System Parameter Nil Name Specifications Busy 0 Not executing any of the functio...

Page 540: ...Disabled Enabled Positioning Completed Axis Operating Work bit R2 Work bit x 0 to 31 08 Error Counter Reset 0 1 0 1 0 1 0 1 0 T1 T1 Error amount In position range The bit Axis Operating is OFF Therefore the error counter reset processing is immediately started The execution completion is confirmed with the bit Positioning Completed Time Axis Control Bit Error Counter Reset Axis Status Bit Busy Axi...

Page 541: ...ing is OFF Therefore the error counter reset processing is immediately started Because the bit Error Counter Reset is turned OFF processing will be interrupted and the bit Positioning Completed will not turn ON When the bit Error Counter Reset is turned OFF the bit Busy will turn OFF Time Axis Control Bit Error Counter Reset Axis Status Bit Busy Axis Status Bit Axis Operating Axis Status Bit Posit...

Page 542: ...nual Mode 0 1 0 1 0 1 0 1 0 1 0 T1 T1 Speed Waits until the bit Axis Operating is turned OFF and executes the error counter reset Time Wait Axis Control Bit JOG Axis Control Bit Error Counter Reset Axis Status Bit Busy Axis Status Bit Axis Operating Axis Status Bit Positioning Completed ...

Page 543: ...ntil the bit Axis Operating is turned OFF and executes the error counter reset Time Wait Motion Task Control Bit Motion Program Start Axis Control Bit Error Counter Reset Axis Status Bit Busy Axis Status Bit Axis Operating Axis Status Bit Positioning Completed Word Variable Bit Name I O x 0 x 31 IW0440 IW045F 09 Forced Origin Axis 1 Forced Origin Axis 32 Output Name Specifications Forced Origin 0 ...

Page 544: ...Axis operating command being output Positioning Com pleted 0 Outputting positioning command or axis is outside of in position range 1 Not outputting positioning command and axis is within in position range Classification Item Effect Physical Status Servo Axis No effect Virtual Axis No effect I O Axis Ignored Counter Axis Ignored Status Bits Busy Forced origin cannot be exe cuted when ON In Servo L...

Page 545: ...mmand Disabled Enabled Axis Not Used Used In Manual Automatic Mode x 0 to 31 09 Forced Origin 1 0 1 0 1 0 1 0 1 0 1 0 T1 T1 The bit Positioning Completed must be ON when starting the forced origin operation Axis Control Bit Forced Origin Axis Status Bit Machine Origin Axis Status Bit Busy Axis Status Bit No Origin Axis Status Bit Axis Operating Axis Status Bit Positioning Completed Word Variable B...

Page 546: ...ecuting any of the functions listed below 1 Executing one of the functions listed below or the com mand bit is ON JOG STEP Origin Search Machine Origin Return Error Counter Reset Forced Origin and ABS Origin Setting No Origin 0 Origin on machine coordinate system is defined 1 Origin on machine coordinate system is not defined Axis Operating 0 No axis operating command 1 Axis operating command bein...

Page 547: ...and Disabled Enabled ABS origin setting cannot be exe cuted when OFF Axis Not Used Used ABS origin setting cannot be exe cuted when ON In Manual Automatic Mode ABS origin setting cannot be exe cuted when ON Classification Item Effect Parameter No Name Remark P4AA12 ABS origin offset The position after ABS origin setting will be the one that is specified in this parameter R1 x 0 to 31 10 DIFU R1 x ...

Page 548: ...ng on the speed The axis override can be applied to the speed specified by operand V in the motion program or the speed set in the axis parameter 1 0 1 0 1 0 1 0 1 0 1 0 T1 T1 The bit Positioning Completed must be ON when starting ABS origin setting Axis Control Bit ABS Origin Setting Axis Status Bit Machine Origin Axis Status Bit Busy Axis Status Bit No Origin Axis Status Bit Axis Operating Axis ...

Page 549: ...able only for origin search feed rate Interrupt Feeding MOVEI Axis Override Internal Over ride Time specified Positioning MOVET Axis Override Internal Over ride Specified time period cannot be kept Traverse MOVETRAV Task Override Electronic Cam Single Axis CAM Disable Axis Operation Link Operation MOVELINK Disable Electronic Cam Synchronous CAMBOX Disable Electronic Shaft CONNECT Disable Trailing ...

Page 550: ...e 300 00 200 00 100 00 50 00 150 00 250 00 0 200 00 150 00 0 00 300 00 400 00 1 0 T1 T1 T1 T1 T1 Speed The bit Axis Override Enable is turned OFF Therefore override 100 is used The bit Axis Override Enable is turned ON so Axis Override is enabled Axis Override is outside of the range therefore override 0 is used Time Axis Control Bit Axis Override Enable Axis Control Data Axis Override ...

Page 551: ... 00 0 200 00 150 00 50 00 100 00 1 0 1 0 T1 T1 MOVEL J01 10000 1 MOVE J01 3000 2 Program Example MOVEL Operation of 1 MOVEL Speed is influenced by Task Override MOVEL Speed is not influenced by Axis Override MOVE Operation of 2 MOVE Speed is not influenced by Task Override MOVE Speed is influenced by Axis Override Time Speed Motion Task Control Bit Task Override Enable Motion Task Control Data Mot...

Page 552: ...chine lock mode 1 Using Axis machine lock mode No No Name Function Axis Operating 0 No axis operating command 1 Axis operating command being output Positioning Com pleted 0 Outputting positioning command or axis is outside of in position range 1 Not outputting positioning command and axis is within in position range Axis Machine Lock Status 0 Not in Axis machine lock mode 1 In Axis machine lock mo...

Page 553: ... No effect In Servo Lock No effect No Origin No effect Axis Operating Axis machine lock state will not be changed when ON Positioning Completed No effect Positioning Completed No 2 No effect Axis Machine Lock Status No effect Command Disabled Enabled Axis machine lock state is can celled when OFF Axis Not Used Used No effect In Manual Automatic Mode No effect Classification Item Effect x 32 to 63 ...

Page 554: ...1 0 1 0 The bit Axis Machine Lock Status will be changed turned ON OFF after the bit Axis Operating is turned OFF Command speed Feedback speed Time Time Wait Wait Wait Axis Control Bit Axis Machine Lock Axis Status Bit Axis Machine Lock Status Axis Status Bit Axis Operating ...

Page 555: ...command is being output and the bit Axis Operating is 0 OFF In Axis machine lock state output in position control is maintained Wait Wait Position command Speed Torque command Position command Speed Torque command Commands by program Axis Control Bit Axis Machine Lock Axis Status Bit Axis Machine Lock Status Axis Status Bit Axis Operating Control mode Position Control Speed Torque control Position...

Page 556: ...oordi nate system has been defined or not Axis Operating Does not turn ON Positioning Completed The bit Manual Automatic Mode cannot be changed when OFF Axis Machine Lock Status No effect Command Disabled Enabled The bit Manual Automatic Mode cannot be changed when OFF Axis Not Used Used Does not turn ON In Manual Automatic Mode No effect Function In Manual Automatic Mode OFF Manual ON Automatic A...

Page 557: ...matic Mode will be turned OFF when the bit Axis Not Used Used is turned OFF after the interruption If the bit In Manual Automatic Mode for the axis declared by PROG com mand is OFF 0 when starting a motion program the bit Start Warning will be turned ON and the motion program cannot be executed System Parameter Nil Program Example Timing chart Basic Operation Axis Control Bit Manual Automatic Mode...

Page 558: ...the bit Manual Automatic Mode is changed turned ON OFF The bit In Manual Automatic Mode will be changed turned ON OFF when the deceleration stop is completed Time Axis Control Bit Manual Automatic Mode Axis Status Bit In Manual Automatic Mode Axis Control Bit JOG Axis Status Bit Busy Axis Status Bit Axis Operating Axis status Bit Axis Not Used Used ...

Page 559: ...atic Mode is changed turned ON OFF Only J01 is switched to Manual Mode The bits Axis Not Used Used for both J01 and J02 are turned OFF Not Used Time Time J01 speed J02 speed Axis Control Bit Manual Automatic Mode J01 Axis Control Bit Manual Automatic Mode J02 Axis Status Bit In Manual Automatic Mode J01 Axis Status Bit In Manual Automatic Mode J02 Axis Status Bit Axis Not Used Used J01 Axis Status...

Page 560: ... Effect on Other Functions When an alarm occurs various functions will be affected operation failure operation interruption etc System Parameter Nil Word Variable Bit Name I O x 0 x 31 IW0440 IW045F 00 Axis Alarm Reset Axis 1 Axis Alarm Reset Axis 32 Output x 32 x 63 OW0440 OW045F 00 Axis Alarm Occurring Axis 1 Axis Alarm Occurring Axis 32 Input Name Specifications Axis Alarm Reset 0 Nil 1 Does no...

Page 561: ...set over the Unit Task and Axis to clear an alarm occurring on the MC Unit with out fail R1 n 0 00 n 15 01 R1 n 4 to 11 01 n 17 to 24 00 R1 x 0 to 31 00 x 32 to 63 00 DIFU R1 Alarm reset condition Work bit n 0 00 Unit Alarm Reset Unit Alarm Occurring Unit Alarm Reset Task Alarm Occurring Task Alarm Reset n 4 to 11 01 Task Alarm Reset x 0 to 31 00 Axis Alarm Reset Axis Alarm Reset Axis Alarm Occurr...

Page 562: ...rring Axis Status Bit Axis Alarm Axis Status Data Axis Alarm Code Internal Alarm Status 0 XXXX 0 1 0 1 0 1 0 1 0 1 0 T1 Tu When the bit Axis Alarm is turned OFF whether reset has been accepted or not will be checked Axis Control Bit Axis Alarm Reset Alarm Identification Data Alarm Occurring Alarm Identification Data Axis Alarm Occurring Axis Status Bit Axis Alarm Axis Status Data Axis Alarm Code I...

Page 563: ...ed OFF whether reset has been accepted or not will be checked When the bit Axis Alarm Reset is turned OFF the bit Axis Alarm will be turned ON Axis Control Bit Axis Alarm Reset Alarm Identification Data Alarm Occurring Alarm Identification Data Axis Alarm Occurring Axis Status Bit Axis Alarm Axis Status Data Axis Alarm Code Internal Alarm Status ...

Page 564: ...s ON When an alarm occurs while the bit Axis alarm Reset is ON the bit Axis Alarm will not be turned ON When the bit Axis Alarm is turned OFF whether reset has been accepted or not will be checked When the bit Axis Alarm Reset is turned OFF the bit Axis Alarm will be turned ON Axis Control Bit Axis Alarm Reset Alarm Identification Data Alarm Occurring Alarm Identification Data Axis Alarm Occurring...

Page 565: ...ed by the following sys tem parameter Timing Chart Function The bit Busy indicates the status of the execution of each function on the axis level and it is used to provide interlock among functions in the ladder pro gram Status Function No Name P3AA07 No 2 In position Range 0 1 0 Feedback position No 2 In position range Machine origin Time Axis Status Bit Machine Origin Word Variable Bit Name I O ...

Page 566: ... Axis Control Bit Machine Origin Return Axis Control Bit Error Counter Reset Axis Control Bit Forced Origin Axis Control Bit ABS Origin Setting Function Restriction Axis Control Bit JOG Cannot be executed Axis Control Bit STEP Cannot be executed Axis Control Bit Origin Search Cannot be executed Axis Control Bit Machine Origin Return Cannot be executed Axis Control Bit Forced Origin Cannot be execu...

Page 567: ...e reflected in the ladder program Effect on Other Functions The bit Axis Operating functions as the completion condition of the fol lowing axis operations Axis Control Bit ABS Origin Setting The bit No Origin will be turned OFF when ABS Control Setting is completed nor mally Subsequently the bit will be turned OFF simultaneously when the bit Command Dis abled Enable is turned ON DATUM Origin Searc...

Page 568: ...Command Circular Interpolation In Pass Mode MOVETRAV Command Traverse In Pass Mode Function Remark 0 1 0 Command speed Time Axis Status Bit Axis Operating Word Variable Bit Name I O x 32 x 63 OW0440 OW045F 06 Positioning Completed Axis 1 Positioning Completed Axis 32 Input x 32 x 63 OW0440 OW045F 07 Positioning Completed NO2 Axis 1 Positioning Completed NO2 Axis 32 Name Specifications Positioning ...

Page 569: ...s the completion condition of the following axis opera tions The bits also function as the start condition for the following functions Function Positioning completed Positioning completed NO 2 Remark Axis Control Bit Origin Search Positioning Completed Axis Control Bit Machine Origin Return Positioning Completed MOVEL Command Linear Interpolation Positioning Completed NO 2 In Stop Mode MOVEC Comma...

Page 570: ...ion feed accu racy Timing Chart Function The bit Error Counter Warning indicates the status of whether the error amount has exceeded the threshold value or not No Name Pn0500 In Position Range P3AA07 No 2 In Position Range 0 1 0 1 0 Error In Position Range NO 2 In Position Range Time Axis Status Bit Positioning Completed Axis Status Bit Positioning Completed NO 2 Word Variable Bit Name I O x 32 x ...

Page 571: ...em parameter Timing Chart Function The bit Counter Latch Completed indicates the counter latch status of the axis that has output the latch request through the operation of the following functions Name Specifications Error Counter Warn ing 0 Error amount is within the range of the error counter warn ing value 1 Error amount has exceeded the range of the error counter warning value NO Name P3AA05 E...

Page 572: ... Cam Synchronous Detects link start position Trigger to start synchronization SYNC Trailing Synchronization Detects marker sensor ON position Trigger to start synchronization LATCH Present Position Latch Detects latch position Trigger to store latch position Axis Control Bit Origin Search Detects origin Trigger to decide the final stop position Function Purpose of counter latch function Role of la...

Page 573: ...ON or OFF When this bit is ON the Servo can be locked Status Condition Effect on Other Functions Nil System Parameter Nil Timing Chart Nil Function The bit Command Disabled Enabled indicates the status of whether the axis can accept a command or not Status Condition Name Specifications MECHATROLINK Warn ing 0 No warning detected on MECHATROLINK II device 1 Warning detected on MECHATROLINK II devic...

Page 574: ...or not The bit Axis Not Used Used reflects the execution status as compared to the bit Busy will not be turned OFF until the command output is turned OFF The bit Busy does not reflect status in Automatic Mode while the bit Axis Not Used Used reflects status in Automatic Mode Status Condition In Manual Mode the bit Axis Not Used Used is turned ON during execu tion of the following functions to indi...

Page 575: ...y In Automatic Mode The axis for which the bit Axis Not Used Used is ON cannot be used in other motion programs When starting a program that declared an axis already in use the bit Start Warning will be turned ON Therefore the motion program cannot be executed System Parameter Nil Timing Chart For timing charts in Manual Mode see JOG operation page 476 STEP operation page 480 Origin Search page 48...

Page 576: ...4 8 3 Origin Search Methods and Parameters 534 8 3 1 Origin Search Methods 534 8 3 2 System Parameters 535 8 4 Origin Search Operations 536 8 4 1 Overview 536 8 5 Absolute ABS Encoders 539 8 6 ABS Encoder Origin Setting 540 8 6 1 Procedure 540 8 6 2 Setting Up the Related Parameters 540 8 6 3 Setting Up the Absolute Encoder 541 8 6 4 Supplemental Information for Setting Up 543 8 6 5 Moving to the ...

Page 577: ...ethod of determining an origin use one of the methods depending on the mode of each task as shown below Yes Can be used No Cannot be used Operation Description Forced Origin The position where the motor is stopped is defined as an ori gin Origin search Actually moving the motor and using the limit switches origin proximity switches and encoder s phase Z signal determine an origin If the origin sea...

Page 578: ...al replace the battery 3 Referring to the Servo Driver operation manual held values are cleared data reset At this point the origin of the absolute encoder and the ma chine origin do not match with each other 4 Execute Servo Lock using the MC Unit 5 Perform an origin search to move the Servomotor axis to the origin 6 Turn the absolute encoder OFF and ON in order to save the present value as the or...

Page 579: ...The direction will be reversed if a limit input signal is input during the ori gin search After starting the operation towards Origin search start direction at Origin search feed rate when Origin proximity signal input normally open is turned ON the speed will be changed to Origin search approach speed At the rise of Origin determine signal input after the Origin proximity signal input has been tu...

Page 580: ...OFFPOS command The coordinate system No set in ORIGIN WORK command If an origin search is executed for an axis using an absolute encoder the origin on the machine coordinate system will be determined using an external input signal By specifying Origin offset value the origin on the machine coordinate system after an origin search can be set to the value other than zero Specify zero if not necessar...

Page 581: ...peed is limited by 32767 command unit unit scan Sets the 2nd level speed of the 3 level speed origin search or sets the 1st level speed of the 2 level speed origin search Origin search creep speed P4AA09 1 to 2147483647 Note That the speed is limited by 32767 command unit unit scan Sets the 3rd level speed of the 3 level speed origin search or sets the 2nd level speed of the 2 level speed origin s...

Page 582: ...nce has been specified the machine origin will be defined after the axis travels back for the specified distance If the reference origin offset value has been set in the system param eter the specified value will be the machine coordinate of the stopping position The origin search operation and alarm occurrence will vary depending on the input timings of limit input signal origin proximity input s...

Page 583: ...er the specified value will be the machine coordinate of the stopping position The origin search operation and alarm occurrence will vary depending on the input timings of limit input signal origin proximity input signal and phase Z origin search start direction and the position of the work when executing the origin search 3 level Speed in One Direction Mode With Origin proximity input signal Phas...

Page 584: ...te position can be detected using the absolute encoder on the motor with a semi closed loop system The detector is composed of an encoder detecting the absolute position within one rotation and a counter that counts the number of rotations The ABS data that is stored in the ABS encoder consists of the number of rotations from the absolute reference position M and the position within one encoder ro...

Page 585: ...e MC Unit and Servo Driver ABS encoder setup ABS origin setting for the MC Unit No Name Value Remark P1AA01 Physical axis setting 0 Not used 1 30 MLK devices 31 Reserved 32 Virtual axis Only the MLK slaves can be used as the absolute value detection system P4AA12 ABS origin offset 2147483648 2147483647 Sets the offset amount for the ABS origin setting The present position after ABS origin set ting...

Page 586: ...etup ABS origin must be set in the MC Unit This is for resetting rotational count data of the ABS encoder which should be accompanied by initialization of the axis present value to 0 in the MC Unit Setup Procedure The following setup procedure is for the ABS encoder on OMRON W series Servomotor Make sure to follow the procedure Otherwise errors may occur No Name Value Remark Pn002 2 Absolute encod...

Page 587: ...is completed Returns to the PGCL5 display After 1second More than 1second PR02W OPR Key OPR Display Description Status display mode Note When the power is turned ON for the first time after con necting the motor with absolute encoder A 81 backup error will be displayed Press the key to select the system check mode Press the key to select the function No Fn008 More than 1 second Press the key to st...

Page 588: ...r normally Setting Up When Replacing the Battery unit In case of battery drain the absolute data in the ABS encoder will be cleared Therefore battery unit replacement and setup are required Other Cases Requiring Setup When disconnecting the encoder cable from the connector on the driver or motor the absolute data in the ABS encoder will be cleared Therefore setup operation will be required again 8...

Page 589: ...n setting value correctly Otherwise difference in values for positioning will occur between the MC Unit and ABS encoder 3 Do not execute ABS origin setting at least for one second after the main power supply for the Servo Driver or control power supply is turned ON Name Word Variable bit Name Description Axis 1 Control Bit x 0 IW0440 10 Absolute Origin Setting 0 Nil 1 Nil Sets ABS encoder origin N...

Page 590: ...tus 547 9 1 5 List of Related Bits 548 9 1 6 Program Example 549 9 1 7 Timing Chart 550 9 2 Debugging the Program 553 9 2 1 Single Block Operation 553 9 2 2 Machine Lock 555 9 3 Coordinate System 558 9 3 1 Machine Coordinates and Workpiece Coordinates 558 9 3 2 Limited Length Axis and Unlimited Length Axis 559 9 3 3 Software Limit 561 9 3 4 Absolute Value Detection Function 562 9 4 Backup and Rest...

Page 591: ... the bit Teaching Condition Setting is turned ON When the condition setting is completed the bit Teaching Condition Set ting Completed will be turned ON which turns OFF the bit Teaching Condition Setting After that the bit Teaching Condition Setting Com pleted will be turned OFF In order to check whether teaching was completed normally or not observe the bit Teaching Warning when the bit Teaching ...

Page 592: ...neously with the bits Teaching Condition Setting and Teaching Execution Completed under the following conditions When Setting Teaching Condition The teaching axes are not set Teaching Axis Setting 1 16 Teaching Axis Setting 17 32 0 There are unallocated axes among the axes being specified in the bits Teaching Axis Setting 1 16 and Teaching Axis Setting 17 32 The address specified in Teaching Addre...

Page 593: ...and present position Nil Nil 05 Teaching Execution 0 Nil 1 Nil Writes the present position of the selected teaching type into the position data Nil n 1 IW0301 00 15 Teaching Axis Set ting 1 16 0 Nil 1 Specifies the axis as teaching object Nil Nil n 2 IW0302 00 15 Teaching Axes Set ting 17 32 0 Nil 1 Specifies the axis as teaching object Nil Nil Classification Word Variable bit Name Specifications ...

Page 594: ...t R1 n 0 03 n 15 04 R2 n 0 05 DIFU R1 MOVL 00000001 n 1 MOV 0000 m 20 DIFU R2 n 15 05 Teaching Condition Setting Condition Teaching Condition Setting Completed Teaching Condition Setting Work bit Teaching Axis Setting Teaching Storing First Address Setting n 0 03 Teaching Condition Setting Teaching Execution Condition Teaching Execution Teaching Execution Completed Work bit n 0 04 Teaching Type n ...

Page 595: ...hing Axis Setting 1 32 Unit Control Bit Teaching Address Unit Status Bit Teaching Warning Unit Status Bit Teaching Condition Setting Completed Unit Status Data Teaching Address Monitor Axis number 8 0 30000 100 1 0 1 0 1 0 Tu Tu Tu Tu Error occurs because No of axes is zero Error occurs because the address is 10240 or higher Axis number 0 Axis number 8 Unit Control Bit Teaching Condition Setting U...

Page 596: ...L1010 PL1017 Completed normally and the address will be incremented The feedback position is stored Unit Control Bit Teaching Execution Unit Control Bit Teaching Type Unit Status Bit Teaching Warning Unit Status Bit Teaching Execution Completed Unit Status Data Teaching Address Monitor Position data FB position stored FB position stored ...

Page 597: ... origin has been defined The feedback position is not stored Unit Control Bit Teaching Execution Unit Control Bit Teaching Type Unit Status Bit Teaching Warning Unit Status Bit Teaching Execution Completed Unit Status Data Teaching Address Monitor Axis Status Bit No Origin Teaching axis Unit Status Bit Command Disabled Enabled Teaching axis Position data Not stored Not stored ...

Page 598: ...ck Timing Chart The Unit checks ON OFF of the bit Single Block Operation Mode between blocks i e timing after end of the current block execution and before start of the next block execution The same timing is used in Pass Mode The program will be stopped at the end of the current block if the bit Single Block Operation Mode is ON before start of the next block execution The program will not be sto...

Page 599: ...nches will be stopped at the ends of the blocks currently being executed When each block currently being executed in all the branches is stopped the bit In Block Stop will be turned ON Single Block Ignored NSTOP Command The block with NSTOP command in the motion program will ignore the Single Block Operation Mode The Single Block Operation Mode will be ignored even when the bit Single Block Operat...

Page 600: ...motion pro grams but also for debugging of the ladder program in the CPU Unit Signals to the output modules are output normally Operation Machine Lock can be executed by turning ON OFF the bit Machine Lock from the ladder program or the Support Tool When the Machine Lock status is cleared the command position will be the one before the Machine Lock state Timing Chart The bit Axis Machine lock will...

Page 601: ...r Torque command but as Position com mand This is because the present position is not managed in the control modes other than position control mode 0 0 1 0 1 0 1 0 Command speed The Machine Lock status will be changed after the bit Axis Operating is turned OFF Time Time Feedback speed Wait Wait Wait Axis Control Bit Axis Machine Lock Axis Status Bit Axis Machine Lock Status Axis Status Bit Axis Op...

Page 602: ...ine Lock state Servo ON of the concerned axis is required to move the axis Breakpoints A breakpoint function is provided for MC Units with unit version 3 0 or later Function When a motion program is executed program execution will be stopped after the commands in the specified block number have been executed Breakpoints are set and cleared for block numbers using the Support Tool CX Motion MCH ver...

Page 603: ...s or motion tasks do not influence it When starting New Program Operation When a new main program operation is started the first execution after the power is turned ON or execution in Start Mode 0 or 3 the machine coordi nate system will be always used The offset value of the previously executed program will be used however the coordinate system select will not be inher ited to the new program Whe...

Page 604: ...for updating the present position can be set as desired Limited Length Axis Upper limit of the limited axis P5AA04 P5AA06 LONGMAX No of encoder pulses P5AA05 Lower limit of the limited axis P5AA04 P5AA06 LONGMAX No of encoder pulses P5AA05 No of encoder pulses If the type of encoder is 16 bit it is 65536 pulses r 10000 Hex P5AA04 Command unit 1 machine rotation P5AA05 Gear ratio 1 Motor rotation s...

Page 605: ... above PROG P0001 Q00000001 ABL MOVE J01 50000 END Travel distance Target position Present position 50000 50000 100 000 The present position and the number of multi turns after the execution will be SL0206 Machine coordinate system command position 50 000 SL021A No of Multi turns 0 The reached position is not equivalent to the target position see the diagram below 0 1 2 2 1 0 100 000 100 000 Prese...

Page 606: ...ur to stop the axis 3005h Positive direction software limit 3006h Negative direction software limit The software limit function is not applicable for the unlimited length axis and the axis without an origin Related System Parameters 1 0 1 2 3 2 0 Workpiece coordinate system 0 Machine coordinate system Time Present position Upper limit of the unlimited length axis Lower limit of the unlimited lengt...

Page 607: ...te the axis within the range where the multi turn data is not reset When the servo parameter Pn205 Multi turn limit setting is 65535 default setting the multi turn data will change as shown below There will be no problem if the axis is used within the range where the multi turn data is between 32768 to 32767 However if the power is turned OFF once and ON again when the axis is outside of the range...

Page 608: ... the reset timing of the coordinate system managed in the MC Unit and the reset timing of the encoder s multi turn data To match the timings appropriately adjust the set ting value of the parameter Pn205 Multi turn limit setting In the case where the load shaft makes n rotations while the motor makes m rotations set the value obtained by subtracting 1 from the denominator of deceleration ratio m 1...

Page 609: ...antee on the value of the number of multi turns SL021A Number of multi turns on the machine coordinate system 0 Multi turn data Value of Pn205 Rotation amount 0 0 Multi turn data Pn205 Machine coordinate system Rotation amount Rotation amount The same present value can be obtained from the same multi turn data ...

Page 610: ...tained when the reset cycle of the multi turn data is shorter than the cycle of the machine coordinates system 0 0 Multi turn data Pn205 Machine coordinate system The same present value cannot be obtained from the same multi turn data Rotation amount Rotation amount 0 0 Rotation amount Rotation amount Multi turn data Pn205 Machine coordinate system The same present value cannot be obtained from th...

Page 611: ...y the CPU Unit and thus it functions as the backup for the MC Unit The Memory Card capacity required to back up the data from one MC Unit is 4 MB max If data from the CPU Unit is also to be backed up we recommend Memory Cards with even larger capacities Applicable Data Data Remark Unit model Version info Motion programs Including text and analysis internal management data CAM data Including intern...

Page 612: ...mputer Support tool Hard disk CPU Unit Internal memory Data transfer area EM area FINS area Memory card 1 2 MC Unit RAM Position data Parameters Variables Programs Flash memory Additional note 1 Restore Program Read command 2 Backup Recording medium Device ...

Page 613: ... details refer to 5 2 6 Simple Backup Function in SYSMAC CS CJ Series Programmable Controllers Programming Manual W394 Battery Compartment Memory Card Power Supply Switch Press the power supply switch to disconnect power before removing the Memory Card Also press the Memory Card Power Supply Switch to perform an easy backup operation writing to the Memory Card or verifying against the Memory Card ...

Page 614: ...le Address Name Details OW0210 Axis 1 Warning code alarm code If an alarm or warning occurs in the MECHATROLINK II slave the alarm warn ing code is stored This code is set to 0 when the axis alarm reset bit for each axis is turned ON OW0211 Axis 1 Status 1 The same value as Servo status SW021C is stored The value is refreshed every Unit Cycle OW0212 Axis 1 Status 2 The same value as Servo status S...

Page 615: ...bit s or monitoring information e g present positions is counted as one item Number of trace points From 2 048 for 1 trace data item to 32 768 trace points for 16 trace data items can be collected per group Trace execution scan The specified data is collected each Unit cycle If the Unit cycle is 1 ms data can be collected for a maximum of 32 768 ms Trace data format Bits words double words and rea...

Page 616: ...on program or the CPU Unit Setting System Parameters As shown in the following diagram set the two Unit parameters and the two zone parameters for each axis Setting Upper and Lower Limits for Zone Bits Set the upper and lower limits for each zone bit from the address specified in P00012 To make the setting from a motion program substitute the upper and lower limits for this address If the position...

Page 617: ...Do not use 1 Enable Use Address Name Contents OW0304 Zone monitoring status bits No 1 to 16 Used to output the enabled disabled status of zone bits No 1 to 16 No 1 corresponds to bit 0 and No 16 corre sponds to bit 15 0 The setting for the zone upper and lower lim its is incorrect or the zone enable bit is OFF disabled 1 The setting for the zone upper and lower lim its is correct and the zone enab...

Page 618: ...s during Axis Movement 587 10 1 13 High speed Positioning 588 10 1 14 Interrupt Feeding MOVEI 589 10 1 15 Time specified Positioning MOVET 590 10 1 16 Regular Winding to Rough Winding MOVETRAV 591 10 1 17 Electronic Cam Single Axis CAM 592 10 1 18 Link Operation MOVELINK 594 10 1 19 Electronic Cam Synchronous CAMBOX 595 10 1 20 Electronic Shaft CONNECT 596 10 1 21 Trailing Synchronization Synchron...

Page 619: ...0 J02 75000 08 DWELL T300 09 MOVE J01 100000 J02 100000 10 NOPS 11 OW0BA1 1 12 MOVE J01 0 J02 0 13 NOPS 14 OW0BA1 0 15 END Explanation of the program 01 A program No and axes to be used are specified 02 Positioning to J01 10000 J02 50000 with PTP control is performed 03 NOPS command will hold the program advance till positioning 02 is com pleted within in position range 04 Once positioning is comp...

Page 620: ...J01 10000 J02 50000 F500000 06 ENDIF 07 NEXT 08 END Explanation of the program 01 A program No and axes to be used are specified 02 With FOR Repeat command the process through 02 to 07 is repeated 10 times 03 When the general input IW0B00 is not 1 the program executes the axis operation When it is 1 the program advances to the next block without any axis operation 04 The program will wait until th...

Page 621: ... are specified 02 Pass Mode is selected 03 The axes move to the position J01 20000 J02 10000 with linear interpo lation 04 The axes move in CCW direction to the position J01 30000 J02 20000 with circular interpolation of radius 10000 Since a positive value is specified for radius the center angle is smaller than 180 degrees a quar ter of the circle 05 The axes move to the position J01 30000 J02 30...

Page 622: ... to 1 The first position data read with indirect specification 06 The process through 06 to 13 is repeated 3 times 07 The position data PL0102 is assigned to the position data PL0100 08 The position data PL0103 is assigned to the position data PL0101 09 When the general input IW0B00 is not 0 the program advances to the next block without any axis operation 10 Positioning with linear interpolation ...

Page 623: ...OG P005 Q00000003 02 OFFPOS C1 J01 5000 J02 5000 03 OFFPOS C2 J01 15000 J02 5000 04 OFFPOS C3 J01 5000 J02 15000 05 MOVEL J01 0 J02 0 F300000 06 WORK C1 07 GOSUB P500 08 ORIGIN 09 MOVEL J01 0 J02 0 F500000 10 NOPS 11 OW0BA0 1 12 WAIT IW0B00 1 13 OW0BA0 0 14 WORK C2 15 GOSUB P500 16 ORIGIN 17 MOVEL J01 0 J02 0 F500000 18 NOPS 19 OW0BA0 1 20 WAIT IW0B00 1 21 OW0BA0 0 2000 1000 1000 2000 J02 J01 2000...

Page 624: ...output to the general output OW0BA0 and the program will wait until the general input IW0B00 becomes 1 Once the general input IW0B00 becomes 1 the general output OW0BA0 will be reset and the program will advance to the next block 14 The coordinate system is switched from the machine coordinate to the workpiece coordinate C2 15 The subprogram P0500 is called and executed 16 The coordinate system is...

Page 625: ...9 PARAM P00102 100 10 MOVEL J01 30000 J02 10000 11 MOVEL J01 40000 J02 20000 12 MOVEL J01 0 J02 0 13 END Explanation of the program 01 A program No and axes to be used are specified 02 The parameter P00102 Interpolation feed acceleration time is changed to 1000 ms 03 The axes move with linear interpolation and acceleration time of 1000 ms to the position J01 10000 J02 5000 04 The axes move with li...

Page 626: ...ND Subprogram 01 PROG P501 Q00000003 02 DL0002 0 03 FOR W DL0002 L10 S1 04 MOVEL J01 PL0010 J02 PL0011 F300000 05 MOVEL J01 0 J02 0 06 PL0010 PL0010 1000 07 NEXT 08 RETURN Explanation of the program Main program 01 A program No and axes to be used are specified 02 Stop Mode is selected 03 The task variable for counting DL0000 is reset For J02 04 The first travel distance of J02 is entered into the...

Page 627: ...VEL J01 0 J02 0 11 PL0010 PL0010 1000 12 NEXT 13 DW0000 DW0000 1 14 PL0011 PL0011 5000 15 WEND 16 END Explanation of the program 2 01 A program No and axes to be used are specified 02 Stop Mode is selected 03 The task variable for counting DW0000 is reset For J02 04 The first travel distance of J02 is entered into the position data PL0011 05 With WHILE command the process through 05 to 15 is repea...

Page 628: ...ation is performed to the position J01 20000 07 The axis returns to the origin 08 This is the end of WHILE command from 04 09 The program is completed 10 1 9 Stopping Operation with Optional End Using General Input and Assigning Position Data Explanation of the operation Positioning of J01 to the position 50000 is performed A position exceeding the target position Once the axis reaches the target ...

Page 629: ...d by the position data PL0010 is performed 07 The program waits for completion of the axis movement 08 The stopping position is assigned to the position data PL0010 09 With WHILE command the process through 09 to 12 is repeated when the general input IW0B00 is not 1 10 Positioning is performed based on the value in the position data PL0010 11 The axis returns to the origin 12 This is the end of WH...

Page 630: ...or positioning is turned OFF 5 The process through 1 to 4 is repeated until the general input for repeat is turned ON Program Main program 01 PROG P011 Q00000001 02 WHILE IW0B00 1 03 WAIT IW0B01 1 04 PL0020 SL0206 05 PL0022 PL0000 PL0020 06 GOSUB P502 07 IF PL0022 180 08 PL0002 PL0022 360 09 PL0022 360 10 ENDIF 11 IF PL0022 180 12 PL0002 PL0022 13 PL0022 360 14 ENDIF 15 IF PL0022 360 16 PL0002 PL0...

Page 631: ...ompleted Subprogram 01 A program No and axes to be used are specified 02 to 04 When data exceeding 360 degrees is entered into the position data by mistake the target position is corrected to the value within the range 0 to 360 degrees and the main program is resumed When an appropriate target position is entered in the position data the subprogram does not do anything and the main program is resu...

Page 632: ...6 The program is completed 10 1 12 Starting Peripherals during Axis Movement Explanation of the program During axis movement peripherals can be started at specified positions without stopping the axes This program enables the control of peripherals without stopping the axes therefore high speed synchronous application can be realized This example shows the operation to start peripherals 1 2 and 3 ...

Page 633: ...o the position cor responding to the value The CPU Unit transmits 2 of position data to the MC Unit using IOWR instruction and starts the MC Unit immediately In this case the data transfer to the MC Unit and the command for posi tioning can be executed within 1 scan Program 01 PROG P014 Q00000003 02 WHILE IW0B00 1 03 MOVEL J01 0 J02 0 F300000 04 NOPS 05 OW0BA0 1 06 WAIT IW0B01 1 07 OW0BA0 0 08 MOV...

Page 634: ...f other axes Program 01 PROG P018 Q00000003 02 STOPMODE 03 MOVEI J01 100000 D40000 V300000 04 WAIT SW022A 1 05 NOPS 06 IF SW022A 2 07 MOVEL J02 10000 F300000 08 MOVE J02 0 09 ENDIF 10 MOVE J01 0 11 NOPS 12 OW0BA0 1 13 WAIT IW0B00 1 14 OW0BA0 0 15 END Explanation of the program 01 A program No and axes to be used are specified 02 Stop Mode is selected 03 The first travel distance 50000 is entered i...

Page 635: ...OVET Explanation of the operation This program is used to perform positioning within a specified time period This example shows the following operation the axes move to the posi tion J01 10000 J02 20000 in 3 seconds and 1 is output to the general output When the general input becomes 1 the general output is cleared to 0 Finally the axes return to the origin in 6 seconds Attention When the speed of...

Page 636: ...3600 J02 360 L1 04 END Explanation of the program 01 A program No and axes to be used are specified 02 To make 20 winds per layer the winding axis rotations are set to 7200 deg 360 deg 20 winds Also to make 10 layers the number of layers L is set to 10 03 To make 10 winds per layer the winding axis rotations are set to 3600 deg 360 deg 10 winds 04 The program is completed In the program above the ...

Page 637: ...n start It will take longer to start execution The operation does not stop during the linked traverse 5 Linked traverse is always executed at the speed specified for the 1st traverse 6 When the winding axis rotations are set to 0 the alarm 2009h Position specification error will occur 7 When the traverse axis winding width is set to 0 the alarm 2009h Posi tion specification error will occur 10 1 1...

Page 638: ...05 J01 performs the cam operation in 10 seconds based on the cam table 1 06 to 07 After positioning is completed 1 will be output to the general output OW0BA0 08 The program advance will be held until the general input IW0B00 becomes 0 09 The general output OW0BA0 is cleared to 0 10 The axes return to the origin 11 The program is completed 20000 15000 10000 5000 0 5000 2500 7500 10000 1 0 2 400 3 ...

Page 639: ...0 D1000 Q5 I5000 08 INC MOVEL J01 90000 F300000 09 NOPS 10 OW0BA0 1 11 WAIT IW0B01 0 12 OW0BA0 0 13 PL0010 SL0206 14 WEND 15 END Explanation of the program 01 A program No and axes to be used are specified 02 The position data used as a workpiece coordinate is cleared to 0 03 When the general input IW0B00 is not 1 the process through 03 to 14 is repeated 04 to 05 The workpiece coordinate system C1...

Page 640: ... cam operation while the master travels for 60000 1 will be output to the general output once the mas ter reaches the position 90000 The synchronization is repeated with WHILE command The same cam data in 10 1 17 Electronic Cam Single Axis CAM page 592 is used in this example Program 01 PROG P021 Q00000003 02 PL0010 0 03 WHILE IW0B00 1 04 OFFPOS C1 J01 PL0010 05 WORK C1 06 WAIT IW0B01 1 07 CAMBOX ...

Page 641: ...to the position data for the workpiece coordinate 14 This is the end of WHILE command from 03 15 The program is completed 10 1 20 Electronic Shaft CONNECT Explanation of the operation The slave axis operates based on the specified gear ratio while synchro nizing to the master axis In this example the operation of the master axis is divided into 3 intervals The gear ratio for the slave axis against...

Page 642: ... The synchronization is canceled 12 The axes return to the origin 13 The program is completed 10 1 21 Trailing Synchronization Synchronization Cancel SYNC SYNCR Explanation of the operation The slave axis will start trailing the master axis when the marker sensor external input turns ON When it catches up with the master axis syn chronization with the ratio of 1 to 1 will be performed In this exam...

Page 643: ...leted Master axis 01 A program No and axes to be used are specified 02 The master axis moves to the position 30000 at 500 rpm 03 The operation is held for 5 seconds 04 The master axis moves to the position 60000 at 500 rpm 05 The master axis moves to the position 100000 at 1000 rpm 06 The operation is held for 3 seconds 07 The global general variable ML0000 becomes 1 08 The master axis returns to ...

Page 644: ... N2 03 MOVEL J02 200000 F500000 04 JOINT 05 WAIT MW0000 1 06 ADDAX J02 J01 07 WAIT MW0000 0 08 ADDAXR J02 09 JWAIT 10 DWELL T3000 11 WAIT MW0001 1 12 MW0002 1 13 MOVEL J02 0 F1000000 14 MW0002 0 15 END Explanation of the program Master axis 01 A program No and axes to be used are specified 02 Stop Mode is selected 03 The master axis moves to the position 50000 at 500 rpm 04 to 05 After positioning...

Page 645: ... is the syntax of PARALLEL command from 02 05 to 06 Superimposition will start when the global general variable MW0000 becomes 1 07 to 08 Superimposition will start when the global general variable MW0000 becomes 0 09 This is the end of PARALLEL command from 02 10 The operation is held for 3 seconds 11 The program will wait until the global general variable MW0001 becomes 1 12 1 is output to the g...

Page 646: ... to 0 08 The axis moves to the position 200000 with linear interpolation 09 The program is held for 5 seconds 10 The axis returns to the origin 11 The program is completed 10 1 24 Torque Control Torque Control Cancel TORQUE TORQUER Explanation of the operation The torque of a specified axis is controlled in Torque Control Mode In this example TORQUE command will be executed between positions 50000...

Page 647: ...r polation The target position 20000 will be changed to the position 40000 if the general input is ON when the axis reaches the position 10000 If the general input is OFF the target position will remain the same 20000 Note Target positions can be changed only on the axes operated with MOVE com mand or MOVEL command of single axis specification in Stop Mode MOVE MODI during execution of commands ot...

Page 648: ...age 583 however the axis does not stop midway in the initial opera tion moves to the position 100000 and returns to the origin Positioning after execution of LATCH command is performed using the assigned position data Additionally if the latch start and end positions are specified the rise of the external inputs outside of the range will be ignored This can be useful when the external input turns ...

Page 649: ...t commands will be stopped This will economizes the time and work for debugging Note When debugging a program in Single Block Operation Mode Start Mode 2 has to be set in advance Program 01 PROG P031 Q00000003 02 MOVEL J01 50000 J02 50000 F500000 03 NSTOP NOPS 04 NSTOP PL0000 SL0204 05 NSTOP PL0001 PL0000 3 06 NSTOP PL0002 PL0001 PL0000 07 NSTOP PL0003 PL0002 4 08 NSTOP PL0004 PL0003 PL0000 09 MOV...

Page 650: ...10 MOVE J01 0 J02 0 J03 0 11 END Explanation of the program 01 A program No and axes to be used are specified 02 With PARALLEL command 03 05 and 07 are executed in parallel 03 J01 is moved to the position 100000 with linear interpolation 04 This is the syntax of PARALLEL command After this block is processing 2 05 J02 is moved to the position 150000 with linear interpolation 06 This is the syntax ...

Page 651: ...sing 4 20 SEND 21 MOVE J01 0 J02 0 J03 0 22 END Explanation of the program 01 A program No and axes to be used are specified 02 With WHILE command the process through 02 to 07 will be repeated until the general input IW0B00 becomes a value other than 0 03 The conditional variable ML0000 is reset to 0 04 to 06 Depending on the values of the general inputs IW0B01 IW0B02 the bit of the conditional va...

Page 652: ...variable Current coordinate system FB position For Axis 3 IL0032h_SL0260h Only 1 word can be monitored I O variables specifications The following is the relations between the I O module with the above parame ter settings and I O variables in the MC Unit The addresses are the ones for the I O module allocated as Axis 3 Input variables No Setting value Name Detail P1AA01 2 Physical axis setting Set ...

Page 653: ...be performed through the motion program PROG P000 Q00000000 Counter module initial setting OW0050 0 WAIT IW0050 1 OW0052 0 Pulse count setting Phase A B 1 OB00500 1 Counter 1 mode setting WAIT IB00501 1 Mode setting completed normally OB00500 0 Mode setting reset WAIT IB00501 0 Mode setting completed normally Flag OFF monitored Address Bit Symbol Name Description OW0030 0 to 15 Output OUT1 1 to 16...

Page 654: ... MC Unit The addresses are the ones for the counter module allocated as Axis 5 Input variables Address Bit Symbol Name Description IW0050 0 RDY Ready Indicates the result of self diagnosis for the module ON Normal OFF Abnormal 1 ACK Setting normal Indicates the setting operation was completed normally Stays ON while the setting signal is ON 2 ERR Setting error Indicates the setting operation cause...

Page 655: ...52 IW0053 IW0054 Current value Counter 1 Current value Lower byte Counter 1 Current value Upper byte Counter 2 Current value Lower byte Counter 2 Current value Upper byte Latch data Counter 1 Latch data Lower byte Counter 1 Latch data Upper byte Counter 2 Latch data Lower byte Counter 2 Latch data Upper byte Mode setting Counter 1 Mode Counter 2 Mode Notch point set ting value 1 Counter 1 Counter ...

Page 656: ...T2 Counter 2 Notch point setting The notch point setting preset signal Notch point is set at the rise of the signal OFF ON 10 P SET2 Counter 2 Current value setting The counter s current value preset signal Current value is set at the rise of the signal OFF ON 11 C ENB2 Counter 2 Count enable Input pulses can be counted when this is ON ON Count enabled 12 N ENB2 Counter 2 Notch output enable Notch...

Page 657: ... AA 03 Axis 3 2 With P1AA02 set to I O 100 6 parameters above are valid Others are ignored 3 The contents of the address specified here are reflected in the system pa rameter Current coordinate system FB position With Axis 3 IL0032h_SL0260h Only 1 word can be monitored I O variables specifications The following is the relations between the pulse output module with the above parameter settings and ...

Page 658: ...External input terminal 15 IN1 General purpose input status Indicates the status of the external general purpose input External input terminal IW0031 Word 2 0 RDY2 Ready Word 2 Indicates the result of self diagnosis for the module ON Normal OFF Abnormal 1 Not used 2 MONSEL2 Monitor parameters Indicates that the parameters are being monitored 3 Not used 4 PACK2 Parameter settings normal Indicates t...

Page 659: ...o 7 PRM10 to PRM13 Parameter No selector Parameter No is selected using this signal 8 MOV1 Positioning This signal starts positioning operation Operation is started at the rise of the signal OFF ON 9 JOG1 JOG operation This signal controls JOG operation ON Run OFF Stop 10 ZRN1 Zero point return This signal starts the zero point return operation Operation is started at the rise of the signal OFF ON...

Page 660: ...d zero point return operation OFF Forward ON Reverse 12 Not used 13 COFF2 Output current OFF This signal controls the status of the output current OFF terminal OFF Output current ON ON Output current OFF 14 BFREE2 Electromagnetic brake release This signal controls the status of the electromagnetic brake release output terminal OFF Electromagnetic brake is used ON Electromagnetic brake is released ...

Page 661: ... speed 1 to 50000 10 pps Positioning Accel decel time 50 to 5000 100 ms Speed 500 Time 100 06 OFF ON ON OFF Reserved for system 07 OFF ON ON ON Reserved for system 08 ON OFF OFF OFF Acceleration deceleration mode 0 Single stage symmetric 1 Two stage symmetric 2 Single stage asymmet ric 0 09 ON OFF OFF ON In two stage acceleration deceleration Switching speed Second stage Accel decel time Switching...

Page 662: ...OB00307 0 Parameter No specification 02 OW0032 600 JOG speed data OW0033 200 Accel decel time data OB00303 1 Parameter settings started WAIT IB00304 1 Parameter setting completed OW0030 0 Output bit reset OB00304 0 Parameter No specification 00 OB00305 0 Parameter No specification 00 OB00306 0 Parameter No specification 00 OB00307 0 Parameter No specification 00 JOG start WHILE IW0B00 1 OB0030F 1 ...

Page 663: ...PORT_A OB00308 1 Positioning started ENDIF WAIT IB00308 0 Positioning completed OB00308 0 Positioning start bit reset WEND OB0030F 0 Servo OFF OB0030D 0 Output current OFF signal OFF END Monitor parameters When checking the parameters that have been set users cannot see the data directly An example of checking methods is shown below The setting of the parameter No 02 JOG speed JOG Accel decel time...

Page 664: ... Axes 1 2 are an X Y table and Axis 3 is the vertical axis Two sen sors confirm that the vertical axis is in the up or down position The example shows Simple PTP movements Parallel programming Use of different variables Variable initialization OB0BA20 0 MW0000 0 ABL Set the axes to RUN IB04402 1 AXIS1 on IB04412 1 AXIS2 on IB04422 1 AXIS3 on WAIT OB04403 1 Wait for confirmation AX1 WAIT OB04413 1 ...

Page 665: ... 2 This example is the motion program for a Bag making machine The machine consist in a feeding roll that feeds the bag plastic film that is soldered and cut The program receives two data from the MMI via the PC backplane the feed length and the speed in bags minute With this data the program calculates in a sub program the suitable profile acceleration and deceleration ramps and maximum speed The...

Page 666: ...he Offset value that must be applied to the workpiece co ordinate to start from zero position MW0002 is the maximum speed of the bag calculated in the sub pro gram to match the cycle The example shows Use of sub programs Simple calculation Parameter writing Use of movements with registration MW0006 8192 Set the axes to RUN IB04402 1 AXIS1 on WAIT OB04403 1 Wait for confirmation AX1 IB04402 0 INC G...

Page 667: ...010 Maximum speed PARAM P20103 ML0002 PARAM P20101 ML0002 RETURN Example 3 This example describes the operation of a flying shear to cut material to a programmed length on the fly The example shows the use of a counter unit This counter unit PL2900 is a YASKAWA device via Mechatrolink II that allows connecting to the system a line driver encoder as master encoder PROG P006 Q00000011 Flying Shear w...

Page 668: ... This is useful when you want a fast reaction or a local control in the MCH Depending on the operation maybe it is necessary to disable some automatic data exchange between PC and MCH P00007 and P00008 PROG P000 Q00000000 SHELL VARIABLES OW0BA0 Alarm status OW0BA2 Shell status IW0B00 RUN STOP RESET from PLC DW0000 Auxiliary task variable MW0000 Application program status MW0000 0 OW0BA2 0 Status I...

Page 669: ...ignal IB03410 1 Task 2 Alarm Reset IB03420 1 Task 3 Alarm Reset RESET FOR OTHER TASKS if necessary IB04400 1 Axis 1 Alarm Reset IB04410 1 Axis 2 Alarm Reset IB04420 1 Axis 3 Alarm Reset IB04430 1 Axis 4 Alarm Reset IB04440 1 Axis 5 Alarm Reset DWELL T10 IB03410 0 IB03420 0 IB04400 0 IB04410 0 IB04420 0 IB04430 0 IB04440 0 ENDIF ENDIF WEND END PROG P500 Q00000000 INITIALISATION INITIALISATION SUB P...

Page 670: ...ation AX1 WAIT OB04413 0 Wait for confirmation AX2 WAIT OB04423 0 Wait for confirmation AX3 WAIT OB04433 0 Wait for confirmation AX4 WAIT OB04443 0 Wait for confirmation AX5 IB04403 0 IB04413 0 IB04423 0 IB04433 0 IB04443 0 RETURN PROG P502 Q00000000 RUN Application program Load the suitable motion programs in its task and run the task 2 and 3 IW0362 1 Load program 1 in TASK 2 IW0363 10000 Overrid...

Page 671: ...626 Others Section 10 3 PROG P503 Q00000000 ALARM management Write here the necessary actions to do in front of an alarm Specially notifying to the PLC what happened OW0BA1 1111 RETURN ...

Page 672: ...Problems and Countermeasures 628 11 2 Countermeasures 634 11 2 1 Error Diagnosis Function 634 11 3 Error Indicators 638 11 3 1 Errors During Initial Processing 638 11 3 2 Errors During Normal Operation 639 11 4 Unit related Alarm Codes 639 11 5 Motion Task related Alarm Codes 642 11 6 Axis related Alarm Codes 648 11 7 MLK Device Alarm Codes 653 11 8 Servo Driver Warnings 655 11 9 Error Log 656 11 ...

Page 673: ...n error in data or signal exchange between the ladder program and the MC Unit Try per forming the operation with the Support Tool If the operation can be per formed using the Support Tool then there may be a problem with the ladder program Use the CX Programmer data trace function to check whether the data is being exchanged at the correct timing No Category Items to check Checked 1 Installation e...

Page 674: ...he MC Unit s operation mode is in the tool mode Check the operation mode using the Support Tool Set the mode to RUN mode or CPU mode 9 Another axis control bit is ON at the same time Check whether another axis control bit is ON at the same time Try executing Servo Lock using the Support Tool Turn OFF the other axis control bit and turn ON the bit Servo Lock Change the ladder pro gram 10 The MC Uni...

Page 675: ...same time Check whether another axis control bit is ON at the same time Try executing Origin search using the Support Tool Turn OFF the other axis control bit and then turn ON the bit Ori gin Search Change the ladder program 26 Not entering the in position range Is the MC Unit parameter s in position range too narrow Is the Servo Driver gain too low Increase the MC Unit parame ter s in position ra...

Page 676: ... to a suitable Servomo tor 37 The Servomotor bearings are damaged Turn OFF the Servo Driver power If the Servomotor has a brake turn ON the brake power supply and release the brake and then manually turn the motor s output shaft with the motor s power line disconnected because the dynamic brake may be applied Replace the Servomotor 38 The Servomotor windings are disconnected With a tester check re...

Page 677: ...n the machinery s moving parts and inspect for damage deforma tion and looseness Make any necessary repairs 46 The speed loop gain is insufficient The gain is too high Perform auto tuning Manually adjust decrease the gain 47 The wrong Servomotor is selected so it cannot be adjusted Check the torque and inertia ratio and select another Servo motor Change to a suitable Servomo tor 48 There is eccent...

Page 678: ...59 The cable between the MC Unit and the Servo Driver is not separated from other power lines Check whether the cable is sep arated from other power lines Separate the cable from other power lines 60 There is malfunctioning due to noise from a welding machine inverter etc Check whether there is a device such as a welding machine or inverter nearby Separate the Unit from the noise source 61 There i...

Page 679: ...ur ing pass continuous operations The minimum pass time is not assured Calculate the travel time by dividing the travel distance by the speed and check whether the minimum pass time is being satisfied Calculate the minimum pass time plus the operations in progress and adjust the target distance and speed so that the travel time will be at least that much 67 When the Motion Program is paused and th...

Page 680: ...he Module Servo OFF Unit Serve OFF for all the axes Remove the cause and then reset the alarm Motion task Servo OFF for all the axes being used in the motion task Axis MLK device Servo OFF only for the axis where the alarm was generated If the axis is used in a motion task stops the motion task Immediately stops the other axes Immediate stop Unit Immediate stop for all the axes Remove the cause an...

Page 681: ...generated is set 3 Alarm identification data The bit Alarm Occurring is turned ON the bit Motion Task Alarm Occur ring is turned ON and the bit Axis Alarm Occurring is turned ON Processing Image Note The following diagram shows the case where the alarm 3002h Positive direc tion over travel occurs on the physical axis 5 when controlling the physical axes 4 to 6 with motion task 2 Alarm Identificati...

Page 682: ...ing Axis Setting 1 16 and Teaching Axis Setting 17 32 that have not been allocated Check if the spec ified axes have been allocated correctly Teaching Address specified is outside of the position data range Set the address within the range of 0 to 10239 Adding the No of axes specified in Teaching Axis Setting 1 16 and Teaching Axis Set ting 17 32 to Teaching Address exceeds the position data range...

Page 683: ...th PROG com mand is OFF Manual Check if the specified axis is in Automatic Mode An alarm has occurred or the unit status bit External Forced Stop Request is ON Remove the cause of the alarm and reset the alarm x 32 d08 x 63 d08 Error Counter Warning For each axis The error amount has exceeded the error counter warning value specified in the system parameter Check if the specified error counter war...

Page 684: ...ated ON ON Axis or MLK device slave node level alarm gen erated ON ON Normal operation ON OFF OFF OFF OFF OFF OFF System stop OFF Word Address Name n 12 00 OB03000 Alarm Occurring n 12 01 OB03001 Unit Alarm Occurring n 15 01 OB03031 Unit Alarm m 38 OW0310 Unit Alarm Code Name Error log Alarm code Cause and remedy Timing Rank Reset Error code Detail code Main board code error 0370h 0003h 0003h Syst...

Page 685: ...the power OFF once and then ON again Increase CPU Unit cyclic service monitor time and turn the power OFF once then ON again Any time Decelera tion stop Disabled Bus error PC21bus error 000Eh 0000h 0032h Bus error occurred between CPU Unit and MC Unit Any time System stop Including event Disabled CPU fatal error 0015h 0000h 0033h CPU fatal error occurred Follow the instructions in the appli cable ...

Page 686: ...d between CPU Unit and MC Unit This error occurs when custom data area or custom I O area of MC Unit is allocated to CPU s EM area and when the specified EM areas are overlapping in execut ing the file memory function of CPU Unit or when restoring the power after allocating custom data area or custom I O area to the EM area already specified with the file memory function Release the file memory fu...

Page 687: ...002h 2002h There are six or more sub program nesting levels Check the applicable program and correct the nesting to five levels or less When GOSUB is executed Deceler ation stop Enabled Variable address error 2003h 2003h Attempted to access the addresses other than PL0000 to PL27FF when specifying position data indirectly Check the applica ble program and correct the position data area specified i...

Page 688: ...a program is executed Deceler ation stop Enabled Axis alarm generated 2008h 2008h An alarm has occurred in an axis controlled by a task Remove the cause of the axis alarm and reset the alarm When a program is executed Deceler ation stop Enabled Position specification error 2009h 2009h The position specified with axis movement commands except for CAM axis operation commands SYNCR MOVEMODI OFF POS a...

Page 689: ...exceeded the range C WORK OFFPOS E S CAM CAM BOX FOR Correct the applicable operands With CAM CAMBOX This error occurs when setting the oper ands as Starting data number Ending data number or when setting the oper ands as Starting data number Ending data number in using global general vari ables or position data for cam data When using cam table for cam data cor rect the program as Starting data n...

Page 690: ...it will not exceed the allowable range When speci fying with variables check if the substitu tion formula is correct The radius has exceeded 2147483647 Check the program and correct the setting value so that it will not exceed the allow able range When specifying with vari ables check if the substitution formula is correct When MOVEC is executed Deceler ation stop Enabled Circular inter polation r...

Page 691: ...e rows in the program Axis movement command was executed on the axis which is in synchronous exe cution as a slave axis Correct the program so that any axis movement command will not be executed during synchronization The axis which was specified as a slave axis has been a slave axis of the different type of synchronous command Correct the program so that any slave axis is not shared between comma...

Page 692: ...H The contents of 900Ah Positive latch enabled range and 900Bh Negative latch enabled range in the motor parameters are not written correctly After checking the applicable axis and if the motor model is correct transfer the motor parameters and save them to F ROM when individual specify servo parameter and restore the power SPEED The contents of 900Dh Position loop gain and 900Eh Position loop gai...

Page 693: ...d Over travel negative direction 3003h 3003h The over travel signal in negative direction has turned ON during axis movement After resetting the alarm attempted to operate the axis in the negative direction with the negative direction over travel sig nal ON Move the axis in the positive direction man ually Any time Immediate stop Enabled Over travel both direc tions 3004h 3004h The over travel sig...

Page 694: ...is movement When axis move ment starts During axis move ment Servo OFF Enabled Synchronous communica tions alarm 300Ah 300Ah An error was occurred in the MECHA TROLINK synchronous communications The followings are the possible causes Disconnection breakage of MECHA TROLINK cable Check the MECHATROLINK cable Communications error caused by noise Remove the cause of the noise When this error persists...

Page 695: ... A were changed Note B No of encoder pulses P5AA05 A P5AA04 P5AA06 B A is integer calculation and the result is to be reduced After the change was made saving to F ROM restore the power reset the alarm and perform origin setting The multi turn limit value in the driver parameter or the motor parameter was changed after origin setting After the change was made saving to F ROM restore the power rese...

Page 696: ... search start direction And check and correct the positions of the origin proximity limit switch and the limit switch In origin search Immediate stop Enabled Synchronous slave axis speed over 3011h 3011h With synchronous commands MOVELINK CAMBOX CONNECT SYNC ADDAX the speed of the slave axis exceeded the speed specified in P2AA01 Maximum rapid feed rate Check if the setting value in the parameter ...

Page 697: ...g an origin search the deceleration limit switch and the over travel in direction of the search were turned ON simulta neously Check if the origin proximity signal or over travel signals for both directions are wired correctly In origin search Immediate stop Enabled No origin sig nal 3018h 3018h During an origin search the over travel sig nal turned ON while waiting for the origin signal while wai...

Page 698: ...ATCH commands attempted to execute the functions simulta neously that require the counter latch Check the axis specified for the Latch and correct the program so that there are no redundant specifications executing LATCH command on the axis already executing LATCH command executing LATCH com mand on the axis waiting for the synchroni zation start conditions to be satisfied or etc When a com mand t...

Page 699: ...PC71080001 Machine Controller MP900 Series MECHATROLINK System User s Manual Manual No SIEZ C887 5 1 If the axis for which the error occurred is for a Servo Driver the Servo is turned OFF to stop the axis Alarms that cannot be reset on the slave side will be detected again even if the Alarm Reset Bit is used to reset the alarm x 32 00 x 63 00 OB04400 OB045F0 Axis 1 Alarm Axis 32 Alarm d 32 d 125 O...

Page 700: ...curred If a communications warning occurs twice consecu tively a communications alarm A E6 will occur This warning will occur under conditions like the following The same station address node address is set for more than one node Vibration Shock or Peripheral Device Noise Take the following countermeasures against vibration shock and peripheral device noise Vibration Shock Countermeasures Make sur...

Page 701: ...e Description SW0010 3008h Error log No of stored records Outputs the number of errors occurred after the power ON 0 20 SW0011 Error log No of actual records Outputs the number of errors occurred after the power ON 0 64000 SW0012 3009h Error log 1 Error code Outputs the code of the error SW0013 Error log 1 Detailed data Outputs detailed data of the error SW0014 300Ah Error log 1 Minute Second Outp...

Page 702: ... in the manual of CPU Unit 0108 Routing error In a command When SNA 80 Hex D7 OFF D6 to D0 SNA SNA 80Hex D7 OFF D6 to D0 0 In a response When DNA 80Hex D7 ON D6 to D0 DNA DNA 80Hex D7 ON D6 to D0 0 D7 to D0 SA1 D7 to D0 SNA SNA 80Hex D7 to D0 DA1 D7 to D0 DNA DNA 80Hex Transfer not possible because there is no Unit for the specified unit number Normally this error does not occur If it should occur...

Page 703: ...responding alarm code should be provided Code of the alarm that has occurred 0379 Motion task 9 Alarm Code of the alarm that has occurred An alarm related to motion task 8 has occurred The same remedy of the corresponding alarm code should be provided 037A Axis 1 Alarm Code of the alarm that has occurred An alarm related to axis 1 has occurred The same remedy of the corresponding alarm code should...

Page 704: ...red to keep the CJ1W MCH71 and CS1W MCH71 Motion Control Units in optimum condition 12 1 Routine Inspection 660 12 1 1 Inspection Points 660 12 1 2 Handling Precautions 661 12 1 3 Procedure for replacing an MC Unit 661 12 1 4 Procedure for replacing a Servo Driver 662 12 1 5 Procedure for replacing the NS115 662 ...

Page 705: ... ambient tem perature inside the panel must be checked 0 55 degrees Celsius With a thermometer check the ambient temperature inside the panel and make sure that it falls within the acceptable range Is the ambient humidity within the acceptable range When used in a panel the ambient humidity inside the panel must be checked 10 to 90 RH with no condensation With a hydroscope check the ambient humidi...

Page 706: ...C Unit to be replaced 2 To retain the status and settings of the MC Unit that is to be replaced ex ecute the backup operation of the CPU Unit to save the MC Unit s data pa rameters or programs into a memory card For the operation procedure refer to the SYSMAC CS CJ Series Programmable Controllers Program ming Manual W394 3 Turn OFF the power supply 4 To facilitate rewiring carefully label the cabl...

Page 707: ...ng Console or the ladder program on PLC to save servo parameters in the MC Unit into the Servo Driver 6 Turn OFF the PLC and the Servo Driver The replacement of the Servo Driver is completed 12 1 5 Procedure for replacing the NS115 Follow the procedure below when it is necessary to replace the NS115 1 2 3 1 Turn OFF the PLC and the Servo Driver 2 To facilitate rewiring carefully label the cables t...

Page 708: ...re being operated Operation startup time for manual operation Min 0 7 Tm 2Ts Td Max Tc 3Tm 2Ts Td Time from turning ON the start bit JOG bit from a ladder program in the PLC until outputting cur rent to the Servo Driver Offset per axis interpolation indepen dent operation 0 Time offset caused when interpolation is per formed with one motion task There is no offset between axes Time offset caused w...

Page 709: ...on page 666 PARAM command execution time for Servo Driver parameters When Tm 1 or 2 Min 2Tm 60 Max 2Tm 80 When Tm 3 to 8 Min 2Tm 80 Max 2Tm 100 Decimal fractions in division results are rounded up Time required to complete PARAM command execution when using the PARAM command to change Servo Driver parameters PARAM command execution time for other parameters Min 2Tm 20 Max 2Tm 40 Decimal fractions ...

Page 710: ...Allocated Node No of MECHATROLINK II slaves only physical axes allocated in P1AA01 Phys ical Axis Setting No of Retries No of retries specified in P00009 MECHATROLINK No of retrial nodes setting 0 7 If the Communications cycle was less than 1ms the formula 4 below is to be used Communications cycle µs 1000 4 Determining Communications Cycle The Communications Cycle can be determined by rounding up...

Page 711: ...ommunication Cycle 2 ms 120 ms to 140 ms Unit Cycle 3 ms Communication Cycle 3 ms 175 ms to 196 ms Unit Cycle 4 ms Communication Cycle 2 ms 170 ms to 190 ms Unit Cycle 4 ms Communication Cycle 4 ms 176 ms to 196 ms Unit Cycle 6 ms Communication Cycle 3 ms 211 ms to 235 ms Unit Cycle 8 ms Communication Cycle 4 ms 224 ms to 248 ms Unit Cycle 8 ms Communication Cycle 8 ms 236 ms to 260 ms 2 When Latc...

Page 712: ...es R88D WN ML2 Servo Driver with Built in MECHATROLINK II Communications the Servo Driver s default settings are the standard settings for MECHATROLINK communications for I O signal alloca tions The standard input signal settings are used for positioning functions such as the MC Unit limit input signal ori gin search and interrupt feeding Leave the Servo Driver I O signal allocations at its defaul...

Page 713: ...mits Leave the software limit function set on the default setting of 3 Parameter No Parameter Pn800 0 Communications control MECHATROLINK II communications check mask Pn800 1 Communications control warning check mask Pn801 0 Software limit function Pn801 2 Software limit Check Using Reference Pn824 Option monitor 1 selection Pn825 Option monitor 2 selection Pn008 2 Function selection application s...

Page 714: ...ting of 1 1 1 Parameter No Parameter name Unit Setting range Settings Default settings Required settings Pn801 2 Software limit check using refer ence 0 to 1 0 No software limit check using reference 1 Software limit check using reference 0 0 Parameter No Parameter name Unit Setting range Settings Default settings Required settings Pn824 Option monitor 1 selection 0000 to 0024 Hex Specifies monito...

Page 715: ...670 Main Parameter Settings when Connecting W series Servo Driver with Built in MECHATROLINK II Communications Appendix B ...

Page 716: ... deleted from SW0200 and SW0202 and added for SW020C Page 109 Material added for SW0210 and deleted from SW0214 Page 145 Classification changed to reserved in top table Pages 157 and 158 Names and specifications changed to reserved Page 172 Middle table changed Pages 174 176 177 and 180 to 183 Shading changed Page 178 Same as above removed for Pn50B Page 184 and 185 Notes removed Page 216 List cha...

Page 717: ...n zone monitoring status bits Page 182 Information added on present position preset Page 198 Information added on position loop gain index Page 218 Information added on saving data Pages 222 to 223 Information added on motion program Page 529 Information added on breakpoints Page 541 Information added on trace function Pages 542 to 544 Information added on zone function 04 July 2007 Changes and ad...

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