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6 MOTION PROGRAMS FOR POSITIONING CONTROL

[Program Example]

Example of comparison between the absolute value command and incremental value
command

G91 X70. Y70. ;

G90 X70. Y70. ;

Current position (30, 30)

(100, 100)

(70, 70)

Incremental
value command

Absolute
value command

(Unit: mm)

Содержание Q172HCPU

Страница 1: ... 0300115 A 0602 MEE When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice Q173HCPU Q172HCPU SV43 MOTION CONTROLLER Qseries SV43 Programming Manual Q173HCPU Q172HCPU HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN ...

Страница 2: ...IONS classify the safety precautions into two categories DANGER and CAUTION DANGER CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight personal injury or physical damage Depending on circumstances procedures indicated by CAUTION may also be linked ...

Страница 3: ...s or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not touch the Motion controller servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric shocks Do not touch the built in power supply built in groun...

Страница 4: ...ge breaker on the Motion controller and servo amplifier power source If installation of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion...

Страница 5: ...on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming CAUTION Set the...

Страница 6: ...have fixed applications so use these with the conditions specified in the instruction manual The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error etc Thus an error correspondence interlock program specified in the instruction manual must be used Use the interlock program specified in the special function module s inst...

Страница 7: ...ection Failing to do so may lead to oil leaks Store and use the unit in the following environmental conditions Conditions Environment Motion controller Servo amplifier Servomotor Ambient temperature According to each instruction manual 0 C to 40 C With no freezing 32 F to 104 F Ambient humidity According to each instruction manual 80 RH or less With no dew condensation Storage temperature Accordin...

Страница 8: ...gnal output of brake signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning Do not connect or disconnect the connection cables between each unit the encoder cable or PLC expansion cable while the power is ON Servo amplifier VIN 24VDC Control output signal RA Securely tighten the cable connector fixing screws and fixin...

Страница 9: ...erters and other equipment Use the units with the following conditions Conditions Item Q61P A1 Q61P A2 Q62P Q63P Q64P 10 10 10 30 10 100 to 120VAC 15 200 to 240VAC 15 100 to 240VAC 15 24VDC 35 100 to 120VAC 15 10 200 to 240VAC 15 Input power 85 to 132VAC 170 to 264VAC 85 to 264VAC 15 6 to 31 2VDC 85 to 132VAC 170 to 264VAC Input frequency 50 60Hz 5 Tolerable momentary power failure 20ms or less 7 ...

Страница 10: ...ricity buildup Do not perform a megger test insulation resistance measurement during inspection When replacing the Motion controller or servo amplifier always set the new module settings correctly When the Motion controller or absolute value motor has been replaced carry out a home position return operation using one of the following methods otherwise position displacement could occur 1 After writ...

Страница 11: ...lectric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident 10 General cautions CAUTI...

Страница 12: ...ual Number IB NA 0300095 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2006 MITSUBISHI ELECTRIC CORPORATION ...

Страница 13: ...U to The Motion CPU S P SFCS PLC instruction S P SFCS 3 8 3 3 Motion Program Axis designation program Start Request from The PLC CPU to The Motion CPU S P SVST PLC instruction S P SVST 3 13 3 4 Home position return instruction from The PLC CPU to The Motion CPU S P CHGA PLC instruction S P CHGA 3 19 3 5 Speed Change Instruction from The PLC CPU to The Motion CPU S P CHGV PLC instruction S P CHGV 3...

Страница 14: ...cceleration time deceleration time and rapid stop deceleration time 5 16 5 3 2 S curve ratio 5 18 5 3 3 Allowable error range for circular interpolation 5 19 5 4 Work Coordinate Data 5 20 6 MOTION PROGRAMS FOR POSITIONING CONTROL 6 1 to 6 186 6 1 Motion Program Composition 6 1 6 2 Type of The Motion Program 6 4 6 3 G code List 6 5 6 4 M code List 6 7 6 5 Control Instruction List 6 8 6 6 Start End ...

Страница 15: ... offset 6 94 6 13 21 G44 Tool length offset 6 96 6 13 22 G49 Tool length offset cancel 6 98 6 13 23 G53 Mechanical coordinate system selection 6 99 6 13 24 G54 to G59 Work coordinate system selection 6 101 6 13 25 G61 Exact stop check mode 6 104 6 13 26 G64 Cutting mode 6 106 6 13 27 G90 Absolute value command 6 108 6 13 28 G91 Incremental value command 6 110 6 13 29 G92 Coordinates system setting...

Страница 16: ...emory of the other CPU MULTR 6 178 6 16 31 Write words data to intelligent function module special function module TO 6 180 6 16 32 Read words data from intelligent function module special function module FROM 6 182 6 16 33 Conditional branch using bit device ON OFF 6 184 7 AUXILIARY AND APPLIED FUNCTIONS 7 1 to 7 80 7 1 Backlash Compensation Function 7 1 7 2 Torque Limit Function 7 3 7 3 Home Pos...

Страница 17: ...st 8 2 APPENDICES APP 1 to APP 67 APPENDIX 1 Error Codes Stored Using The Motion CPU APP 1 APPENDIX 1 1 Motion program setting errors Stored in D9190 APP 3 APPENDIX 1 2 Minor errors APP 4 APPENDIX 1 3 Major errors APP 20 APPENDIX 1 4 Servo errors APP 24 APPENDIX 1 5 PC link communication errors APP 41 APPENDIX 2 Motion dedicated signal APP 42 APPENDIX 2 1 Internal relay M APP 42 APPENDIX 2 2 Data ...

Страница 18: ...e CPU system configuration performance specifications common parameters auxiliary applied functions and others Optional IB 0300111 1XB911 Q173HCPU Q172HCPU Motion controller SV13 SV22 Programming Manual Motion SFC This manual explains the functions programming debugging error codes and others of the Motion SFC Optional IB 0300112 1XB912 Q173HCPU Q172HCPU Motion controller SV13 SV22 Programming Man...

Страница 19: ...s This manual explains how to use the sequence instructions basic instructions application instructions and micro computer program Optional SH 080039 13JF58 QCPU Q Mode QnACPU Programming Manual PID Control Instructions This manual explains the dedicated instructions used to exercise PID control Optional SH 080040 13JF59 QCPU Q Mode QnACPU Programming Manual SFC This manual explains the system con...

Страница 20: ...V43 Operating system software for machine tool peripheral use SW5RN SV43Q MT Developer Abbreviation for MT Developer Version 00M or later Integrated start up support software package GX Developer Abbreviation for GX Developer Version 6 or later GX Developer function software package Manual pulse generator or MR HDP01 Abbreviation for Manual pulse generator MR HDP01 Serial absolute synchronous enco...

Страница 21: ... Programming Manual COMMON CAUTION When designing the system provide external protective and safety circuits to ensure safety in the event of trouble with the Motion controller There are electronic components which are susceptible to the effects of static electricity mounted on the printed circuit board When handling printed circuit boards with bare hands you must ground your body or the work benc...

Страница 22: ...rol unit Command unit Address setting range Travel value setting range mm 10 4 mm inch 10 5 inch 2147483648 to 2147483647 degree 10 5 degree 0 to 35999999 0 to 2147483647 Position command Control unit Speed setting range mm 0 01 to 6000000 00 mm min inch 0 001 to 600000 000 inch min Speed control 10 multiplier setting for degree axis is invalid 0 001 to 2147483 647 degree min degree Speed control ...

Страница 23: ... type 2 types Count type 3 types Data set type 2 types Dog cradle type Stopper type 2 types Limit switch combined type Home position return re try function provided home position shift function provided JOG operation function Provided Manual pulse generator operation function Possible to connect 3 modules M code function M code output function provided M code completion wait function provided Limi...

Страница 24: ...ation Logical shift operation Logical negation Logical AND Logical OR Exclusive OR G codes Positioning command G00 G01 G02 G03 G04 G09 G12 G13 G23 G24 G25 G26 G28 G30 G32 G43 G44 G49 G53 G54 G55 G56 G61 G64 G90 G91 G92 G98 G99 G100 G101 M codes Output command to data register M Special M codes Program control command M00 M01 M02 M30 M98 M99 M100 Variable Device variable X Y B F D W Trigonometric f...

Страница 25: ...D W Minor error 303 304 When the speed change is executed after positioning automatic decerelation start or during decerelation by the JOG start command signal M3202 20n M3203 20n OFF since the speed change request is ignored a minor error 303 304 will not occur When the speed change is executed after positioning automatic decerelation start or during decerelation by the JOG start command signal M...

Страница 26: ...he starting method of Motion program is shown below a Motion program start request S P SVST using the PLC program of PLC CPU or Motion program control program start request S P SFCS b Automatic start setting of Motion program control program c Start by CALL GOSUB GOSUBE instruction using other Motion program 2 JOG operation by the axis command signal of Motion CPU 3 Manual pulse generator operatio...

Страница 27: ...tus Start request of the Motion program J1 Axis 1 Start axis No Point In the above it is explained the start of axis designation program There are following 2 types as the Motion program Control program Only control instruction can be used the travel instruction by G code can not be used It is started by the S P SFCS of PLC CPU automatic start with parameter or CALL GOSUB GOSUBE instruction of oth...

Страница 28: ...ipheral device Note 1 Set and correct using a peripheral device Note 1 PTP positioning instruction by high speed feed speed Linear positioning of the specified axis is executed from the current position to the specified coordinate position by all axes fixed speed CP positioning instruction by the speed specified with F Linear interpolation is executed from the current position to the specified coo...

Страница 29: ...END 2 N80 M02 Motion program No 100 Program No specified with the S P SFCS instruction Program control function instruction The flow of execute program is controlled by conditions Create and correct using a peripheral device Note 1 JOG operation by the JOG dedicated device control All axes servo ON command turns on Transfer the JOG operation speed to D640L and D642L 1 axis forward rotation command...

Страница 30: ... of the connected servo amplifier Data required for the acceleration deceleration of the positioning control etc Data required for the home position return Data required for the JOG operation ON OFF pattern data required for the limit switch output function REMARK Note 1 The following peripheral devices started by the SW6RN GSV43P can be used The personal computer by which WindowsNTR 4 0 WindowsR ...

Страница 31: ...Axis 1 and axis 2 manual pulse generator enable flag turn off Program end instruction Program ends Turn off the axis 1 and axis 2 manual pulse generator enable flag for safety not to continue the manual pulse generator operation at the manual pulse generator operation end Note Motion program No 100 Program No specified with the S P SFCS instruction All axes servo ON command turns on Wait until axi...

Страница 32: ...cifications of the connected servo amplifier Data required for the acceleration deceleration of the positioning control etc Data required for the home position return Data required for the JOG operation ON OFF pattern data required for the limit switch output function REMARK Note 1 The following peripheral devices started by the SW6RN GSV43P can be used The personal computer by which WindowsNTR 4 ...

Страница 33: ...ntrol value at the positioning control are set up to 16 parameter blocks They are set with the servo program JOG operation data and home position return data and it is used to change easily the acceleration deceleration processing acceleration deceleration time and speed limit value at the positioning control Section 5 3 7 Limit switch output data Output device watch data ON section output enable ...

Страница 34: ... 2 POSITIONING CONTROL BY THE MOTION CPU 3 PLC program The positioning control by the Motion program can be executed using the Motion dedicated PLC instruction of PLC program Refer to Chapter 3 for details ...

Страница 35: ...2 10 2 POSITIONING CONTROL BY THE MOTION CPU MEMO ...

Страница 36: ...PU Note As for the details of each instruction it explains after the next section 3 1 1 Restriction item of the Motion dedicated PLC instruction 1 To self CPU high speed interrupt accept flag from CPUn Common precautions of the Motion dedicated PLC instruction as shown below a To self CPU high speed interrupt accept flag from CPUn is shown in the following table To self CPU high speed interrupt ac...

Страница 37: ... speed interrupt accept flag from CPUn 2 Execution of the Motion dedicated PLC instruction a Motion dedicated PLC instruction can be executed with fixed cycle execute type PLC and interrupt PLC However as for a complete device the program turned on according to fixed cycle executed type PLC and program type scan or low speed executed interrupt PLC is different b One Motion CPU can be accepted up t...

Страница 38: ...C CPU returns the OPERATION ERROR 4107 f When multiple Motion dedicated PLC instructions are directly executed because one contact point turns on an instruction may not be executed In this case create a program with reference to program example Program example 2 Program example 1 Program which executes multiple instructions to the same shaft of the Motion CPU of same CPU No SP CHGA K0 M3 D2 H3E1 R...

Страница 39: ... SET M21 SET M25 SET M27 RST M1001 Program example 2 To self CPU high speed interrupt accept flag from CPU1 U3E1 G48 0 Start accept flag of the Axis 1 CPU No 2 U3E1 G516 0 Start accept flag of the Axis 2 CPU No 2 U3E1 G516 1 To self CPU high speed interrupt accept flag from CPU1 U3E1 G48 0 Start accept flag of the Axis 4 CPU No 2 U3E1 G516 3 To self CPU high speed interrupt accept flag from CPU1 U...

Страница 40: ...the Motion dedicated PLC instruction is frequently performed from the PLC CPU the scan time of the PLC CPU is not only prolonged but delay will arise in the communication processing of the Motion CPU Perform execution of the Motion dedicated PLC instruction from the PLC CPU by S P DDWR S P DDRD S P CHGV instruction etc only at the time of necessity ...

Страница 41: ...etting by motion register 20000 to 28191 4C04 Axis No set by SVST instruction is injustice 4C05 Axis No set by CHGA instruction is injustice 4C06 Axis No set by CHGV instruction is injustice 4C07 Axis No set by CHGT instruction is injustice 4C08 When using the S P SFCS S P SVST S P CHGA instruction There are 33 or more instruction requests to the Motion CPU from the PLC CPU in S P SFCS S P SVST S ...

Страница 42: ...e 1 To self CPU high speed interrupt accept flag from CPUn accept disable 5 System area used by Motion dedicated instruction 204H to 20DH The complete status of the each flag is stored in the following address Shared CPU memory address Name Description 204H 516 Start accept flag Axis1 to 16 205H 517 Start accept flag Axis17 to 32 The start accept flag is stored by the 1 to 32 axis each bit As for ...

Страница 43: ...qualification possible Start request S SFCS n1 SP SFCS n1 SP SFCS S SFCS n2 D1 D2 n2 D1 D2 Instruction Condition Start request Setting data Setting data Description Data type n1 First I O No of the target CPU 16 Value to specify actually is the following Note 1 CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H 16 bit binary n2 Motion program Control program No to start 16 bit binary D1 Complete devices D1...

Страница 44: ... Indirect setting by motion register n2 20000 The control program No stored in the motion register Motion CPU side is started n2 20000 1 The sequence No stored in the motion register Motion CPU side is started n2 usable range 20000 to 28191 Description 1 This instruction is dedicated instruction toward the Motion CPU in the Multiple CPU system Errors occurs when it was executed toward the CPU exce...

Страница 45: ...Un State display device D1 1 at the instruction start accept completion t ON ON S P SFCS instruction OFF ON OFF OFF OFF 1 scan PLC program Instruction accept completion at the Motion CPU side END END END END Motion program Control program Instruction start accept complete device D1 0 S P SFCS execution Motion program execution ON Abnormal completion only ...

Страница 46: ... instruction requests to the Motion CPU from the PLC CPU in S P SFCS S P SVST and S P CHGA sum table simultaneously and the Motion CPU cannot process them 4C09 CPU No of the instruction cause is injustice Confirm a program and correct it to a correct PLC program Note 0000H Normal The error flag SM0 is turned on an operation error in the case shown below and an error code is stored in SD0 Error cod...

Страница 47: ...e program M1 M0 X0 SP SFCS K11000 M0 D0 H3E3 Normal complete program M1 Abnormal complete program M1 Set the data in the data register of No specified with SFCS instruction 10000 Motion program Motion CPU side O0010 D1000 30 Motion program No D1001 200 Sequence No PLC program PLC CPU side 2 This program starts the Motion program Control program No 30 and sequence No 200 of the Motion CPU No 4 by i...

Страница 48: ...ion Condition Start request Setting data Setting data Description Data type n1 First I O No of the target CPU 16 Value to specify actually is the following Note 1 CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H 16 bit binary S1 Axis No Jn Note 2 to start Q173HCPU J1 to J32 Q172HCPU J1 to J8 Character sequence S2 Motion program Axis designation program No to start 16 bit binary D1 Complete devices D1 0 D...

Страница 49: ...accept flag from CPUn 4 It is necessary to take an inter lock by the start accept flag of the shared CPU memory so that multiple instructions may not be executed toward the same axis of the same Motion CPU No Operation State display device D1 1 at the instruction start accept completion t ON ON S P SVST instruction OFF ON OFF OFF OFF 1 scan PLC program Instruction accept completion at the Motion C...

Страница 50: ...e starting axis The starting axis set as S1 sets J Axis No in a character sequence S1 usable range Q173HCPU 1 to 32 Q172HCPU 1 to 8 Up to 8 axes can be set If multiple axes are set it sets without dividing in a space etc The axis No set in the system setting is used as the axis No to start Refer to the Q173HCPU Q172HCPU Motion controller Programming Manual COMMON for system settings And the axis N...

Страница 51: ...ation program No stored in the motion register Motion CPU side is started S2 20000 1 The sequence No stored in the motion register Motion CPU side is started S2 20000 2 The parameter block No stored in the motion register Motion CPU side is started S2 usable range 20000 to 28191 Start accept flag System area The complete status of the start accept flag is stored in the address of the start accept ...

Страница 52: ...truction is injustice 4C08 There are 33 or more instruction requests to the Motion CPU from the PLC CPU in S P SFCS S P SVST and S P CHGA sum table simultaneously and the Motion CPU cannot process them 4C09 CPU No of the instruction cause is injustice Confirm a program and correct it to a correct PLC program Note 0000H Normal The error flag SM0 is turned on an operation error in the case shown bel...

Страница 53: ... M0 D0 H3E3 RST M100 M100 J1J2 M0 Normal complete program M1 Abnormal complete program M1 To self CPU high speed interrupt accept flag from CPU U3E3 G48 0 Start accept flag of the axis No 1 CPU No 4 U3E3 G516 0 Start accept flag of the axis No 2 CPU No 4 U3E3 G516 1 Set the data in the data register of No specified with SVST instruction 10000 Motion program Motion CPU side O0015 D2000 20 Motion pr...

Страница 54: ...g data Setting data Description Data type n1 First I O No of the target CPU 16 Value to specify actually is the following Note 1 CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H 16 bit binary S1 Axis No Jn Note 2 to execute the home position return Q173HCPU J1 to J32 Q172HCPU J1 to J8 Character sequence S2 Dummy Set the any of constant etc 32 bit binary D1 Complete devices D1 0 Device which make turn on ...

Страница 55: ...executed toward the same axis of the same Motion CPU No Operation State display device D1 1 at the instruction start accept completion t ON ON S P CHGA instruction OFF ON OFF OFF OFF 1 scan PLC program Instruction accept completion at the Motion CPU side END END END END Home position return Instruction start accept complete device D1 0 Start accept flag axis OFF ON To self CPU high speed interrupt...

Страница 56: ...1 to 8 The number of axes which can set are only 1 axis The axis No set in the system setting is used as the axis No to start Refer to the Q173HCPU Q172HCPU Motion controller Programming Manual COMMON for system settings Start accept flag System area The complete status of the start accept flag is stored in the address of the start accept flag in the shared CPU memory Shared CPU memory address is ...

Страница 57: ...S P SFCS S P SVST and S P CHGA sum table simultaneously and the Motion CPU cannot process them 4C09 CPU No of the instruction cause is injustice Confirm a program and correct it to a correct PLC program Note 0000H Normal The error flag SM0 is turned on an operation error in the case shown below and an error code is stored in SD0 Error code Note Error factor Corrective action 2110 The CPU No to be ...

Страница 58: ...self CPU high speed interrupt accept flag from CPU U3E3 G48 0 J1 M0 Normal complete program M1 Abnormal complete program M1 Start accept flag of the axis No 1 CPU No 4 U3E3 G516 0 Program which execute the home position return of the axis No 1 of the Motion CPU CPU No 4 from PLC CPU CPU No 1 dummy ...

Страница 59: ...ription Data type n1 First I O No of the target CPU 16 Value to specify actually is the following Note 1 CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H 16 bit binary S1 Axis No Jn Note 2 to execute the speed change Q173HCPU J1 to J32 Q172HCPU J1 to J8 Character sequence S2 Setting of the current value to change 32 bit binary D1 Complete devices D1 0 Device which make turn on for one scan at start accep...

Страница 60: ...ously It is necessary to take an inter lock by the to self CPU high speed interrupt accept flag from CPUn 4 It is necessary to take an inter lock by the speed changing flag of the shared CPU memory so that multiple instructions may not be executed toward the same axis of the same Motion CPU No Operation State display device D1 1 at the instruction start accept completion t ON ON S P CHGV instructi...

Страница 61: ...00 10 2 mm min inch 6000000 to 6000000 10 3 inch min degree Note 2147483648 to 2147483647 10 3 degree min Note When the speed control 10 multiplier setting for degree axis is set to valid the setting range is 2147483648 to 2147483647 Speed changing flag System area The complete status of the start accept flag is stored in the address of the start accept flag in the shared CPU memory Shared CPU mem...

Страница 62: ...code Note Error factor Corrective action 2110 The CPU No to be set by First I O NO of the target CPU 16 is specified 2114 The self CPU by First I O No of the target CPU 16 is specified 2117 The CPU except the Motion CPU by First I O No of the target CPU 16 is specified 4004 The instruction is composed of devices except usable devices 4100 Since 0 to 3DFH 3E4H by First I O No of the target CPU 16 i...

Страница 63: ...8 Proximity dog count data set dog cradle stopper and limit switch combined type home position return Speed change cannot be made Minor error Error code 301 Note occurs JOG operation Speed change to negative speed is not made Speed is controlled at speed limit value Minor error Error code 305 Note occurs Note Minor error Error code 301 Speed change was made during home position return Minor error ...

Страница 64: ... of CHGV Positioning completion M2401 20n OFF In position M2402 20n ON Command in position M2403 20n OFF Speed change 0 accepting flag M2240 n ON b When re starting make a speed change to positive speed c When positioning is end turn on the stop command d When a negative speed change is executed again after negative speed completion CHGV instruction is ignored 4 When the complete round is set in G...

Страница 65: ...mains ON during the standby in P1 Turn on the stop command to end the positioning at this point 3 A speed change to negative speed is ignored if it is made during stop by the waiting for FIN using the M code FIN signal waiting function in the constant speed control O10 G90 N1 G01 X10000 Y0 F1000 N2 Y10000 N3 X10000 M02 Stat request SVST Start accept M2001 n Speed change request CHGV Change speed C...

Страница 66: ...rogram example SP CHGV K1000 M0 D0 H3E3 RST M100 M100 To self CPU high speed interrupt accept flag from CPU U3E3 G48 0 J1 M0 Normal complete program M1 Abnormal complete program M1 Speed changing flag of the axis No 1 CPU No 4 U3E3 G518 0 Program which changes the positioning speed of the axis No 1 of the Motion CPU CPU No 4 from PLC CPU CPU No 1 to 1000 P1 P2 P3 X axis Y axis Start point ...

Страница 67: ...ing data Setting data Description Data type n1 First I O No of the target CPU 16 Value to specify actually is the following Note 1 CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H 16 bit binary S1 Axis No Jn Note 2 to execute the torque limit value change Q173HCPU J1 to J32 Q172HCPU J1 to J8 Character sequence S2 Setting of the torque limit value change to change 16 bit binary D1 Complete devices D1 0 De...

Страница 68: ... CPUn Operation State display device D1 1 at the instruction start accept completion t ON ON S P CHGT instruction OFF ON OFF OFF OFF 1 scan PLC program Instruction accept completion at the Motion CPU side END END END END Torque limit value change Instruction start accept complete device D1 0 To self CPU high speed interrupt accept flag from CPUn S P CHGT execution Torque limit value change process...

Страница 69: ... No set by CHGT instruction is injustice 4C09 CPU No of the instruction cause is injustice Confirm a program and correct it to a correct PLC program Note 0000H Normal The error flag SM0 is turned on an operation error in the case shown below and an error code is stored in SD0 Error code Note Error factor Corrective action 2110 The CPU No to be set by First I O NO of the target CPU 16 is specified ...

Страница 70: ...ch changes the torque limit value of the axis No 1 of the Motion CPU CPU No 4 from PLC CPU CPU No 1 to 10 SP CHGT K10 M0 D0 H3E3 RST M100 M100 To self CPU high speed interrupt accept flag from CPU U3E3 G48 0 J1 M0 Normal complete program M1 Abnormal complete program M1 ...

Страница 71: ...Set data Description Data type n1 First I O No of the target CPU 16 Value to specify actually is the following Note 1 CPU No 1 3E0H CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H 16 bit binary S1 First device of the self CPU in which control data is stored S2 First device of the self CPU in which writing data is stored D1 First device of the target Motion CPU which stores the writing data 16 bit binary...

Страница 72: ...ed by data in the shared CPU memory of the target CPU Motion CPU whether the instruction is acceptable or not When the Motion dedicated PLC instruction is started continuously it is must be design to execute next instruction after executing instruction complete device on 4 The target CPU device range check is not executed with self CPU at the S P DDWR instruction execution but it checks by the tar...

Страница 73: ...R instruction accept First S P DDWR instruction completion with response Second S P DDWR instruction completion with response ON Abnormal completion OFF Normal completion ON Abnormal completion OFF Normal completion Errors The abnormal completion in the case shown below and the error code is stored in the control data S1 0 Complete status Complete status Note Error code H Error factor Corrective a...

Страница 74: ...of the target CPU 16 is specified Number of the writing data is except 1 to 16 4101 Number of writing data exceeds range of the storage device of the written data Confirm a program and correct it to a correct PLC program Note 0000H Normal Program example M10 D51 X0 D50 SP DDWR D0 D100 M10 H3E1 SM400 K10 MOV M11 M11 M10 D51 X0 D50 SP DDWR D0 D100 M10 H3E1 SM400 K10 MOV M11 M11 M0 SET M10 M0 M10 M0 ...

Страница 75: ...ng data Set data Description Data type n1 First I O No of the target CPU 16 Value to specify actually is the following Note 1 CPU No 1 3E0H CPU No 2 3E1H CPU No 3 3E2H CPU No 4 3E3H S1 First device of the self CPU in which control data is stored S2 First device of the target CPU in which reading data is stored D1 First device of the self CPU which stores the reading data 16 bit binary D2 Bit devic...

Страница 76: ...d by data in the shared CPU memory of the target CPU Motion CPU whether the instruction is acceptable or not When the Motion dedicated PLC instruction is started continuously it is must be design to execute next instruction after executing instruction complete device on 4 The target CPU device range check is not executed with self CPU at the S P DDRD instruction execution but it checks by the targ...

Страница 77: ...D instruction accept First S P DDRD instruction completion with response Second S P DDRD instruction completion with response ON Abnormal completion OFF Normal completion ON Abnormal completion OFF Normal completion Errors The abnormal completion in the case shown below and the error code is stored in the control data S1 0 Complete status Complete status Note Error code H Error factor Corrective a...

Страница 78: ... I O No of the target CPU 16 is specified Number of the writing data is except 1 to 16 4101 Number of writing data exceeds range of the storage device of the written data Confirm a program and correct it to a correct PLC program Note 0000H Normal Program example M0 D51 X0 D50 SP DDRD D0 D100 M0 H3E1 SM400 K10 MOV Normal complete processing M1 M1 M10 D51 X0 D50 SP DDRD D0 D100 M10 H3E1 SM400 K10 MO...

Страница 79: ...3 44 3 MOTION DEDICATED PLC INSTRUCTION MEMO ...

Страница 80: ...rnal signals The external input signals to the Motion CPU are shown below Upper lower limit switch input The upper lower limit of the positioning range is controlled Stop signal Stop signal for speed control Proximity dog signal ON OFF signal from the proximity dog Manual pulse generator input Signal from the manual pulse generator Configuration between modules Sensor solenoid etc DI O Motion CPU ...

Страница 81: ...axes 4 1 Internal Relays 1 Internal relay list Device No Purpose Device No Purpose M0 M3840 to User device 2000 points to User device 160 points M2000 M4000 to Common device Status 320 points to Axis I O signal Axis status 2 10 points 32 axes M2320 M4320 to Special relay allocated device Status 80 points to Unusable 80 points M2400 M4400 to Axis status 20 points 32 axes to Axis I O siganal Axis co...

Страница 82: ...640 to M2659 9 Home position return request Main cycle 14 M2660 to M2679 10 Home position return complete Operation cycle 15 M2680 to M2699 11 FLS 16 M2700 to M2719 12 RLS 17 M2720 to M2739 13 STOP 18 M2740 to M2759 14 External signals DOG CHANGE Main cycle 19 M2760 to M2779 15 Servo ready 20 M2780 to M2799 16 Torque limiting Operation cycle Status signal 21 M2800 to M2819 17 22 M2820 to M2839 18 ...

Страница 83: ...cycle 13 M3440 to M3459 14 M3460 to M3479 9 External stop input disable at start command At start Command signal 15 M3480 to M3499 10 16 M3500 to M3519 11 17 M3520 to M3539 12 18 M3540 to M3559 13 19 M3560 to M3579 14 Unusable 20 M3580 to M3599 15 Servo OFF command Operation cycle 21 M3600 to M3619 16 Gain changing command Operation cycle Note 3 Command signal 22 M3620 to M3639 17 23 M3640 to M365...

Страница 84: ... Unusable 13 M4120 to M4129 9 Unusable note 1 14 M4130 to M4139 M4009 Single block processing signal 15 M4140 to M4149 16 M4150 to M4159 17 M4160 to M4169 18 M4170 to M4179 19 M4180 to M4189 20 M4190 to M4199 21 M4200 to M4209 22 M4210 to M4219 23 M4220 to M4229 24 M4230 to M4239 25 M4240 to M4249 26 M4250 to M4259 27 M4260 to M4269 28 M4270 to M4279 29 M4280 to M4289 30 M4290 to M4299 31 M4300 to...

Страница 85: ...3 M4520 to M4529 9 Unusable Note 1 14 M4530 to M4539 M4408 Single block mode signal 15 M4540 to M4549 M4409 Single block start signal 16 M4550 to M4559 M4418 Axis interlock valid invalid 17 M4560 to M4569 18 M4570 to M4579 19 M4580 to M4589 20 M4590 to M4599 21 M4600 to M4609 22 M4610 to M4619 23 M4620 to M4629 24 M4630 to M4639 25 M4640 to M4649 26 M4650 to M4659 27 M4660 to M4669 28 M4670 to M46...

Страница 86: ... Axis 28 M2083 Axis 23 M2029 Axis 29 M2084 Axis 24 M2030 Axis 30 M2085 Axis 25 M2031 Axis 31 M2086 Axis 26 M2032 Axis 32 Start accept flag Operation cycle Status signal Note 1 Note 2 M2087 Axis 27 M2033 Unusable M2088 Axis 28 M2089 Axis 29 M2034 Personal computer link communication error flag Operation cycle Status signal M2090 Axis 30 M2035 M2091 Axis 31 M2036 M2092 Axis 32 Speed changing flag Op...

Страница 87: ...139 Axis 12 M2200 M2140 Axis 13 M2201 M2141 Axis 14 M2202 M2142 Axis 15 M2203 M2143 Axis 16 M2204 M2144 Axis 17 M2205 M2145 Axis 18 M2206 M2146 Axis 19 M2207 M2147 Axis 20 M2208 M2148 Axis 21 M2209 M2149 Axis 22 M2210 M2150 Axis 23 M2211 M2151 Axis 24 M2212 M2152 Axis 25 M2213 M2153 Axis 26 M2214 M2154 Axis 27 M2215 M2155 Axis 28 M2216 M2156 Axis 29 M2217 M2157 Axis 30 M2218 M2158 Axis 31 M2219 M2...

Страница 88: ...90 M2251 Axis 12 M2291 M2252 Axis 13 M2292 M2253 Axis 14 M2293 M2254 Axis 15 M2294 M2255 Axis 16 M2295 M2256 Axis 17 M2296 M2257 Axis 18 M2297 M2258 Axis 19 M2298 M2259 Axis 20 M2299 M2260 Axis 21 M2300 M2261 Axis 22 M2301 M2262 Axis 23 M2302 M2263 Axis 24 M2303 M2264 Axis 25 M2304 M2265 Axis 26 M2305 M2266 Axis 27 M2306 M2267 Axis 28 M2307 M2268 Axis 29 M2308 M2269 Axis 30 M2309 M2270 Axis 31 M23...

Страница 89: ...te 2 Device area of 9 axes or more is unusable in the Q172HCPU Note 3 Handling of D704 to D708 and D755 to D757 registers Because cannot be turn on off for every bit from the PLC CPU the above bit devices are assigned to D register and each bit device becomes on with the lowest rank bit 0 1 of each register and each bit device becomes off with 1 0 Use it when the above functions are requested from...

Страница 90: ...ced stop input flag Operation cycle M9076 M2333 Manual pulse generator axis setting error flag M9077 M2334 TEST mode request error flag M9078 M2335 Motion program setting error flag Error occurrence M9079 M2336 CPU No 1 reset flag M9240 M2337 CPU No 2 reset flag M9241 M2338 CPU No 3 reset flag M9242 M2339 CPU No 4 reset flag M9243 M2340 CPU No 1 error flag M9244 M2341 CPU No 2 error flag M9245 M23...

Страница 91: ...not in agreement when the device of a remarks column is turned on directly In addition when the request from a data register and the request from the above device are performed simultaneously the request from the above device becomes effective Note 2 It can also be ordered the device of a remark column 9 Special relay allocated device list Command signal Device No Signal name Refresh cycle Fetch c...

Страница 92: ...ation or manual pulse generator operation b This signal turns off at turning the complete signal OFF command M3204 20n off to on or positioning completion When the complete signal OFF command M3204 20n turns off to on Motion program Axis designation program start Start accept flag M2001 n Note 1 Positioning start complete signal M2400 20n Note 1 Complete signal OFF command M3204 20n Note 1 Dwell t...

Страница 93: ... No n 1 0 9 8 17 16 25 24 2 1 10 9 18 17 26 25 3 2 11 10 19 18 27 26 4 3 12 11 20 19 28 27 5 4 13 12 21 20 29 28 6 5 14 13 22 21 30 29 7 6 15 14 23 22 31 30 8 7 16 15 24 23 32 31 Calculate as follows for the device No corresponding to each axis Example M3200 20n Stop command M3200 20 31 M3820 M3215 20n Servo OFF M3215 20 31 M3835 The range n 0 to 7 of axis No 1 to 8 is valid in the Q172HCPU ...

Страница 94: ...se generator operation or speed control It does not turn on at the stop on the way during positioning b This signal turns off at turning the complete signal OFF command M3204 20n off to on or positioning start completion Motion program exapmle O0001 G90 G00 X100 X200 G00 X300 G04 P500 M02 Program No Absolute value command PTP positioning X100 PTP positioning X200 PTP positioning X300 Dwell 500ms R...

Страница 95: ...en the servo power supply is turned on After the automatic deceleration is started during positioning control After the deceleration is started with the JOG start signal OFF During the manual pulse generator operation After the proximity dog ON during a home position return After the deceleration is started with the stop command When the speed change to a speed 0 is executed After the deceleration...

Страница 96: ...s Positioning control start Home position return JOG operation Manual pulse generator operation b Command in position check is continually performed during positioning control Motion program example O0001 G90 G00 X100 X200 M02 Program No Absolute value command PTP positioning X100 PTP positioning X200 Reset Start accept flag M2001 n Command in position signal M2403 20n OFF ON Command in position r...

Страница 97: ...0 Y100 M02 Operation timing SP SVST H3E1 J1J2J3 K100 D0 1 The in position signal turns ON by reaching the in position range of servo parameter after deceleration start Since the Z axis is stopped in this case it always turns on immediately after deceleration start Even if the only 2 axes X Y is commanded in the G00 command of Motion program when the 3 axes is started by SVST instruction in the PLC...

Страница 98: ...ag of the axis No 1 CPU No 2 U3E1 G516 0 Start accept flag of the axis No 2 CPU No 2 U3D1 G516 1 Start accept flag of the axis No 3 CPU No 2 U3E1 G516 2 Motion program O100 G91 G00 X100 Y100 Z0 M02 Add the travel value 0 of Z axis in the Motion program 1 In position signal is the same as the example 1 2 The command in position check of Z axis is also executed during axis travel by addition of the ...

Страница 99: ...torage register with detection of a major error Refer to Section 4 2 1 b This signal turns off when the error reset command M3207 20n turns on Error detection signal M2407 20n Error reset command M3207 20n ON OFF OFF ON Error detection REMARK Note 1 Refer to APPENDIX 1 2 for the error codes with detection of minor errors Note 2 Refer to APPENDIX 1 3 for the error codes with detection of major erro...

Страница 100: ...r Servo error 2025 absolute position erase occurrence Servo error 2143 absolute position counter warning occurrence Major error 1203 or 1204 occurrence When the rotation direction selection of servo parameter is changed 2 This signal turns off by the completion of the home position return Operation in G28 of the Motion program changes by the ON OFF of the home position return request signal When h...

Страница 101: ...it cannot be start the home position return 10 FLS signal M2411 20n a This signal is controlled by the ON OFF state for the upper stroke limit switch input FLS of the Q172LX Servo amplifier Upper stroke limit switch input OFF FLS signal ON Upper stroke limit switch input ON FLS signal OFF b The state for the upper stroke limit switch input FLS when the FLS signal is ON OFF is shown below 1 Q172LX ...

Страница 102: ...2LX RLS RLS COM 2 Servo amplifier input use Note 2 RLS signal ON RLS DI2 DICOM RLS signal OFF RLS DI2 DICOM MR J3 B MR J3 B Note 1 Refer to the Q173HCPU Q172HCPU User s Manual Note 2 Refer to the Q173HCPU Q172HCPU Motion controller Programming Manual COMMON 12 STOP signal M2413 20n a This signal is controlled by the ON OFF state for the stop signal input STOP of the Q172LX Stop signal of the Q172L...

Страница 103: ... B MR J3 B Note 1 Refer to the Q173HCPU Q172HCPU User s Manual Note 2 Refer to the Q173HCPU Q172HCPU Motion controller Programming Manual COMMON 14 Servo ready signal M2415 20n a This signal turns on when the servo amplifiers connected to each axis are in the READY state b This signal turns off in the following cases M2042 is off Servo amplifier is not installed Servo parameter is not set It is re...

Страница 104: ... If the G code and M code are described in the same block the M code outputting signal turns on at the start of G code processing c If the miscellaneous function M is executed after completion of position control describe the M code independently d For M00 M01 M02 M30 M98 M99 and M100 the M code outputting signal does not turn on Internal processing only Motion program example O0001 G90 G00 X100 M...

Страница 105: ...ration stop processing Positioning control during the Motion program start JOG operation The axis decelerates to a stop in the deceleration time set in the parameter block or Motion program Note 1 The stop command is ignored and deceleration stop processing is continued Note 1 Manual pulse generator operation An immediate stop is executed without deceleration processing Home position return 1 The ...

Страница 106: ...During deceleration stop processing Position control during the Motion program start JOG operation The axis decelerates to a deceleration time set in the parameter block or Motion program Deceleration processing is canceled and rapid stop processing executed instead Note 1 Manual pulse generator operation An immediate stop is executed without deceleration processing Home position return 1 The axis...

Страница 107: ...he deceleration time set in the parameter block POINT Take an interlock so that the forward rotation JOG start command M3202 20n and reverse rotation JOG start command M3203 20n may not turn on simultaneously 4 Complete signal OFF command M3204 20n a This command is used to turn off the positioning start complete signal M2400 20n and positioning complete signal M2401 20n Positioning start complete...

Страница 108: ... stop M4003 10n by the temporary stop command M4400 10n at the automatic start or if an error reset is executed during a block stop by M00 M01 the Motion program operation state is reset The SVST instruction must be executed in the next strat Re start is not possible Automatic start M4002 10n Temporary stop M4003 10n Temporary stop command M4400 10n Block stop by M00 M01 OFF ON Error reset command...

Страница 109: ...tomatic start or if an error reset is executed during a block stop by M00 M01 the Motion program operation state is reset The SVST instruction must be executed in the next strat Re start is not possible Automatic start M4002 10n Temporary stop M4003 10n Temporary stop command M4400 10n Block stop by M00 M01 OFF ON Start accept flag M2001 n Servo error reset command M3208 20n Motion program Axis de...

Страница 110: ...op at the automatic start M4002 10n ON 8 Servo OFF command M3215 20n This command is used to execute the servo OFF state free run state M3215 20n OFF Servo ON M3215 20n ON Servo OFF free run state This command becomes invalid during positioning and should therefore be executed after completion of positioning CAUTION Turn the power supply of the servo amplifier side off before touching a servomotor...

Страница 111: ...block begins after the FIN signal changes as above Motion program example O0001 G90 G00 X100 M10 X200 M02 Program No Absolute value command PTP positioning X100 M10 PTP positioning X200 Reset Start accept flag M2001 n M code D13 20n M code outputting signal M2419 20n FIN signal M3219 20n Command in position M2403 20n OFF 200 100 ON Command in position range setting value M10 Motion program Axis de...

Страница 112: ...turned on Motion program example O0001 G90 G00 X100 X200 M02 Program No Absolute value command PTP positioning X100 PTP positioning X200 Reset Start accept flag M2001 n Note 1 Automatic start M4002 10n Note 1 Temporary stop M4003 10n Note 1 Temporary stop command M4400 10n Note 1 ON 200 OFF OFF OFF ON OFF 100 ON ON ON Re start command M4404 10n Note 1 Motion program Axis designation program start ...

Страница 113: ...ases The re start command M4404 10n turned on The error reset command M3207 20n turned on The servo error reset command M3208 20n turned on Error occurrence Emergency stop Motion program example O0001 G90 G00 X100 X200 M02 Program No Absolute value command PTP positioning X100 PTP positioning X200 Reset Start accept flag M2001 n Note 1 Automatic start M4002 10n Note 1 Temporary stop M4003 10n Note...

Страница 114: ...e following case When the single block mode signal M4408 is turned on d This signal turns off in the following case When the single block start signal M4409 is turned from off to on after the single block mode signal M4408 is turned off Motion program example O0001 N1 G90 G00 X100 F1000 N2 X200 N3 X300 N4 X400 M02 Program No Absolute value command constant speed positioning X100 Constant speed pos...

Страница 115: ...4003 10n Temporary stop command M4400 10n OFF OFF G90 G00 X100 Temporary stop ON ON Re start command M4404 10n ON OFF OFF OFF OFF ON Temporary stop Motion program Axis designation program start c Note the following instructions among the positioning start instructions 1 A program is stopped by the temporary stop command at the proximity dog count data set dog cradle stopper or limit switch combine...

Страница 116: ...90 G00 X100 M01 X200 M02 Program No Absolute value command PTP positioning X100 Optional program stop command PTP positioning X200 Reset When M4401 10n is ON Start accept flag M2001 n ON 200 OFF OFF 100 ON Re start command M4404 10n Automatic start M4002 10n Motion program Axis designation program start When M4401 10n is OFF Start accept flag M2001 n ON 200 OFF OFF 100 Re start command M4404 10n A...

Страница 117: ... block OFF The block is executed Motion program example O0001 G90 G00 X100 X200 M02 Program No Absolute value command PTP positioning X100 PTP positioning X200 Reset When M4402 10n is ON Start accept flag M2001 n Automatic start M4002 10n ON OFF 100 Motion program Axis designation program start When M4402 10n is OFF Start accept flag M2001 n Automatic start M4002 10n ON OFF 100 200 Motion program ...

Страница 118: ... The first start is made by turning on the re start command M4404 10n after execution of the SVST instruction After that a start is made by turning on the re start command M4404 10n OFF All blocks are executed continuously using the SVST instruction Motion program example O0001 G90 G00 X100 X200 M02 Program No Absolute value command PTP positioning X100 PTP positioning X200 Reset When M4403 10n is...

Страница 119: ...M4404 10n Temporary stop Block stop ON M00 X200 X200 Motion program Axis designation program start 6 Override ratio valid invalid M4405 10n This signal is used to set whether the override ratio is valid or invalid ON Valid If M4405 10n turns on during execution Motion program positioning is executed at the specified speed multiplied by the value stored in the override ratio setting register Note 1...

Страница 120: ...follows deceleration stop time by the parameter block However a deceleration stop at the manual pulse operation only is a stop without deceleration processing e If the axis interlock of travel direction turns on with at least one axis during interpolation control a deceleration stop is executed in all interpolation axes f When the travel of axis stops by the axis interlock a minor error axis inter...

Страница 121: ...rogram No Absolute value command PTP positioning X200 Constant speed positioning X300 Reset OFF OFF OFF ON ON OFF V t ON ON Motion program Axis designation program start Start accept flag M2001 n Axis interlock forward M4406 10n Axis interlock reverse M4407 10n Temporary stop Temporary stop ...

Страница 122: ... for 1 time of the beginning is the slash portion of the following figure V Interpolation processing t Travel value Operation cycle Command speed 50m min Operation cycle 3 5ms Travel value for error detection 50 0 0035 2 60 0 001mm 2 Time fixed acceleration decerelation G100 The travel value shown in a rectangle of following figure is divided into the travel value for every operation cycle Therefo...

Страница 123: ...gle block processing signal M4409 is ON and the single block mode signal M4408 is OFF making a single block start stops single block operation and starts continuous operation At this time the single block processing M4409 turns off 10 Axis interlock valid invalid M4418 This command is used to validate the axis interlock forward reverse ON Valid If the axis interlock forward reverse command turns o...

Страница 124: ...al pulse generator operation using the Motion program when the M2000 is ON 2 The above 1 control is not performed even if the M2000 is turned on during the test mode TEST mode ON flag M9075 ON using a peripheral device b The setting data such as the fixed parameters servo parameters and limit switch output data can be changed using a peripheral device when M2000 is OFF only The above data using a ...

Страница 125: ...ut PY off e Operation setting at STOP RUN The condition which the PLC ready flag M2000 turns on is set in the sysytem setting Select the following either 1 M2000 turns on by the switch STOP RUN Default The condition which M2000 turns OFF to ON Move the RUN STOP switch from STOP to RUN Turn the power supply on or release to reset where the RUN STOP switch is moved to RUN The condition which M2000 t...

Страница 126: ...sitioning complete M2401 20n Positioning start complete M2400 20n Motion program Axis designation program start Start accept flag M2001 n Positioning complete M2401 20n Positioning start complete M2400 20n Positioning stop during control ON OFF V t OFF OFF ON Positioning start Positioning stop completion Motion program Axis designation program start 2 This flag turns on at the positioning control ...

Страница 127: ...k communication error 4 System setting error flag M2041 Status signal This flag set the system setting data and performs an adjustment check with a real installation state CPU base unit extension base units at the power supply on or resetting of the Motion CPU ON Error OFF Normal a When an error occurs the ERR LED at the front of the CPU turns on The error contents can be confirmed using the error...

Страница 128: ... the STOP state 6 Motion slot fault detection flag M2047 Status signal This flag is used as judgement which modules installed in the motion slot of the CPU base unit is normal or abnormal ON Installing module is abnormal OFF Installing module is normal The module information at the power supply on and after the power supply injection are always checked and errors are detected a Perform the disposa...

Страница 129: ...This flag set the enabled or disabled state for positioning with the pulse input from the manual pulse generators connected to P1 to P3 Note of the Q173PX ON Positioning control is executed by the input from the manual pulse generators OFF Positioning control cannot be executed by the manual pulse generators because of the input from the manual pulse generators is ignored Defalut value is invalid ...

Страница 130: ...ompletion ON OFF OFF ON 0 to 16ms Setting speed Motion program Axis designation program start The speed changing flag list is shown below Axis No Device No Axis No Device No Axis No Device No Axis No Device No 1 M2061 9 M2069 17 M2077 25 M2085 2 M2062 10 M2070 18 M2078 26 M2086 3 M2063 11 M2071 19 M2079 27 M2087 4 M2064 12 M2072 20 M2080 28 M2088 5 M2065 13 M2073 21 M2081 29 M2089 6 M2066 14 M2074...

Страница 131: ...this flag does not turn off During deceleration by the JOG signal off During manual pulse generator operation At deceleration on the way due to stop command or stop cause occurrence When travel value is 0 Automatic deceleration flag OFF ON V t Note The automatic deceleration flag list is shown below Axis No Device No Axis No Device No Axis No Device No Axis No Device No 1 M2128 9 M2136 17 M2144 25...

Страница 132: ...pting flag Positioning complete signal Speed change 0 Speed change V2 Deceleration stop at the speed change 0 accept Thereafter by changing speed to except for 0 it starts continuously V1 V2 t The speed change 0 accepting flag list is shown below Axis No Device No Axis No Device No Axis No Device No Axis No Device No 1 M2240 9 M2248 17 M2256 25 M2264 2 M2241 10 M2249 18 M2257 26 M2265 3 M2242 11 M...

Страница 133: ...ion by the JOG signal off During manual pulse generator operation After positioning automatic deceleration start After deceleration due to stop cause 4 The temporary stop is executed during travel or dwell G04 execution the speed change 0 accepting flag turns on 5 Speed change 0 accepting flag turns on in the following cases The temporary stop command M4400 10n is input during travel to the specif...

Страница 134: ...ed change 0 Speed change V2 b The flag turns off if a stop cause occurs after speed change 0 accept Start accept flag Speed change 0 accepting flag OFF ON V t Speed change 0 Stop cause c The speed change 0 accepting flag does not turn on if a speed change 0 occurs after an automatic deceleration start Start accept flag Speed change 0 accepting flag V t Speed change 0 OFF Automatic deceleration sta...

Страница 135: ...ts D758 to Common device Monitor 42 points D800 to Axis monitor device 2 20 points 32 axes D1440 to Control program monitor device 6 points 16 programs D1536 to Control change register 2 Override ratio 3 points 32 axes D1632 to User device 18 points D1650 to Tool length offset data setting register 2 points 20 D1690 to D8191 User device 6502 points Usable in the user device POINT Total number of u...

Страница 136: ...279 9 Home position return re travel value PLS 15 D280 to D299 10 16 D300 to D319 11 Travel value after proximity dog ON Operation cycle Command unit 17 D320 to D339 12 Execute program No At start 18 D340 to D359 13 M code 19 D360 to D379 14 Torque limit value Operation cycle Monitor device 20 D380 to D399 15 21 D400 to D419 16 22 D420 to D439 17 Unusable 23 D440 to D459 18 24 D460 to D479 19 Real...

Страница 137: ... D650 D651 7 D652 D653 8 D654 D655 9 D656 D657 10 D658 D659 11 D660 D661 12 D662 D663 13 D664 D665 14 D666 D667 15 D668 D669 16 D670 D671 17 D672 D673 18 D674 D675 19 D676 D677 20 D678 D679 21 D680 D681 22 D682 D683 23 D684 D685 24 D686 D687 25 D688 D689 26 D690 D691 27 D692 D693 28 D694 D695 29 D696 D697 30 D698 D699 31 D700 D701 32 D702 D703 Note 1 The range of axis No 1 to 8 is valid in the Q17...

Страница 138: ...quence No sub 14 D1060 to D1079 15 D1080 to D1099 6 Execute block No sub Immediate Monitor device 16 D1100 to D1119 7 Unusable 17 D1120 to D1139 8 G43 G44 command 18 D1140 to D1159 19 D1160 to D1179 9 Tool length offset data No 20 D1180 to D1199 10 21 D1200 to D1219 11 Tool length offset data Immediate Command unit Monitor device 22 D1220 to D1239 12 23 D1240 to D1259 13 24 D1260 to D1279 14 25 D1...

Страница 139: ... 1 Sequence No D1470 to D1475 2 Block No D1476 to D1481 D1482 to D1487 3 Error code Minor error code D1488 to D1493 4 Execute status Immediate Monitor device D1494 to D1499 5 Unusable Note 1 D1500to D1505 D1445 CLEAR request status storage register D1506 to D1511 D1512 to D1517 D1518 to D1523 D1524 to D1529 D1530 to D1535 Note 1 D1445 CLEAR request status storage register is used in the control pr...

Страница 140: ... to D1559 9 D1560 to D1562 10 D1563 to D1565 11 D1566 to D1568 12 D1569 to D1571 13 D1572 to D1574 14 D1575 to D1577 15 D1578 to D1580 16 D1581 to D1583 17 D1584 to D1586 18 D1587 to D1589 19 D1590 to D1592 20 D1593 to D1595 21 D1596 to D1598 22 D1599 to D1601 23 D1602 to D1604 24 D1605 to D1607 25 D1608 to D1610 26 D1611 to D1613 27 D1614 to D1616 28 D1617 to D1619 29 D1620 to D1622 30 D1623 to D...

Страница 141: ...a 6 D1663 D1662 Tool length offset data 7 D1665 D1664 Tool length offset data 8 D1667 D1666 Tool length offset data 9 D1669 D1668 Tool length offset data 10 D1671 D1670 Tool length offset data 11 D1673 D1672 Tool length offset data 12 D1675 D1674 Tool length offset data 13 D1677 D1676 Tool length offset data 14 D1679 D1678 Tool length offset data 15 D1681 D1680 Tool length offset data 16 D1683 D16...

Страница 142: ...or device D712 D760 D713 JOG operation simultaneous start axis setting register At start D761 D714 D762 D715 Manual pulse generator axis 1 No setting register D763 D716 D764 D717 Manual pulse generator axis 2 No setting register D765 D718 D766 D719 Manual pulse generator axis 3 No setting register D767 D720 Axis 1 D768 D721 Axis 2 D769 D722 Axis 3 D770 D723 Axis 4 D771 D724 Axis 5 D772 D725 Axis 6...

Страница 143: ...r position machine value deviation counter value b The machine value is equal to the real machine value in the stopped state Some real machine values are changed by the servo lock force at a motor stop 3 Deviation counter value droop pulses storage register D4 20n D5 20n Monitor device This register stores the difference between the machine value and real machine value 4 Minor error code storage r...

Страница 144: ... pulses of the motor connected Number of feedback pulses Storage data Less than 131072 PLS Feedback pulses 131072 PLS or more 262144 PLS or less 1 10 of feedback pulses More than 262144 PLS 1 10000 of feedback pulses 8 Travel value after proximity dog ON storage register D10 20n D11 20n Monitor device This register stores the travel value unsigned from the proximity dog ON to home position return ...

Страница 145: ...eceding value remains until the M code is executed next 11 Torque limit value storage register D14 20n Monitor device This register stores the torque limit value imposed on the servo amplifier The default value 300 is stored at the power supply of servo amplifier ON 12 Real current value at STOP input storage register D18 20n D19 20n Monitor device This register stores the real current value at th...

Страница 146: ...ng register D689 D688 D691 D690 D693 D692 D695 D694 D697 D696 D699 D698 D701 D700 D703 D702 Note The range of axis No 1 to 8 is valid in the Q172HCPU 1 JOG speed setting registers D640 2n Command device a This register stores the JOG speed at the JOG operation b Setting range of the JOG speed is shown below mm inch degree Unit Item Setting range Unit Setting range Unit Setting range Unit Note JOG ...

Страница 147: ...0 10000000 0 Machine value zero position 0 Machine value Current value At the 10000000 position of the machine value the current value is 0 b The current value is shift depending on the work coordinate system selection G54 to G59 and G92 coordinate system setting When G90 G00 X0 G54 selected and G92 X500 are executed in the above state the current value is as follows Work coordinate system G54 zer...

Страница 148: ... register stores the block No during operation This number changes to 0 using the Motion dedicated instruction S P SVST at the Motion program start When the sequence No N described in the Motion program is executed this number changes to 0 and it is incremented every time a single block is executed Be careful when executing the IF THEN ELSE END or WHILE DO instruction Refer to Sections 6 16 2 and ...

Страница 149: ...m is called from a subprogram this number changes to the block No of the subprogram called When the subprogram is ended by M99 this number changes to the block No of the subprogram which called c This number changes to 0 using the Motion dedicated instruction S P SVST at the Motion program start 7 G43 G44 command storage register D808 20n Monitor device a This register stores the following values ...

Страница 150: ...cable registers Higher rank Lower rank Offset value D811 20n D810 20n b The contents of the data registers D1650 to D1689 offset value corresponding to the setting tool length offset data No is stored in the tool length offset area at the tool length offset G43 G44 command Example When the X axis is assigned to axis 3 D1650 D1651 50000 H1 5 0000mm Execute G43 X50 H1 50000 is stored into D850 and D...

Страница 151: ...ogram is stored This number changes to 0 using the Motion dedicated PLC instruction S P SFCS at the Motion program start When the sequence No N described in the Motion program is executed this number changes to 0 and it is incremented every time a single block is executed Be careful when executing the IF THEN ELSE END or WHILE DO instruction Refer to Sections 6 16 2 and 6 16 3 for details 4 Error ...

Страница 152: ...e clear control program specified in the CLEAR request control program No setting register D707 1 A minor error the program number ended by CLEAR is outside the range of 1 to 1024 Error code 619 2 A minor error the program number ended by CLEAR is nor registered Or the axis designation program is cleared Error code 620 c 0 is set in the CLEAR request control program No setting register D707 0 is a...

Страница 153: ...Axis 17 Axis 18 Axis 19 Axis 20 Axis 21 Axis 22 Axis 23 Axis 24 Override ratio setting register D1584 D1587 D1590 D1593 D1596 D1599 D1602 D1605 Unusable D1585 to D1586 D1588 to D1589 D1591 to D1592 D1594 to D1595 D1597 to D1598 D1600 to D1601 D15603to D1604 D1606 to D1607 Name Axis 25 Axis 26 Axis 27 Axis 28 Axis 29 Axis 30 Axis 31 Axis 32 Override ratio setting register D1608 D1611 D1614 D1617 D1...

Страница 154: ...nk H1 D1651 D1650 H2 D1653 D1652 H3 D1655 D1654 H4 D1657 D1656 H5 D1659 D1658 H6 D1661 D1660 H7 D1663 D1662 H8 D1665 D1664 H9 D1667 D1666 H10 D1669 D1668 H11 D1671 D1670 H12 D1673 D1672 H13 D1675 D1674 H14 D1677 D1676 H15 D1679 D1678 H16 D1681 D1680 H17 D1683 D1682 H18 D1685 D1684 H19 D1687 D1686 H20 D1689 D1688 c The setting ranges of the tool length offset data are shown below mm degree Unit Ite...

Страница 155: ...d direction which start simultaneously the JOG operation b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Ax...

Страница 156: ... Axis 17 D714 D715 D716 D717 D718 D719 P1 P2 P3 Note 1 Make the axis No controlled with the manual pulse generator setting with 1 0 1 Specified axis 0 Unspecified axis Note 2 The range of axis No 1 to 8 is valid in the Q172HCPU b Refer to Section 7 6 for details of the manual pulse generator operation 4 Manual pulse generator 1 pulse input magnification setting registers D720 to D751 Command devic...

Страница 157: ...g magnification is set the smoothing time constant is as indicated by the following expression Smoothing time constant t smoothing magnification 1 56 8 ms c Operation OFF ON V Manual pulse generator input V1 t t t t Manual pulse generator enable flag M2051 Output speed V1 PLS s Number of input pulses s Manual pulse generator 1 pulse input magnification setting Travel value L Travel value per pulse...

Страница 158: ... Signal description Refresh cycle Signal direction 4 8076 to 8079 5 8080 to 8083 0 Servo amplifier type 0 Unused 256 MR J3 B When the servo amplifier power on 6 8084 to 8087 1 Motor current 0 1 7 8088 to 8091 2 8 8092 to 8095 3 Motor speed 0 1 r min Operation cycle 1 7 ms or less Operation cycle Operation cycle 3 5 ms or more 3 5 ms Monitor device 9 8096 to 8099 10 8100 to 8103 Note 1 The value th...

Страница 159: ...tected of the Motion CPU self diagnosis function When the Motion CPU detects a WDT error it executes an immediate stop without deceleration of the operating axes If the Motion CPU WDT error flag has turn on reset the Motion CPU If M9073 remains on after resetting there is a fault at the Motion CPU side The error cause is stored in the Motion CPU WDT error cause D9184 Refer to Section 4 5 2 PCPU RE...

Страница 160: ...servo ON command M2042 turns off When the rapid stop deceleration time Note has elapsed after input of the forced stop signal the machine value returns to the value at the point when the emergency stop was initiated 2 If the forced stop is reset before the emergency stop deceleration time has elapsed a servo error occurs Note It is not the rapid stop deceleration time but acceleration time at the ...

Страница 161: ...4 82 4 POSITIONING SIGNALS 7 Motion program setting error flag M9079 Status signal This flag is used as judgement of normal or abnormal for the Motion program positioning data OFF Normal ON Abnormal ...

Страница 162: ...nitor device D9180 D9181 Unusable D9182 D9183 Test mode request error information At test mode request D9184 Motion CPU WDT error cause At Motion CPU WDT error occurrence D9185 D9186 D9187 Manual pulse generator axis setting error information At the manual pulse generator enable flag D9188 Motion operation cycle Operation cycle D9189 Error program No D9190 Error item information At start D9191 D91...

Страница 163: ...nect disconnect command accept waiting 1 Connect disconnect execute waiting 1 to 32 Disconnect command 10 Re connection command 2 Connect disconnect execute command 2 Test mode request error information D9182 D9183 Monitor device If there are operating axis at a test mode request from a peripheral device a test mode request error occurs the test mode request error flag M9078 turns on and the durin...

Страница 164: ...and get advice from our sales representative 201 to 215 Q bus H W fault 201 Error contents 01 Q bus error 1 02 Q bus error 2 04 Q bus error 4 08 Q bus error 8 Error code Total of the error contents 200 250 to 253 Servo amplifier interface H W fault Faulty SSCNET No 0 SSCNET 1 1 SSCENT 2 250 Error code Total of the faulty SSCNET No 250 Reset with the reset key If the error reoccurs after resetting ...

Страница 165: ...thing magnification setting errors of the manual pulse generators connected to P1 to P3 of Q173PX 0 Normal 1 Setting error Axis setting in each digit is except for 1 to 32 Axis setting in each digit is except for 0 to 59 Store the 1 pulse input magnification setting errors of the axes 0 Normal 1 Setting error Input magnification of each axis is except for 1 to 10000 5 Motion operation cycle D9188 ...

Страница 166: ...Non installation 1 0 a Servo amplifier installation state 1 Installation non installation state Installation state The servo amplifier is normal Communication with the servo amplifier is normal Non installation state No servo amplifier is installed The servo amplifier power is off Normal communication with the servo amplifier is not possible due to a connecting cable fault etc 2 The system setting...

Страница 167: ...s stored in the form of the following Switch state of CPU b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 Memory card switch Always OFF All setting of each digit is 0 b0 D9200 No used 0 RUN 1 STOP 2 L CLR 0 OFF 1 ON b8 to b12 corresponds to SW1 to SW5 of the system setting switch b13 to b15 Not used 12 State of LED D9201 Monitor device It stores whether the LED of CPU is in which state in next ...

Страница 168: ...d Motion slot settings are set in the common system parameter setting 2 The basic system settings self CPU installation position setting servo amplifier motor setting high speed read setting and battery setting are set in the individual parameter setting 3 The data setting and correction can be performed in dialog form using a peripheral device Refer to Section 3 1 of the Q173HCPU Q172HCPU Motion ...

Страница 169: ...1474 83648 to 21474 83647 0 to 359 99999 214748 3647 Set the upper limit for the machine travel range The expression below shows the setting range 2147483648 upper stroke limit value AP AL 2147483647 6 Lower stroke limit Note 1 214748 3648 to 214748 3647 21474 83648 to 21474 83647 0 to 359 99999 0 Set the lower limit for the machine travel range The expression below shows the setting range 2147483...

Страница 170: ...otal incremented value is cleared the error occurs to the feed machine value only a part to have been cleared Number of pulses travel value per rotation are shown below 1 Number of pulses travel value per rotation Number of pulses AP travel value AL per rotation is an item which determines how many rotations number of pulses per rotation of the servomotor in order to make it a machine as the trave...

Страница 171: ...ke the setting range of AP AL the value calculated from the above expression reduced of relations Example of the real setting is shown below a For ball screw When the ball screw pitch is 20 mm the servomotor is HF KP 262144 PLS rev and direct connection No reduction gear is set Machine Motor Fig 5 2 For ball screw First find how many millimeters the load machine will travel AL when the servomotor ...

Страница 172: ...tion 7 1 Backlash Compensation Function for details Backlash compensation amount 0 Travel value per rotation A 65535 PLS 2 The servo error may occur depending on the type of the servo amplifier servomotor or operation cycle even if the backlash compensation amount which fulfill the above condition Set the backlash compensation amount within the following range in order for servo error may not occu...

Страница 173: ...rent command speed if the current value exceeds the stroke limit range a deceleration stop is made before a stroke limit Error code 207 Travel to the direction that returns the axis into the stroke range is possible Manual pulse generator operation Check If the current value exceeds the stroke limit range it stops at stroke limit Error code 207 In this case a deceleration stop is not made Travel t...

Страница 174: ...mand in position has been set the command in position signal M2403 20n turns on when the difference between the command position and the current value enters the set range command position current value command in position range The command in position range check is executed continuously during position control Command in position M2403 20n Position control start Command in position setting value...

Страница 175: ...tion control execution Find the combined travel value 2002 1002 223 6067 mm After the above program execution the reaching time of each axis is as follows X axis 200 mm 20 mm min 10 min Y axis 100 mm 1 mm min 100 min Since the reaching time of the Y axis is longer use the Y axis as the reference axis for the feed rate and find the combined speed Combined travel value 223 6067 mm 1 mm min 100 mm 2 ...

Страница 176: ...ong axes specified at the Motion program start the speed setting range for all degree axes specified at the start increase 10 multiplier 0 01 to 21474836 47 degree min When it is considered that the axis set as degree axis speed control 10 multiplier setting invalid is valid by the interpolation control the high speed feed rate of fixed parameter is controlled by 10 multiplied values Note The spec...

Страница 177: ...not specified the feed rate is set as 3 digits below the decimal point 0 L 2147483647 G01 X1000 F 0 L Operation with feed rate 2147483 647 degree min The feed rate is set as 3 digits below the decimal point for indirect setting G01 X1000 F21474836 47 Deceleration stop with the minor error 502 Command value exceeds the setting range b Axis set to speed control 10 multiplier setting for degree axis ...

Страница 178: ...te is set as 2 digits below the decimal point 2 2 axes interpolation positioning a G00 b G01 G91 G00 X1000 Y1000 V t V t degree min degree min 21474836 47 21474836 47 X axis speed Y axis speed G91 G01 X100 Y100 F21474836 47 V t V t degree min degree min 15182709 38 15182709 38 X axis speed Y axis speed POINTS If the speed control 10 multiplier setting for degree axis is set to valid even by one ax...

Страница 179: ...Y axis speed 2000 00 V t X axis speed 200 000 degree min degree min G91 G00 Y100 G91 G01 X100 F100 V t 1000 00 V t 100 000 degree min degree min G91 G01 Y100 F1000 Y axis speed X axis speed 2 2 axes interpolation positioning a G00 b G01 G91 G00 X100 Y100 V t V t degree min degree min 2000 2000 Y axis speed X axis speed G91 G01 X100 Y100 F1000 V t V t degree min degree min 693 48 Y axis speed X axi...

Страница 180: ...to make setting changes easy by allowing data such as the acceleration deceleration control to be set for each positioning processing 2 A maximum 64 blocks can be set as parameter blocks 3 Parameter blocks can be set using a peripheral device 4 Parameter block to be set are shown in Table 5 2 ...

Страница 181: ...535 ms Set the time taken to stop from the speed limit value when a rapid stop is executed 5 Rapid stop deceleration time Time fixed acceleration deceleration method Invalid 1000 ms Setting is ignored 5 3 1 Acceleration fixed acceleration deceleration method 0 to 100 Set the S curve ratio for S pattern processing When the S curve ratio is 0 trapezoidal acceleration deceleration processing is execu...

Страница 182: ... Refer to Section 6 16 21 6 16 22 and 6 16 23 And the parameter block can be changed by the PB instruction in the Motion program Refer to Section 6 16 14 for details 2 The parameter block No used in the home position return or JOG operation is set at the setting of the home position return data or JOG operation data using a peripheral device Refer to Section 7 3 1 Home position return data 7 5 1 J...

Страница 183: ...luding M code during G101 execution The acceleration deceleration mode of acceleration fixed acceleration deceleration is used The calculation of acceleration for acceleration deceleration is based on the lower speed among the feed speed Refer to Section 5 2 5 from high speed feed rate of fixed parameter and the speed limit value of parameter block At the override of 100 the real acceleration time...

Страница 184: ...ode during G101 execution High speed feed rate Real acceleration time At the override of 100 it is equal to the setting acceleration time Real rapid stop deceleration time At the override of 100 it is equal to the setting rapid stop deceleration time Real deceleration time At the override of 100 it is equal to the setting deceleration time 1 2 3 Speed 1 Real accele ration time Set acceleration tim...

Страница 185: ...ables acceleration deceleration processing to be executed gently The graph for S pattern processing is a sine curve as shown below Positioning speed Sine curve 0 Acceleration time Deceleration time Time t V As shown below the S curve ratio setting serves to select the part of the sine curve to be used as the acceleration deceleration curve A B B 2 B 2 Sine curve S curve ratio B A 100 A B Positioni...

Страница 186: ...of the arc determined by calculation and the end point address If the error is within the allowable range circular interpolation to the set end point address is executed while also executing error compensation by means of spiral interpolation If it exceeds the setting range an error occurs at the start and positioning does not start Such an error are set the applicable axis or minor error code are...

Страница 187: ...Remarks Section 1 G54 2 G55 3 G56 4 G57 5 G58 6 G59 214748 3648 to 214748 3647 mm 21474 83648 to 21474 83647 inch 359 99999 to 359 99999 degree 0 mm Set the work coordinate system 1 to 6 6 12 5 When a home position return is made based on the home position return setting data the mechanical coordinate system and work coordinate system are as shown below Example The X axis home position address of ...

Страница 188: ...ection describes the format and composition of the Motion program A Motion program is called a word address format word and it is combination of a single alphabet address and numbers 1 Word address format word A word is a collection of characters arranged in certain order and this is used as a unit to process that information to perform a specific operation A word is composed of a single alphabet ...

Страница 189: ...ntrol is indicated G code 3 X250 Coordinate position data Note The command for coordinate position of X axis is indicated This word commands 250 mm of X axis 4 Y 123 4 Coordinate position data Note The command for coordinate position of Y axis is indicated This word commands 123 4 mm of Y axis 5 F1500 Feed speed The command of feed speed in linear or circular interpolation is indicated F code This...

Страница 190: ...020 N80 M21 00021 M02 00022 Indicates a program end 3 Line number 1 Motion program No Number specified in a PLC program It can be set alphabet O and any number of 1 to 1024 2 Program block Consists of multiple program blocks necessary for motion operations in control order 3 Line number Automatically displayed in serial number when a Motion program is created by the peripheral device POINT Up to 1...

Страница 191: ...program execution Axis designation program This program is described by the control instructions and axis travel instructions or only the either 1 Refer to Section 6 3 to 6 5 for details of the instruction which can be described in each program 2 The total number of the control programs and axis designation programs is 1024 3 The method to start and end of the control program differs from the and ...

Страница 192: ...cel cancel start G25 00 High speed oscillation G26 00 High speed oscillation stop G28 00 Home position return G30 00 Second home position return G32 00 Skip G43 Tool length offset G44 Tool length offset G49 Note 08 Tool length offset cancel G53 00 Mechanical coordinate system selection G54 Note G55 G56 G57 G58 G59 12 Work coordinate system selection G61 Exact stop check mode G64 Note 13 Cutting mo...

Страница 193: ...power on is as follows Group 01 G00 Point to point positioning at the high speed feed rate Group 02 G23 Cancel cancel start invalid Group 03 G90 Absolute value command Group 08 G49 Tool length offset cancel Group 12 G54 Word coordinate system 1 selection Group 13 G64 Cutting mode Group 20 G100 Time fixed acceleration deceleration switching command Group 21 G99 Pre read enable Unmodal G codes Group...

Страница 194: ... call end Special M code M100 Preread disable General M code Other M codes The special M codes are not output to the device M code outputting signal M2419 20n Use the GOSUB GOSUBE instruction for the subprogram call in the control program A general M code cannot be used in the control program Use the EXEON EXEOFF for the signal wait from external source Because there is no axis designation in the ...

Страница 195: ...integer to real number DFLT 32 bit real number data to 64 bit real number data conversion SFLT 64 bit real number data to 32 bit real number data conversion Standard function SQRT ABS BIN BCD LN EXP RSD FIX FLP Function Logical operation AND OR XOR NOT Logical operator Bit operation BSET BRST Bit set and reset for word devices PB Parameter block change Note 1 TL Torque limit value change CHGA Home...

Страница 196: ...function module Multiple CPU instruction FROM Read words data from intelligent function module special function module Note 1 Because the axis travel instruction cannot be executed in the control program the change of PB parameter block is unnecessary Therefore PB cannot be used Note 2 Do a subprogram call in the axis designation program with M98 Note 3 Control such as a start and end of the contr...

Страница 197: ...gram returns to the call source program with the M02 M30 in the following cases a Started by the GOSUB GOSUBE instruction call in the control program Forced end from other program Control program The program can be ended by executing the CLEAR instruction from other programs Start method 1 Start by the SVST instruction from the PLC CPU 2 Start by the CALL instruction start or the GOSUB GOSUBE inst...

Страница 198: ... Return O12 G0 X10 Y10 G1 X20 Y20 F100 M98 P24 M02 End O13 G0 V10 Z10 G1 V20 Z20 F100 M98 P25 M02 Return Control program O24 G0 X30 Y30 G1 X40 Y40 F100 M99 Return O25 G0 V30 Z30 G1 V40 Z40 F100 M99 Return O20 M02 End O21 M02 Return O22 M02 End O23 M02 Return O1 CALL P10 GOSUB P11 CALL JXJY P12 GOSUB JVJZ P13 M02 Call Start Axis designation program ...

Страница 199: ...ms of the control program is 16 However when it was called by the GOSUB GOSUBE the number of multi executed programs is counted as 2 programs in the call source program and program called 5 The number of maximum multi startable programs of the axis designation program is 32 However when it was called by the M98 the number of multi executed programs is counted as 1 program in the call source progra...

Страница 200: ...ue Remark 1 Program type 1 Control program 2 Axis designation program Control program 2 Start setting Select the automatic start When the control program is selected 1 Automatic start 2 Not automatic start Not automatic start This parameter is input at the turning M2000 off to on after that it is controlled Turn M2000 off at the changing of this parameter ...

Страница 201: ...3 G44 G49 G53 G54 G55 G56 G57 G58 G59 G61 G64 G90 G91 G92 G00 G01 G02 G03 G04 G09 G12 G13 G23 G24 G25 G26 G28 G30 G32 G43 G44 G49 G53 G54 G55 G56 G57 G58 G59 G61 G64 G90 G91 G92 G98 G99 G100 First G codes G101 G code combination is possible How to use the above table a When the G09 is specified as the first G code G01 G02 G03 G12 or G13 can be specified as the second code b When the G90 is specifi...

Страница 202: ...des except the M00 M01 M02 M30 M98 M99 and M100 are specified in one block only the last one is valid 5 When the auxiliary function M is set in continuous G01 blocks If an auxiliary function M is set at any point in continuous G01 blocks operation is performed in either of the following two ways O0100 1 G90 G01 X100 F1000 2 X200 M10 3 X300 Constant speed positioning of X Constant speed positioning...

Страница 203: ...rogram start However the M code storage register is not output to the axis in execution of high speed oscillation Also if the FIN signal M3219 20n is set to the axis in execution of high speed oscillation is invalid Program No 1 is started with X axis 1 and Y axis 2 specified SVST J1J2 K1 O0001 N1 G25 X START90 STRK10 F30 N2 G00 Y10 M77 N3 G26 X M02 X axis high speed oscillation start PTP position...

Страница 204: ...tion of G09 exact stop check Since a shift by command in position cannot be made it shifts to the next block after command 9 Operation of G28 home position return Home position return of the proximity dog count data set dog cradle stopper and limit switch combined type is executed in the axis whose home position return request signal M2409 20n is ON A high speed feed home position return is execut...

Страница 205: ...h speed oscillation G25 is performed for all axes specified in the SVST Program No 1 is started with X axis 1 and Y axis 2 specified SVST J1J2 K1 O0001 N1 G25 X START90 STRK10 F30 X axis high speed oscillation start N2 G25 Y START90 STRK20 F10 Y axis high speed oscillation start N3 Be careful to program N3 after a The G code instructions except G26 high speed oscillation stop and G04 dwell should ...

Страница 206: ...rdinate position data DU Coordinate position data DV Coordinate position data DW Coordinate position data DX Coordinate position data DY Coordinate position data DZ Coordinate position data EA Coordinate position data EB Coordinate position data EU Coordinate position data EV Coordinate position data EW Coordinate position data EX Coordinate position data EY Coordinate position data EZ Coordinate ...

Страница 207: ...onal block skip is specified for a block which is headed by this symbol Refer to Section 4 1 4 3 MOD Remainder Used in arithmetic operation commands Comment Gives comment in the inside of parentheses Brackets Used in conditional expressions Variable Device designation Symbols used for indirect designation Program end Indicates the end of a program Block separation Indicates separation of blocks IF...

Страница 208: ...vice specification Used in G32 DFLT 32 bit real number data to 64 bit real number data conversion SFLT 64 bit real number data to 32 bit real number data conversion CHGA Home position return CHGV Speed change CHGT Torque limit value change IF THEN SET RST OUT Bit device operation on condition CALL Program start GOSUB Program call 1 GOSUBE Program call 2 CLEAR Control program end BMOV Block travers...

Страница 209: ...character Function Description Subprogram call sequence No Used in M98 Tool length offset data No Used in G43 G44 H Indicates hexadecimal number constant Used in BMOV BDMOV MULTW MULTR TO or FROM Multiple operators cannot be used in one block Refer to Section 6 11 4 for the setting range of instruction symbols ...

Страница 210: ...on 6 11 1 Indirect setting using variable or device W Refer to Section 6 11 2 Direct setting and indirect setting can be used together in one Motion program 6 11 1 Direct setting numerical value Direct setting is a way to set each positioning data using a numerical value and these data are fixed data Data setting and correction can be made using the peripheral device only Example of positioning da...

Страница 211: ...e number 2 Usable device range a Word device Q173HCPU Q172HCPU Accessibility Item Points Read Write Data register D 8192 points Link register W 8192 points Special register D 256 points Motion register 8192 points Coasting timer FT 1 point 888μs Usable Unusable b Bit device Q173HCPU Q172HCPU Accessibility Item Points Read Write Input module non installation range X Input output Output module non i...

Страница 212: ...nt digit part Bits 52 to 62 Exponent part Bit 63 Sign part 15 0 Higher rank bit is handled as a sign bit 32 bit to 16 bit The 32 bit integer type is converted to 16 bit integer type Note that any value other than 32768 to 32767 results in an error Error 531 31 0 15 0 Higher rank bit is handled as a sign bit 15 Bits 0 to 15 are stored Bits 16 to 31 are discarded 32 bit to 64 bit The 32 bit integer ...

Страница 213: ...iable as 16 bit integer When a n variable is followed by S or S it is handled as a 16 bit integer 32768 to 32767 Example 0 D0 1S D1 2 S D2 Odd numbers may be used as 16 bit specified variables b How to handle variable as 32 bit integer Variables are handled as 32 bits 2147483648 to 2147483647 Example Upper Lower Upper Lower 100 L D101 D100 102 L D103 D102 When a variable is specified as 2 words 32...

Страница 214: ...52 to 62 Exponent part Bits 0 to 51 Significant digit part Example 10 F 20 L 22 L The division result of 32 bit integers 21 20 and 23 22 is stored to a 64 bit real number 13 12 11 10 10 F 20 L A 32 bit integer 21 20 is expanded in sign to a 64 bit real number 13 12 11 10 40 L 30 F A 64 bit integer 33 32 31 30 is expanded in sign to a 32 bit integer 41 40 Restrictions 64 bit double precision real n...

Страница 215: ...he following values if it is 10F 1 64 bit double precision real number mm inch degree 1 mm 0 1 inch 0 1 degree Feed speed F 1 G91 10 L 1 G01 X10 F 10 L The feed speed F of X axis is any of the following values mm inch degree 100 mm min 10 inch min 10 degree min Feed speed F 2 G91 10F 1 G01 X10 F 10F The feed speed F of X axis is equivalent to any of the following values if it is 10F 1 64 bit doubl...

Страница 216: ...ble of M100 for the indirect setting The procedure by start method for setting data to devices and cautions are shown below Starting methods Setting procedure Cautions Start by the Motion program Set the data in indirect setting devices Start the Motion program Automatic start by the cancel start Set the data to the indirect setting devices set in the start program Turn the cancel command device O...

Страница 217: ...the specified axes accept a start for the device data specified for indirect setting When performing positioning control execute the start request of Motion program after setting the data to indirect setting devices If the data is changed before the acceptance of start positioning control may not be executed with normal values 3 Set a variable latch using the peripheral devices 4 Variable setting ...

Страница 218: ...s dropped during conversion Error occurs if conversion result exceeds 16 bit range Error 531 4 n 16 bit No conversion 5 nL n L 32 bit 32 bit data is converted into 16 bit data Error occurs if conversion result exceeds 16 bit range Error 531 6 nL n L 32 bit 32 bit data is converted into 16 bit data Error occurs if conversion result exceeds 16 bit range Error 531 nF n F 64 bit 64 bit data is convert...

Страница 219: ...64 bit 64 bit data is converted into 32 bit data Fractional portion is dropped during conversion Error occurs if conversion result exceeds 32 bit range Error 531 nF n F 64 bit 64 bit data is converted into 32 bit data Fractional portion is dropped during conversion Error occurs if conversion result exceeds 32 bit range Error 531 n Indicates variable number or device number For except MOD No Operat...

Страница 220: ... F 64 bit 64 bit data is converted into 32 bit data Fractional portion is dropped during conversion Error occurs if conversion result exceeds 32 bit range Error 531 34 n 16 bit 16 bit data is converted into 32 bit data 35 nL n L 32 bit No conversion 36 nF n F 64 bit 64 bit Internal operation result 32 bit is converted into 64 bit data nF n F 64 bit 64 bit data is converted into 32 bit data Fractio...

Страница 221: ...d into 16 bit data Error occurs if conversion result exceeds 16 bit range Error 531 nF n F 64 bit Operation cannot be performed Operation disabled 7 n 16 bit Operation cannot be performed Operation disabled 8 nL n L 32 bit Operation cannot be performed Operation disabled 9 n 16 bit No conversion nF n F 64 bit Operation cannot be performed nF n F 64 bit Operation cannot be performed Operation disab...

Страница 222: ... format error No Operation result Data 1 Remarks 1 n 16 bit No conversion 2 nL n L 32 bit 32 bit data is converted into 16 bit data Error occurs if conversion result exceeds 16 bit range Error 531 3 n 16 bit No conversion nF n F 64 bit Operation cannot be performed Operation disabled 4 n 16 bit 16 bit data is converted into 32 bit data 5 nL n L 32 bit No conversion 6 nL n L 32 bit 32 bit No conver...

Страница 223: ...000 and result of multiplication is converted into16 bit data Fractional portion is dropped during conversion Error occurs if operation result exceeds 16 bit range Error 531 nF n F 64 bit Data is divided by 10000 during conversion 4 n 16 bit 16 bit data is converted into 64 bit data Data is divided by 10000 during conversion 5 nL n L 32 bit 32 bit data is converted into 64 bit data Data is divided...

Страница 224: ... operate the 32 bit type only The floating point type real number processing instructions cannot operate data other than the 32 bit type Error 560 Format error INT and FLT cannot be used with other operations Error 560 Format error No Operation result Data 1 1 nL n L 32 bit INT 32 bit floating point type is converted into 32 bit type Fractional portion is dropped during conversion Error occurs if ...

Страница 225: ... 2 nL n L 32 bit 32 bit data is converted into 64 bit data 3 n 16 bit Internal operation result 64 bit is converted into 16 bit data Fractional portion is dropped during conversion Error occurs if operation result exceeds 16 bit range Error 531 nF n F 64 bit No conversion 4 n 16 bit 16 bit data is converted into 64 bit data 5 nL n L 32 bit 32 bit data is converted into 64 bit data 6 nL n L 32 bit ...

Страница 226: ...ns and conversion methods for functions BIN BCD are shown below Operation result function Data 1 Function indicates BIN or BCD Internal operation is performed by making conversion into the 32 bit type Operation including the 64 bit floating point type cannot be performed Error 560 format error BIN and BCD cannot be used with other operations Error 560 format error No Operation result Data 1 1 n 16...

Страница 227: ...nction Data 1 Function denotes RND FIX or FUP Round off RND round down FIX and round up FUP cannot perform operation of other than the 64 bit floating point type Error 560 format error No Operation result Data 1 1 nF n F 64 bit No type conversion RND Rounds off data 1 to one decimal place FIX Rounds down data 1 to the units FUP Rounds up data 1 to the units nF n F 64 bit No type conversion n Indic...

Страница 228: ... CU Coordinate position data CV Coordinate position data CW Coordinate position data CX Coordinate position data CY Coordinate position data CZ Coordinate position data DA Coordinate position data DB Coordinate position data DU Coordinate position data DV Coordinate position data DW Coordinate position data DX Coordinate position data DY Coordinate position data DZ Coordinate position data EA Coor...

Страница 229: ... 26 28 30 32 43 44 49 53 54 55 56 57 58 59 61 64 90 91 92 98 99 100 101 Subprogram call sequence No 1 to 9999 1 to 9999 H Tool length offset data No 1 to 20 1 to 20 L Subprogram repeat count 0 to 9999 0 to 9999 M Auxiliary function M code 0 to 9999 0 to 9999 N Sequence No 1 to 9999 O Motion program No 1 to 1024 Dwell time 1 to 65535 1 to 65535 Start program No 1 to 1024 1 to 1024 P Subprogram call...

Страница 230: ...value may be specified up to 10 digits Decimal point not included Specifying more than 10 digits will result in an error Number of effective digits below decimal point are listed below After effective digits are ignored Note that specifying 10 or more digits will result in an error Unit Command mm inch degree Command address 4 5 5 Command speed 2 3 3 Note Note When the speed control 10 multiplier ...

Страница 231: ...ee Control starts by the interpolation control unit of parameter block Condition for unit mismatch error error code 40 Control units of the fixed parameter for all axes differ from the interpolation control units specified with parameter block If the control units of axes to be interpolation controlled are the same control starts in the preset control unit If the control units of axes to be interp...

Страница 232: ...it matches the interpolation control unit The travel value converted into PLS the speed converted into PLS s and the electronic gear are used to calculate the position command value for positioning If there are two or more axes whose control units are the same as the interpolation control unit in the linear interpolation of three or more axes the electronic gear of the lowest axis No is used to ca...

Страница 233: ...a A Area B 1 If travel range in area A is set the limit values are as follows Lower stroke limit value 315 00000 Upper stroke limit value 90 00000 2 If travel range in area B is set the limit values are as follows Lower stroke limit value 90 00000 Upper stroke limit value 315 00000 b Stroke limit is invalid Set the upper stroke limit value equal to lower stroke limit value to invalidate the stroke...

Страница 234: ...irection by the setting method of stroke limit range positioning in the shortest direction may not be possible Travel from the current value 0 to 315 00000 must be clockwise positioning if the lower stroke limit value is set to 0 and the upper stroke limit value is set to 345 00000 315 00000 0 345 00000 Clockwise positioning 2 Set the positioning address within the range of 0 to 360 Use the increm...

Страница 235: ...cified with an offset value from the basic mechanical coordinate system The offset value is set with a distance from the mechanical coordinate system origin 0 You can specify up to six work coordinate systems work coordinates 1 to 6 Set them by parameter setting or work coordinate system selection G54 to G59 Refer to Section 5 4 and 6 13 24 By setting multiple work coordinates you can easily perfo...

Страница 236: ...at space should be put when the program is input Functional outline of instruction explained easily 5 6 3 4 5 5 No Description No Description 1 Name of the instruction code 4 Indicates the parameters related to this instruction 2 Indicates the model name 5 Indicates a program example which uses this instruction 3 Indicates the detailed explanation or precautions 6 Indicates supplementary explanati...

Страница 237: ...d and axis command may be specified up to 2 axes G04 Dwell G09 Only G codes of G01 G02 G03 G12 and G13 are available Note 1 G12 Only G codes of G04 is available Central point command and axis command may be specified up to 3 axes G12 Only G codes of G04 is available Radius command and axis command may be specified up to 3 axes G13 Only G codes of G04 is available Central point command and axis com...

Страница 238: ...nd G92 are available Note 1 G61 Only G codes of G00 G01 G02 G03 G12 and G13 are available Note 1 G64 Only G codes of G00 G01 G02 G03 G12 and G13 are available Note 1 G90 Only G codes of G00 G01 G02 G03 G12 and G13 are available Note 1 G91 Only G codes of G00 G01 G02 G03 G12 and G13 are available Note 1 G92 Only G codes of G00 G01 G02 G03 G12 and G13 are available Note 1 G98 G99 G100 G101 Must be s...

Страница 239: ...eceleration is always executed at the start or end point of a block and it proceeds to the next block in this command 4 The positioning speed is the high speed feed rate of each axis or less Example G00 X100 X150 High speed feed rate 10000 mm min speed limit value in parameter block 12000 mm min Acceleration time High speed feed rate 12000 10000 V t Speed limit value in parameter block Acceleratio...

Страница 240: ...0 Y100 A point positioning 2 X200 B point positioning 3 Y200 C point positioning 4 G01 Y300 F100 D point positioning 5 X300 E point positioning 300 Y X 200 100 100 200 300 A 2 1 3 4 D 5 E B C Unit mm REMARK 1 To execute the feed rate of G00 the axis whose time to reach the target position is the longest in the travel high speed federate fixed parameter of the each axes is used as the reference axi...

Страница 241: ...s used Therefore when the next command is G01 if the feed rate is not changed it is possible by specifying only the axis name 2 The command unit of feed rate is specified in the interpolation control unit of parameter block 3 The maximum command value of feed rate is the speed limit value set in the parameter block 4 If the F command is not set in the first G01 command a program error will error c...

Страница 242: ...is shown below 200 X axis 200 100 Y axis Note 1 Both the acceleration and deceleration times are the acceleration time of the parameter block 2 When a M code is commanded G00 executes the acceleration deceleration in the same way as G01 at the acceleration time of the parameter block Related Parameters Speed limit value The maximum feed rate of each axis is set Refer to Section 5 3 1 for the speed...

Страница 243: ...02 CW give the end point coordinates of the circular arc with the address must be specified for 2 axes and specify the central coordinates of circular arc with I and J The central coordinates 1 2 are I and J in order of lower axis No s When X Axis 1 Y Axis 2 I 1 X J 2 Y When X Axis 2 Y Axis 1 I 1 Y J 2 X 2 Always specify the end point coordinates for 2 axes as they cannot be omitted G02 CW Clockwi...

Страница 244: ... value The maximum feed rate of each axis is set Refer to Section 5 3 1 for the speed limit value of the parameter block Circular interpolation arc error The permissible circular arc error range is set Refer to Section 5 3 3 for the allowable error range for circular interpolation of the parameter block Program Example 1 The program which performs circular interpolation from the current position t...

Страница 245: ...ar arc central coordinates cannot be omitted Always specify them for two axes 2 Circular interpolation includes the degree axis whose stroke limit is set to be invalid cannot be executed 3 Circular interpolation cannot be executed the combination of mm and degree or inch and degree ...

Страница 246: ...CCW give the end point coordinates of the circular arc with the address must be specified for 2 axes and specify the central coordinates of circular arc with I and J The central coordinates 1 2 are I and J in order of lower axis No s When X Axis 1 Y Axis 2 I 1 X J 2 Y When X Axis 2 Y Axis 1 I 1 Y J 2 X 2 Always specify the end point coordinates for 2 axes as they cannot be omitted G03 CCW Counterc...

Страница 247: ...aximum feed rate of each axis is set Refer to Section 5 3 1 for the speed limit value of the parameter block Circular interpolation arc error The allowable error range for circular interpolation is set Refer to Section 5 3 3 for the allowable error range for circular interpolation of the parameter block Program Example 1 The program which performs circular interpolation from the current position t...

Страница 248: ...rc central coordinates cannot be omitted Always specify them for two axes 2 Circular interpolation includes the degree axis whose stroke limit is set to be invalid cannot be executed 3 Circular interpolation in the unit combination of mm and degree or inch and degree cannot be executed ...

Страница 249: ...the R value Radius value Positive Start point Radius value Negative End point An error will occur if the distance between start and end points radius 2 circular arc error 2 If a complete round command the start point is the same as the end point is specified in R specified circular interpolation an error error code 108 will occur and no operation is performed Therefore specify the circular arc cen...

Страница 250: ...gative circular arc radius R value G91 G02 X50 Y50 R 50 F500 Y X 50 Start point Feed rate 500 mm min End point X50 Y50 50 Unit mm 2 The program which draws a circular arc of 180 or less at a positive circular arc radius R value G91 G02 X50 Y50 R50 F500 Y X 50 Start point Feed rate 500 mm min 50 End point X50 Y50 Unit mm REMARK 1 The end point coordinates and circular arc radius cannot be omitted A...

Страница 251: ...mmand the R value Radius value Positive End point Radius value Negative Start point An error will occur if the distance between start and end points radius 2 circular arc error 2 If a complete round command the start point is the same as the end point is specified in R specified circular interpolation an error error code 108 will occur and no operation is performed Therefore specify the circular a...

Страница 252: ...tive circular arc radius R value G91 G03 X 50 Y50 R 50 F500 Y X 50 Start point Feed rate 500 mm min End point X 50 Y50 50 Unit mm 2 The program which draws a circular arc of 180 or less at a positive circular arc radius R value G91 G03 X 50 Y50 R50 F500 Y X 50 Start point 50 Feed rate 500 mm min End point X 50 Y50 Unit mm REMARK 1 The end point coordinates and circular arc radius cannot be omitted...

Страница 253: ... dwell time is specified within the range of 1 to 65535 in increments of 0 001 s Therefore setting of G04 P1000 indicates a wait time of 1 s Example G04 P1000 1000 0 001 1 s V t Dwell time 4 The dwell time can be set by direct setting numerical value or indirect setting variable 5 When specifying dwell in the same block as the travel block describe dwell after the travel command Also describe the ...

Страница 254: ...axis V 1 3 t Dwell time 2000 0 001 2 s The X axis is positioned to 100 stops there for 2 s and starts positioning operation to 200 again REMARK 1 A decimal point cannot be specified for the dwell time 2 When an operation cycle refer to Section 1 2 1 is 0 88 ms the longest of dwell time is 58 253 s Even if P58254 to P65535 is specified it is clamped by 58 253 s When an operation cycle is 0 44 ms th...

Страница 255: ... point positioning in only the specified block The interpolation command codes usable with this command are G01 G02 G03 G12 and G13 only 2 In this system the next block is executed after making a deceleration stop in the specified coordinate position 3 Not being a modal instruction this command is valid for the specified block only When an exact stop check is used G09 G01 X100 F300 X200 X axis V t...

Страница 256: ...NTROL Program Example The program which uses the exact stop check for positioning 1 G09 G01 X100 F500 Positioning by an exact stop check 2 X200 Positioning 3 X300 Positioning 4 G09 G01 X400 Positioning by an exact stop check X axis V t 1 2 4 3 ...

Страница 257: ...om the current value start point to circular interpolation axis end point address X Y or linear axis end point address Z and the helical interpolation is executed so that it may become a spiral course 2 Always use the incremental values relative address from the current position start point to command the circular arc central coordinates An absolute values or incremental values of the circular int...

Страница 258: ...imit value of the parameter block Program Example G90 G00 X0 Y0 G12 X100 Y100 Z100 I50 J50 P2 F1000 REMARK 1 The end point coordinates and circular arc central coordinates cannot be omitted Always specify the end point coordinates for 3 axes and the circular arc central coordinates for 2 axes 2 Circular interpolation includes the degree axis whose stroke limit is set to be invalid cannot be execut...

Страница 259: ...am to start as the upper figure from start point and witch keeps a nozzle at right angles toward the contour of line and that it goes around the contour and witch is returned to start point It is the following program when a helical interpolation function is used Program Example G90 G00 X0 Y150 Z0 Travel to start point G01 X50 F1000 G12 X150 Y50 Z90 I0 J 100 P0 G01 Y 50 G12 X50 Y 150 Z180 I 100 J0...

Страница 260: ...lation from the current position start point to circular interpolation axis end point address X Y or linear axis end point address Z and the helical interpolation control is executed so that it may become a spiral course 2 Always use the incremental values relative address from the current position start point to command the circular arc central coordinates An absolute values or incremental values...

Страница 261: ...imit value of the parameter block Program Example G90 G00 X0 Y0 G13 X100 Y100 Z100 I50 J50 P2 F1000 REMARK 1 The end point coordinates and circular arc central coordinates cannot be omitted Always specify the end point coordinates for 3 axes and the circular arc central coordinates for 2 axes 2 Circular interpolation includes the degree axis whose stroke limit is set to be invalid cannot be execut...

Страница 262: ...s Z and the helical interpolation is executed so that it may become a spiral course An absolute values or incremental values of the circular interpolation axis end point X Y and linear axis end point Z depends in the modal status G90 G91 when executing the Motion program 2 Only the number of times specified by the number of pitches around on the specified circle and it is executed positioning to e...

Страница 263: ...meter block Program Example G90 G00 X0 Y0 G12 X100 Y100 Z100 R100 P2 F1000 REMARK 1 The end point coordinates and circular radius cannot be omitted Always specify the end point coordinates for 3 axes and the circular radius 2 Circular interpolation includes the degree axis whose stroke limit is set to be invalid cannot be executed 3 Circular interpolation axis in the unit combination of mm and deg...

Страница 264: ...circular interpolation from the current position start point to circular interpolation axis end point address X Y or linear axis end point address Z and the helical interpolation is executed so that it may become a spiral course An absolute values or incremental values of the circular interpolation axis end point X Y and linear axis end point Z depends in the modal status G90 G91 when executing th...

Страница 265: ...drawn Related Parameters Speed limit value The maximum feed rate of each axis is set Refer to Section 5 3 1 for the speed limit value of the parameter block Program Example G90 G00 X0 Y0 G13 X100 Y100 Z100 R100 P2 F1000 REMARK 1 The end point coordinates and circular radius cannot be omitted Always specify the end point coordinates for 3 axes and the circular radius 2 Circular interpolation includ...

Страница 266: ...or cancel start function which has already been made valid 2 This function is also made valid for the high speed oscillation axis N1 G24 CAN X100 N2 G01 X200 F200 N3 G25 Y START90 STRK1 F10 N4 G23 Program Example The program which makes the cancel start function valid invalid during execution of O0010 program O0010 G24 CAN X100 P100 PB1 Execution of cancel start function G90 G01 X200 F1000 G23 Can...

Страница 267: ...mmand cannot be used with the home position return G28 instruction 3 In a waiting status for a restart single block M00 M01 during macro processing this command is made valid after completion of processing 4 If the cancel device turns ON during travel block switching a cancel start is made valid at the next travel block processing when there are no operating axes no high speed oscillation axes 5 T...

Страница 268: ... running program ends when the cancel device turns ON 12 When setting the start axes in the SVST instruction also include the axis No to be executed in the start program Making a start turns ON the start acceptance flag of the set axis The start acceptance flag turns OFF once at a cancel time but it turns ON again when the axis is started in the original program at a start program run Cancel funct...

Страница 269: ...arts O0100 program Command unit is mm O0010 1 G24 CAN X100 P100 PB1 Execution of cancel start function 2 G90 G01 X200 F1000 Cancel device X100 turns ON midway After deceleration stop O0100 starts O0100 3 G90 G01 X50 F600 X axis travels to 50 mm position at 600 mm min Program O0100 1000 V mm min t 600 Program O00010 M2001 X100 Device OFF ON OFF ON ...

Страница 270: ... and it cannot be started Starting angle The start position with the angular position of a Sine curve is specified It can be specified indirectly with a variable D W or 2 word data Set it within the range of 0 to 359 9 degree in 0 1 degree increments If the setting is outside the range a minor error will error code 586 occur and it cannot be started Frequency The number of cycles in which the axis...

Страница 271: ...ne curve of 10 mm amplitude 90 degree starting angle and 30 CPM frequency Command unit is mm G25 X START 90 STRK 10 F30 Note The starting angle START is valid to the first decimal place Example 1 START 90 Means 90 0 degree 2 START 90 Means 9 0 degree 3 In START 2010 2010 900 Means 90 0 degree 2010 1 Means 0 1 degree ...

Страница 272: ...d up to a program END M02 M30 after a high speed oscillation start high speed oscillation is kept performed at a program END Also do not set a stop to the axis which has not made a high speed oscillation start In that case a minor error error code 582 is displayed and execution proceeds to the next block Program Example N01 G91 G01 X10 Y10 F100 N02 G25 X START 0 STRK 10 F100 N03 G01 Y10 N04 G26 X ...

Страница 273: ...return request signal M2409 20n is OFF this command positions the axis from the current position to the home position through the specified mid point at high speed feed rate Home position return request signal M2409 20n is ON Home position Mid point Current position 2 The home position return method is determined by the home position return data at the home position return request ON 3 Be sure to ...

Страница 274: ...me position return parameter b Home position return request OFF Parameter block at the axis specified program start Related Parameters Home position address The current value of the home position is set Refer to Section 7 3 1 Home position return data High speed feed rate The high speed feed rate of each axis is set Refer to Section 5 2 5 High speed feed rate setting Program Example The program wh...

Страница 275: ...be made by direct setting numerical value or indirect setting variable 5 The tool length offset and virtual mechanical coordinates Refer to Section 6 13 29 of the axis which executed the second home position are cancel Mid point designation depends on the position command system G90 G91 currently selected 6 When the control unit is degree operation from the mid point to the second home position di...

Страница 276: ... home position return from the current position through the A point mid point G90 G30 X200 Y200 Second home position return Second home position A point mid point coordinates X200 Y200 Current value REMARK When the G30 command is given a second home position return is executed at high speed feed rate ...

Страница 277: ...red during execution of G32 the remaining command of that block is suspended and the next block is executed Dwell may also be skipped by giving the dwell command P in the G32 block without specifying the axis 2 A format error occurs if the axis command or M code and the dwell command are described simultaneously 3 The setting range of dwell time is 1 to 65535 in increments of 0 001 s 4 Specify the...

Страница 278: ...nt positioning command G00 G25 G28 G30 or the like is executed after the G32 block N10 G32 X100 F1000 SKIP X10 N20 G00 X200 N30 G32 X300 F1000 SKIP X11 Deceleration stop is made before this block b High speed oscillation stop G26 is executed after the G32 block N10 G25 Y START 90 STRK 1 F400 N20 G32 X100 F1000 SKIP X10 N30 G26 Y G32 X200 F1000 SKIP X11 Deceleration stop is made before this block c...

Страница 279: ...oning Under incremental value command G91 G32 X100 F2000 SKIP X180 Turns ON the X180 signal midway G32 X100 F1000 SKIP X181 Turns ON the X181 signal midway G32 X200 F1500 SKIP X182 Turns ON the X182 signal midway X axis t X180 X181 X182 0 V 2 Under dwell command If cancel device X100 turns ON during dwell in N01 G0 in N02 where dwell was suspended is executed N01 G32 P1000 SKIP X100 N02 G90 G0 X10...

Страница 280: ...s valid until a deceleration stop constant speed positioning command to point to point positioning command etc after skip G32 After a deceleration stop operation of the normal degree axis is performed The conditions of deceleration stop after a skip G32 are shown below Refer to 6 13 19 G32 Skip for details 1 When the point to point positioning command G00 G25 G28 G30 or the like is executed after ...

Страница 281: ...of the travel command 2 In the following cases the tool length offset command is cancel G49 Tool length offset cancel command G43 H0 G44 H0 3 This command can be set to one axis only If two or more axes are commanded simultaneously it is valid for the last specified axis G43 X1 Y1 Z1 H1 Z axis is valid If no axis is specified the last specified axis is made valid G01 Z1 G43 H1 Z axis is valid 4 As...

Страница 282: ...s are as follows H1 5 mm D1650 1651 50000 H2 10 mm D1652 1653 100000 G90 Absolute value command G00 G43 X50 H1 With the addition of the offset value of 5 mm X axis is positioned to its 55 mm position G01 X25 F500 X axis travels to its 30 mm position at 500 mm min Y100 Y axis travels to its 100 mm position at 500 mm min G43 X200 H2 With the addition of the offset value of 10 mm X axis travels to it...

Страница 283: ...sition of the travel command 2 In the following cases the tool length offset command is cancel G49 Tool length offset cancel command G43 H0 G44 H0 3 This command can be set to one axis only If two or more axes are commanded simultaneously it is valid for the last specified axis G44 X1 Y1 Z1 H1 Z axis is valid If no axis is specified the last specified axis is made valid G01 Z1 G44 H1 Z axis is val...

Страница 284: ...sters are as follows H1 5 mm D1650 1651 50000 H2 10 mm D1652 1653 100000 G90 Absolute value command G00 G44 X50 H1 With the addition of the offset value of 5 mm X axis is positioned to its 45 mm position G01 X25 F500 X axis travels to its 20 mm position at 500 mm min Y100 Y axis travels to its 100 mm position at 500 mm min G44 X200 H2 With the addition of the offset value of 10 mm X axis travels t...

Страница 285: ... designed to cancel the offset value and perform the specified positioning after positioning has been executed by tool length offset For absolute value command Data of the tool length offset data setting registers are as follows H1 5 mm D1650 1651 50000 H2 10 mm D1652 1653 100000 G90 Absolute value command G00 G43 X50 H1 With the addition of the offset value of 5 mm X axis is positioned to its 55 ...

Страница 286: ...omatically set relative to the predetermined reference point after a home position return is executed by the CHGA instruction at power on 2 Not being a modal instruction the specified block only is valid 3 When G53 and G28 are specified in the same block the latter command is valid G53 G28 G28 is valid home position return command G28 G53 G53 is valid mechanical coordinate system selection command...

Страница 287: ... 10 10 Basic mechanical coordinates 8 Positioning data can be set by direct setting numerical value or indirect setting variable Program Example The program designed to position the axes to the specified position in the work coordinate system after positioning them to the specified position in the basic mechanical coordinate system in the absolute value mode 1 G90 Absolute value command 2 G53 X10 ...

Страница 288: ... The offset value in the work coordinates system is set using the distance from the basic mechanical coordinates system origin 0 2 The coordinates system of G54 is selected at a Motion program start 3 As the work coordinates systems 1 to 6 is modal instruction it is valid until the next work coordinate system 1 to 6 selection is commanded 4 If G92 is commanded in any of the G54 to G59 modes a new ...

Страница 289: ...system selection The program for which executes the positioning to the specified position in the work coordinates system 1 The offset of the work coordinates system 1 is X500 Y500 1 G90 Absolute value command 2 G28 X0 Y0 Home position return 3 G53 X0 Y0 Axes travel to the basic mechanical coordinates home position 4 G54 X500 Y500 Axes travel to the specified position in the work coordinates system...

Страница 290: ...e the work coordinates system to new work coordinates system 1 1 G54 G92 X 200 Y 200 New work coordinates system 1 setting After execution of 1 the current value is changed to X 200 Y 200 Y Basic mechanical coordinates Y X X New work coordinates system 1 500 1000 500 1000 1500 500 1000 1 X Y Old work coordinates system 1 0 0 X 200 Y 200 Work position Note The offset of the work coordinates systems...

Страница 291: ...uting this command travels in the point to point positioning The interpolation command codes usable with this command are G01 G02 G03 G12 and G13 only 2 In this system the next block is executed after deceleration stop for every specified coordinates 3 As this command is modal command it is valid until the cutting mode G64 is commanded In exact stop check mode G61 G01 X100 F500 X200 X axis V t Not...

Страница 292: ... 1 G61 G01 X100 F500 Positioning in the exact stop check mode 2 X200 Positioning in the exact stop check mode 3 X300 Positioning in the exact stop check mode X axis V t 1 2 3 REMARK Only the high speed feed rate may be the specified speed in G00 To specify the speed every time point to point positioning is executed you can use G61 and G01 ...

Страница 293: ...tes position approximately It operates continuously without deceleration stop for every specified coordinates as the exact stop check mode Use this command to make a smooth connection with the interpolation command G01 G02 G03 G12 G13 2 The cutting mode is selected at a Motion program start 3 As this command is modal instruction it is valid until the exact stop check mode G61 is commanded In cutti...

Страница 294: ...G CONTROL Program Example The program for which executes the positioning in the cutting mode 1 G64 G01 X100 F500 Positioning in the cutting mode 2 X200 Positioning in the cutting mode 3 X300 Positioning in the cutting mode X axis V t 2 3 1 ...

Страница 295: ...d set after execution of this command operates with the absolute value from the home position coordinates 2 As this command is modal instruction it is valid until the incremental value command mode G91 is commanded 3 The absolute value command mode is selected at a Motion program start Example G90 X100 Y100 Y X 50 50 100 100 Current position 50 50 100 100 Y Current position 80 20 100 100 Current p...

Страница 296: ...ple Example of comparison between the absolute value command and incremental value command Incremental value command G91 X70 Y70 Absolute value command G90 X70 Y70 Y X Current position 30 30 100 100 70 70 Incremental value command Absolute value command Unit mm ...

Страница 297: ...ing command set after execution of this command operates with the incremental value from the current position 2 As this command is modal instruction it is valid until the absolute value command mode G90 is commanded 3 The absolute value command mode is selected at a Motion program start Example G91 X100 Y100 Y X 50 50 100 150 100 150 Current position 50 50 150 150 Y Current position 80 20 180 120 ...

Страница 298: ...ample Example of comparison between the incremental value command and absolute value command Incremental value command G91 X70 Y70 Absolute value command G90 X70 Y70 Y X Current value 30 30 100 100 70 70 Incremental value command Absolute value command Unit mm ...

Страница 299: ...position By making coordinates system setting the virtual mechanical coordinates is set and the work coordinate systems 1 to 6 travel in parallel Example G92 X20 Y30 Y Y X X New work coordinates Old work coordinates Virtual mechanical coordinates Mechanical coordinates Y X Y X Work coordinates Mechanical coordinates Current position Current position 2 Positioning data can be set by direct setting ...

Страница 300: ...for which set the work coordinate system to the specified position G92 X20 Y30 Virtual mechanical coordinates Y Y X X 30 20 Y X Y X Unit mm New work coordinates Old work coordinates Mechanical coordinates Work coordinates Current position Current position Mechanical coordinates ...

Страница 301: ...truction it is valid until the preread disable G98 being commanded 3 It is preread enable G99 at the axis designation program starts 4 Command G98 and G99 without the argument alone Program Example N10 N20 N30 t G90 G98 N10 G01 X10 F10 N15 IF 100 EQ150 GOTO30 N20 G01 X20 N30 G01 X30 N10 N20 N30 G90 G99 N10 G01 X10 F10 N20 IF 100 EQ150 GOTO30 N20 G01 X20 N30 G01 X30 N10 N30 N10 N30 The continuous o...

Страница 302: ...il G99 is executed after it blocks it modal G98 and being specified only though preread is stopped in the block that M100 preread dis able was not modal and specified once 2 There is no described meaning as a program thought the problem is not in modal G98 even if M100 is executed ...

Страница 303: ...eleration deceleration 2 The G code of this command is set independently 3 Use G100 to select the time fixed acceleration deceleration The G100 status is selected at a start 4 Use G101 to select the acceleration fixed acceleration deceleration 5 The acceleration fixed acceleration deceleration is set in G101 the M code does not made a FIN waiting The M code is output to the M code storage register...

Страница 304: ...valid then invalid midway through the program Command unit mm Time fixed acceleration deceleration Operation is performed in G100 at a start Deceleration stop after execution Acceleration fixed acceleration deceleration Deceleration stop after execution Time fixed acceleration deceleration O10 G91 N1 G28 X0 Y0 N2 G01 X100 F1000 N3 Y100 N4 G101 N5 X100 N6 Y100 N7 G100 N8 X100 N9 Y100 M02 ...

Страница 305: ... positioning The acceleration of X axis starts near the positioning point with deceleration of Y axis it becomes to a rounded locus X axis operates with constant speed after Y axis stops and the positioning is executed to the next point O100 G100 G91 G01 X0 Y100 F100 X100 M02 Positioning point 1 Acceleration of X axis starts with deceleration of Y axis Time fixed acceleration deceleration method 3...

Страница 306: ...r interpolation The direction changes to 90 in a point during positioning The correct locus control in a point during positioning with command speed is executed O200 G101 G91 G01 X0 Y100 F100 X100 M02 Positioning point 1 The correct locus control is executed in a positioning point set in a program Acceleration fixed acceleration deceleration method Y axis X axis 1 Y axis X axis 2 Circular interpol...

Страница 307: ...e M command block The processing of the next block is not executed until the FIN signal M3219 20n is input Refer to Section 7 8 for relationships between the M codes and FIN signal Command format M Numeral Setting range 0 to 9999 except M00 M01 M02 M30 M98 M99 and M100 The M codes usable are 9993 types since M00 M01 M02 M30 M98 M99 and M100 are fixed in functions and they are special M codes Refer...

Страница 308: ...xis command Note 1 Radius command R Central Point command I J M code Note 2 G code Feed F H L N O P Remark M00 M01 M02 M30 M98 M99 M100 Other M codes May be specified Blank Must not be specified Note 1 The axis commands are X Y Z U V W A B CX CY CZ CU CV CW CA CB DX DZ DU DV DW DA DB EX EY EZ EU EV EW EA and EB Note 2 M codes indicate except M00 M01 M02 M30 M98 M99 and M100 ...

Страница 309: ... By turning ON the re start command M4404 10n after a stop execution resumes from the next block Program Example The program for which makes the program stop during positioning operation and restarts positioning 1 G01 X100 F10 2 M00 3 G01 X200 Positioning Program stop Re start command resumes positioning Re start command M4404 10n ON X axis V t 1 G01 X100 2 3 G01 X200 Re start command M4404 10n ON...

Страница 310: ...on resumes from the next block When the optional program stop command M4401 10n is OFF the next block is executed without a program stop Program Example The program which uses the optional program stop M01 1 G01 X100 F10 Positioning 2 M01 Optional program stop 3 G01 X200 Positioning Optional program stop command M4401 10n is ON X axis V t 1 G01 X100 2 3 G01 X200 During stop as M01 is being execute...

Страница 311: ...ng this command ends an execution of program This command is required at the end of a program Program Example The program which ends a program after positioning control G90 Absolute value command G01 X100 Y200 F100 Positioning X200 Y300 Positioning G00 X0 Y0 Positioning M02 Program end Also be enabled by M30 REMARK M02 and M30 have the same function ...

Страница 312: ... this command ends an execution of program This command is required at the end of a program Program Example The program which is ends a program after positioning control G90 Absolute value command G01 X100 Y200 F100 Positioning X200 Y300 Positioning G00 X0 Y0 Positioning M30 Program end Also be enabled by M02 REMARK M30 and M02 have the same function ...

Страница 313: ...ount may be omitted When omitted these numbers are as follows Program No Main program Sequence No First Repetition count Once Example M98 Executes once from the beginning of the main program Subprogram end M99 Returns to the block next to the call block 2 A subprogram can be called from another subprogram This is called subprogram nesting Subprograms may be called nested to the depth of eight leve...

Страница 314: ...m another subprogram 6 4 5 O0200 N010 M98 P202 N020 G90 G61 N030 G01 X50 Y50 F800 X60 N040 G00 X10 G01 Y100 F600 N050 M98 P201 N060 G0 X30 Y20 X20 N070 M98 P202 N080 G91 G01 X100 F700 X20 Y30 M02 Main program O0201 N200 G91 N210 G01 X100 Y100 F2000 X200 Y200 N220 G01 Y300 F1500 X300 N230 G02 X50 Y50 I0 J50 F800 N240 G01 X100 Y500 F2000 N250 M98 P202 M99 Subprogram Subprogram O0202 N300 G91 G61 N31...

Страница 315: ...ing block the next block is processed Program Example N10 G01 X10 F10 M100 IF 2000 EQ150 GOTO20 N15 G01 Y10 N20 G01 X0 Y0 Since M100 exists in the next block a change in 2000 during execution of the command on this line is reflected on the IF statement below 2000 150 V X axis t Y axis Note N15 N10 N20 N10 2000 150 Note V V V X axis Y axis t t t Note When M100 is executed constant speed positioning...

Страница 316: ...Remarks IF GOTO Depends on the data after G Refer to Section 6 13 M Refer to Section 6 15 for M00 M01 M02 M30 M98 M99 and M100 Axis command Depends on the G code in the modal group 01 Feed Depends on the G code in the modal group 01 O N Regards the line number and later as the fist character Handles data between and as a comment IF ELSE END WHILE DO May be specified Must be specified Blank Must no...

Страница 317: ...er than 1 the next line is executed IF 100 GOTO100 If 100 is 1 true execution jumps to N100 If it is 0 false the next line is executed 2 The following comparison instructions may be used in the expression Code Meaning EQ Equal to NE Not equal to GT Greater than LT Less than GE Greater than or equal to LE Less than or equal to 3 The expression must be enclosed in 4 The line number specified in GOTO...

Страница 318: ...0 G91 N210 G01 X100 Y100 F2000 X200 Y200 IF 100 GOTO230 N220 G01 Y300 F1500 X300 N230 G02 X50 Y50 I0 J50 F800 N240 G01 X100 Y500 F2000 IF 110 EQ 180 GOTO260 N250 G00 X10 Y100 N260 G28 X0 Y0 M02 Jump to N230 Jump to N260 If 100 is true execution jumps to N230 If 110 is 180 execution jumps to N260 REMARK Only one comparison instruction may be used in one block ...

Страница 319: ...s executed If it is false 0 condition is not satisfied the ELSE statement block group up to END is executed IF 100 EQ1 THEN1 If 100 is 1 the block group described here is executed ELSE1 If 100 is not 1 the block group described here is executed END1 2 When ELSE is omitted the block group up to END is executed only if the conditional expression is true IF 100 EQ1 THEN1 If 100 is 1 the block group d...

Страница 320: ...if the sequence No N is omitted in the above program the block No changes as indicated below Program Execution block No A Execution block No B Execution block No C Execution block No D O1 0 0 0 0 G91 1 1 1 1 G01 X100 Y100 F2000 2 2 2 2 X200 3 3 3 3 Y200 4 4 4 4 IF 100 EQ0 THEN1 5 5 5 5 G01 Y300 F1500 6 6 X300 7 7 END1 8 8 G02 X50 Y50 I0 J50 F800 9 6 9 6 G01 X100 Y500 F2000 10 7 10 7 IF 110 THEN2 1...

Страница 321: ...s between the next block and ENDm block are executed repeatedly and when it does not hold execution shifts to the block next to ENDm 2 WHILE conditional expression DOm and ENDm are used in pairs The range of identification No m is 1 to 32 3 The multiprogramming depth of the WHILE statement is up to three levels Example 1 The identification No m can be used any number of times as desired WHILE D01 ...

Страница 322: ...0 F100 N5 0 0 1 N6 END1 N7 G28 X0 Y0 N8 M02 Note 1 Note 2 Y X 50 75 50 25 25 0 Note 1 N3 to N6 are repeated while variable 0 3 holds Note 2 Every time this block is executed once 1 is added to variable 0 The above program ends after drawing a circle three times Note Note that if the sequence No N is omitted in the above program the block No changes as indicated below Program Execution block No O01...

Страница 323: ... SIN 130 1 Function 2 Multiplication type operation 3 Addition type operation 3 The area of operation where you want to give priority can be enclosed in can be five levels deep including of a function An operational expression may be described in up to 72 characters Up to the maximum number of characters in one block 100 SQRT 110 120 SIN 130 140 150 First level Second level Third level 4 For and t...

Страница 324: ...verted into 64 bit type Operation is performed after conversion of operation data 1 2 into operation result type Note that if operation result is 64 bit type 32 bit type is used to perform operation 6 The following operational expressions will result in a Format error error code 560 10 20 10 20 30 Possible if 10 20 Possible if 10 20 30 7 If there is no operation result if operation exists in the o...

Страница 325: ...ed trigonometric function is performed 2 The operation result is a 32 bit integer BIN value including four decimal places 3 When the argument of the trigonometric function has no decimal point the operation result is similarly a BIN value including four decimal places Program Example 2010 L SIN 60 2010 L 8660 2016 L SIN 600000 2016 L 8660 2020 L COS 45 2020 L 7071 2026 L COS 450000 2026 L 7071 203...

Страница 326: ...e real number is converted into a 32 bit integer BIN value including four decimal places 2 A floating point type real number is processed as single precision 32 bit in the binary floating point format of the IEEE Standard Sign part 1 bit Exponent part 8 bits Significant digit part 23 bits Bits 0 to 22 Significant digit part 31 22 15 Bit 0 Bits 31 Sign part Bits 23 to 30 Exponent part 3 The followi...

Страница 327: ...er BIN value including four decimal places is converted into a floating point type real number 2 A floating point type real number is processed as single precision 32 bit in the binary floating point format of the IEEE Standard Sign part 1 bit Exponent part 8 bits Significant digit part 23 bits Bits 0 to 22 Significant digit part 31 22 15 Bit 0 Bits 31 Sign part Bits 23 to 30 Exponent part 3 The f...

Страница 328: ...umber data conversion command Explanation 1 DFLT 32 bit real number data a floating point type is converted 64 bit real number data a floating point type 2 SFLT 64 bit real number data a floating point type is converted 32 bit real number data a floating point type Program Example 2004F DFLT 2002L 2010L SFLT 2012F REMARK 32 bit real number data is used in QCPU and the data conversion between Motio...

Страница 329: ...er to Items 5 6 7 in Section 6 11 3 for the operation result Program Example 2010L SQRT 100 10 enters D2011 D2010 2020L ABS 25 25 enters D2021 D2020 2030L BIN 100 64 enters D2031 D2030 2040L BCD 100 256 enters D2041 D2040 2050L LN 1000000 13 enters D2051 D2050 2060L EXP 20 485165195 enters D2061 D2060 2070F RND 14 3 5 enters D2073 D2072 D2071 D2070 64 bit floating point type 2080F FIX 14 3 4 enter...

Страница 330: ...e for operation 3 The area of operation where you want to give priority can be enclosed in can be five levels deep including of a function An operational expression may be described in up to 72 characters Up to the maximum number of characters in one block For AND OR XOR Operation result operation data 1 operator operation data 2 Operation result is stored Operation is performed after conversion o...

Страница 331: ...0L 2010L OR 14 2020L 00000000 00000000 00000000 01101110 110 2010L 00000000 00000000 00000000 01100100 14 00000000 00000000 00000000 00001110 XOR 2010L 100 2020L 2010L XOR 14 2020L 00000000 00000000 00000000 01101010 106 2010L 00000000 00000000 00000000 01011010 NOT 2010L 90 2020L NOT 2010L 2020L 11111111 11111111 11111111 10100101 91 2010L 20 2020L 2010L 2 2010L 2020L 00000000 00000000 00000000 0...

Страница 332: ...e WAITON X10 WAITOFF statement WAITOFF device Example WAITOFF X11 4 It takes about 7 to 64 ms from when a program is started until the program is actually run Therefore If WAITON WAITOFF is used the Motion program can be started at high speed By setting a wait for a shift to the next block with WAITON or WAITOFF after a program start has been made by the start instruction of the Motion program pre...

Страница 333: ...00 Y200 F2000 00027 N20 G01 X100 Y100 F2000 00028 M02 00029 The above program is executed as described below 1 Line 1 When device X10 turns ON line 2 is executed 2 Line 3 When device X11 turns OFF line 5 is executed Line 4 is being executed 3 Line 6 When device X12 turns ON N10 is executed 4 Line 21 When device XFF turns OFF 2000 5 to line 27 are executed Because of preread processing N15 is not e...

Страница 334: ...F Explanation 1 Execution of the next block is waited until the completion of ON OFF condition for the specified device 2 The response time of EXEON EXEOFF is an operation cycle 3 The grammar is indicated below EXEON statement EXEON device Example EXEON X10 EXEOFF statement EXEOFF device Example EXEOFF X11 Program Example 1 Control program SET M100 RST M101 EXEON M102 D2100 200 CALL JXJY P100 M02 ...

Страница 335: ...O2 b Next block is not travel block EXEON EXEOFF SET M100 EXEON M102 RST M100 MO2 Preread of next block is not executed The next block is executed after waiting for the M102 to turn ON When the next block is not the travel block a waiting by the WAITON is not executed WAITON WAITOFF SET M100 WAITON M102 RST M100 MO2 c EXEON EXEOFF is wrote between the travel blocks EXEON EXEOFF G01 X100 F100 EXEON...

Страница 336: ...N WAITON M100 EXEON M101 G01 X100 F100 V t M100 M101 Waiting for WAITON is not accepted until waiting for EXEON is completed ON OFF OFF ON Waiting for WAITON is accepted after completion of waiting for EXEON When the EXEON is wrote in the next block of WAITON not travel value priority is given to waiting condition for EXEON regardless of WAITON state in this case since an operation is complicated ...

Страница 337: ...pecifies bit in the word device Format S Set bit number 0 to15 B n D ET Word device which operates bit D W B n D RST Reset bit number 0 to15 Word device which operates bit D W Explanation 1 BSET sets the specifies bit in the word device 2 BRST resets the specifies bit in the word device Program Example Set the 10th bit of D2000 BSET D2000 10 Reset the 12th bit of 100 BRST 100 12 ...

Страница 338: ...imit value is used 5 When a parameter block change PB is executed during a torque limit value change TL the torque limit value in the new parameter block is used 6 When a parameter block change is executed during a constant speed motion the axis decelerates to a stop once and the next constant speed motion is executed G01 X100 F500 PB3 G01 X200 Deceleration to a stop at X100 After that parameter b...

Страница 339: ... parameter block change is executed during constant speed positioning N01 G01 X0 F200 N02 G01 X100 N03 PB5 N04 G01 X200 Uses the parameter block at a program start Changes to parameter block 5 N01 N02 N04 PB at a program start is used PB5 is used V t 3 When torque limit value is being changed N01 G01 X0 F200 N02 G01 X100 TL300 N03 G01 X200 N04 PB10 N05 G01 X300 Torque limit value within PB at a pr...

Страница 340: ...s used 4 At a home position return G28 the torque limit value in the parameter block at a program start is used 5 If a cancel start is made during a torque limit value change the start program uses the torque limit value in the parameter block for execution of a start program 6 If a torque limit value change TL is specified in G32 skip and the skip device is already ON before execution of G32 the ...

Страница 341: ...mit value of 100 Controls at the torque limit value of 300 Torque limit value within PB at a program start N01 N02 N03 N04 Controlled at torque limit value of 100 Controlled at torque limit value of 300 V t 2 When parameter block change is made N01 G01 X0 F200 N02 G01 X100 TL200 N03 G01 X200 N04 PB5 N05 G01 X300 Controls at the torque limit value in the parameter block at a program start Controls ...

Страница 342: ...cept flag M2001 to M2032 of the specified axis is turned ON 2 The start accept flag is turned ON according to the home position return parameters after a home position return 3 G28 executes a high speed home position return when the home position return request is OFF However the home position return is executed for CHGA by the home position return method set by the home position return parameter ...

Страница 343: ... program REMARK G90 G00 X0 G00 X1000 CHGV JX 100 G90 G00 X0 G00 X1000 N1 IF ON M2402 GOTO1 CHGV JX 100 1 When the block of CHGV is preread by programming the above left program CHGV is executed while executing the block example G00 block before CHGV Make the program like a above right program to execute CHGV after the block of G00 X1000 ends 2 Set the speed change value specified with the CHGV ins...

Страница 344: ...pecify it only by an axis Explanation CHGT is an instruction which executes an equal to S P CHGT instruction of 3 MOTION DEDICATED PLC INSTRUCTION in the Motion program REMARK G90 G00 X0 TL50 G00 X1000 CHGT JX 50 When the block of CHGT is preread by programming the above program CHGT is executed while executing the block example G00 block before CHGT Torque limit value is changed after the movemen...

Страница 345: ...fied device is turned ON OFF Format E ON device Y M T Y S y Device ON command S OFF device Y M T Y R y Device OFF command Explanation 1 The specified device in the G code program can be turned ON OFF 2 Refer to Section 6 11 2 2 for the usable device ranges Program Example 1 SET M0 Turns ON device M0 2 RST M0 Turns OFF device M0 3 SET Y10 Turns ON device Y10 ...

Страница 346: ...E y OUT Y F I H N T E y SET Y conditional expression conditional expression conditional expression F I H N T E y RST Y Explanation 1 When the condition consists IF conditional expression THEN SET turns ON a specified device 2 When the condition consists IF conditional expression THEN RST turns OFF a specified device 3 When a specified device is turned ON when the condition consists and the conditi...

Страница 347: ...sed in the Motion program 2 Writing in the device X is possible only for the range of the input modules non installation 3 The start accept flag M2001 to M2032 must not use IF THEN and SET RST OUT 4 Do not write it in special relay M9000 to M9255 excluding the user setting device Note The device range which can be used by IF THEN SET RST OUT and SET RST is the same ...

Страница 348: ...xis designation program to start the axis designation program 4 As for set program No Pn and parameter block No PBn indirect setting by or D word data is also possible In this case sequence No can be specified as follows Control program start CALL P D2010 D2010 Program No D2011 Sequence No Axis designation program start CALL JXJY P D2010 D2010 Program No D2011 Sequence No D2012 Parameter block No ...

Страница 349: ...1 CALL JXJY P10 M02 Program start 1 2 O0010 M02 3 2 O0001 GOSUB JXJY P10 M02 Program call 1 5 O0010 M02 3 2 4 This program is executed in parallel the started The following next block of GOSUB is program and following the next block of CALL executed after waiting the end of called program GOSUBE also is same ...

Страница 350: ... 4 This instruction cannot be used in the axis designation program 5 As for set Motion program No Pn and parameter block No PBn indirect setting by or D word data is also possible In this case sequence No can be specified as follows Control program call GOSUB P D2010 D2010 Motion program No D2011 Sequence No Axis designation program call GOSUB JXJY P D2010 D2010 Motion program No D2011 Sequence No...

Страница 351: ...tion cannot be used in the axis designation program 5 As for set Motion program No Pn and parameter block No PBn indirect setting by or D word data is also possible In this case sequence No can be specified as follows Control program call GOSUBE P D2010 D2010 Motion program No D2011 Sequence No Axis designation program call GOSUBE JXJY P D2010 D2010 Motion program No D2011 Sequence No D2012 Parame...

Страница 352: ...error which program ends will occur in the program No 120 program O0110 ends but program O0100 executes continuously 2 GOSUBE GOSUB O0110 Control program GOSUB JXJY P120 M02 O0120 Axis designation program G01 X100 F1000 M02 O0100 Control program GOSUBE P110 M02 Error occurrence Program end Program continuous from next block of GOSUBE Program continuous from next block of GOSUB If an error which pr...

Страница 353: ... 211 Minor error Motion program executing errors 500 501 502 504 510 513 525 530 531 532 533 534 535 536 537 538 541 542 543 544 545 546 547 555 560 562 570 571 580 581 582 584 585 586 587 591 592 593 594 600 610 611 612 613 614 615 617 618 619 620 630 631 632 633 634 635 636 637 650 651 652 653 660 661 662 663 680 Starting errors 1000 1001 1002 1003 1004 1005 Major error Positioning control error...

Страница 354: ...A CALL JXJY P200 M02 O0200 Axis designation program G01 X100 Y100 M02 O0100 Control program B CALL P200 M02 O0200 Control program M02 a If the main program O0100 ends regardless of the started program or subprogram O0200 the main program O0100 ends and the subprogram O0200 does not end Figure A B b When the started program is the control program if the subprogram O0200 ends the subprogram O0200 en...

Страница 355: ...ram if the subprogram O0200 is cleared the execution ends and the control returns to the main program O0100 Figure B c When the started program is a designation program if the main program O0100 is cleared only main program O0100 ends and the subprogram O200 does not end Figure A d When the started program is a designation program if the subprogram ends by the stop command or rapid stop command et...

Страница 356: ...535 The command unit is 0 001 s TIME P1000 is waiting at 1 s 3 Waiting time can be set by direct setting numerical value and indirect setting constant 4 TIME instruction can be used only the control program Use the G04 Dwell as the time to wait in the axis designation program 5 The command unit is 0 001 s 1 ms However note that about dozens maximum error dispersion will occur by the main cycle Pro...

Страница 357: ...for transfer of data from devices of larger numbers to those of smaller numbers or starting with the one at S n 1 for transfer of data from devices of smaller numbers to those of larger numbers 3 When the H 32 bit hexadecimal constant for D or S is specified it is meant to specify the absolute address of the Motion CPU The absolute address specifies the even number When the absolute address is spe...

Страница 358: ...sfers a contents for 5 words from absolute address 0x06000000 of Motion CPU to all data for 5 words from D2000 12 34 56 78 D2000 BMOV D2000 H06000000 5 12 34 56 78 0x06000000 90 D2001 D2002 D2003 D2004 0x06000002 0x06000004 0x06000006 0x06000008 90 Batch transfer 16 bit unit ...

Страница 359: ...Data can be transferred if the word devices of the transfer source and destination overlap Data are transferred from the devices starting with the one at S for transfer of data from devices of larger numbers to those of smaller numbers or starting with the one at S n 1 for transfer of data from devices of smaller numbers to those of larger numbers 3 When the H 32 bit hexadecimal constant for D or ...

Страница 360: ...8 10 11 BDMOV 10 D2000 4 12 34 56 78 Batch transfer 32 bit unit 12 13 D2000 D2001 D2002 D2003 2 Program which batch transfers a contents for 4 words from absolute address 0x06000000 of Motion CPU to all data for 4 words from D2000 0x06000004 0x06000006 12 34 56 78 BDMOV D2000 H06000000 4 12 34 56 78 0x06000000 0x06000002 Batch transfer 32 bit unit D2000 D2001 D2002 D2003 ...

Страница 361: ...s of the transfer source and destination overlap 3 When the H 32 bit hexadecimal constant for D is specified it is meant to specify the absolute address of the Motion CPU The absolute address specifies the even number When the absolute address is specified the content of the address is understood When a wrong operation is executed operation which crashes the system and is abnormal might be execute...

Страница 362: ...atch transfers a contents for from D0 to all data for 5 words from 10 12 10 FMOV 10 D0 5 12 D0 11 12 13 14 12 12 12 12 Batch transfer 16 bit unit The motion device is not initialized 0 set at the power on Please use it after initializing data by this instruction when it is necessary ...

Страница 363: ...ith D1 turns on Write the data of a part for n words Device memory Shared CPU memory of self CPU S D Self CPU operation data area System area Automatic refresh area User defined area 0H 200H 800H 0FFFH Shared CPU memory address This area cannot be used at user area This area can be used at user area Note Note When automatic refresh is not set it can be used as a user defined area And when automati...

Страница 364: ...shared CPU memory address D of self CPU of the writing destination device number of words n to be written is outside the range 800H to FFFH of the shared CPU memory address d First device No S which writing data are stored number of words n to be written is outside the device range e MULTW instruction was executed again before MULTW instruction is executed and complete bit device is turned on Prog...

Страница 365: ...2 1 L R T U Explanation 1 A part for n words of data of the other CPU specified with S1 are read from the address specified with S2 of the shared CPU memory and are stored since the device specified with D Device memory Shared CPU memory of specified CPU No with S1 Read the data of a part for n words D S2 Self CPU operation data area System area Automatic refresh area User defined area 0H 200H 800...

Страница 366: ...using the user program 6 An operation error will occur if a Number of words n to be read is outside the range of 1 to 256 b The shared CPU memory first address S2 of the data which it will be read is outside the range 000H to FFFH of the shared CPU memory address c The shared CPU memory first address S2 of the data which it will be read number of words n to be read is outside the range 000H to FFF...

Страница 367: ... 000H to FF0H 2 1 Explanation 1 A part for n words of data from device specified with S are written to since address specified with D2 of the buffer memory in the intelligent function module special function module controlled by the self CPU specified with D1 D2 Device memory Write the data of a part for n words D1 Intelligent function module special function module buffer memory S 2 First I O No ...

Страница 368: ...ution c Abnormalities of the intelligent function module special function module were detected at the instruction execution d I O No s specified with D1 differ from the intelligent function module special function module controlled by the self CPU e The address specified with D2 is outside the buffer memory range f First device No S which writing data are stored number of words n to be written is ...

Страница 369: ...First I O No of the intelligent function module special function module 000H to FF0H First device No which stores the reading data Explanation 1 A part for n words of data are read from the address specified with S2 of the buffer memory in the intelligent function module special function module controlled by the self CPU specified with S1 and are stored since the device specified with D S2 Device ...

Страница 370: ...cannot communicate with intelligent function module special function module at the instruction execution c Abnormalities of the intelligent function module special function module were detected at the instruction execution d I O No s specified with S1 differ from the intelligent function module special function module controlled by the self CPU e The address specified with S2 is outside the buffer...

Страница 371: ...pression can be five levels deep including of a function An operational expression may be described in up to 72 characters in all Up to the maximum number of characters in one block When ON is specified IF ON M100 GOTO1 When M100 is ON the result is true 1 and a branch to N01 is taken When M100 is OFF the result is false 0 and the next block is executed When OFF is specified IF OFF M100 GOTO1 When...

Страница 372: ...tion starts from the next line THEN1 and later if M200 is ON or from ELSE1 if it is OFF N01 IF ON M200 THEN1 N02 G01 X100 F200 N03 ELSE1 N04 G00 X200 N05 END1 Executed when M200 is ON Executed when M200 is OFF 3 While M300 is OFF the blocks within WHILE N02 N03 N04 are executed repeatedly N01 WHILE OFF M300 D02 N02 G91 G01 X10 F100 N03 2010 2010 1 N04 END2 N05 G90 G00 X0 Executes blocks within WHI...

Страница 373: ...6 186 6 MOTION PROGRAMS FOR POSITIONING CONTROL MEMO ...

Страница 374: ...ator operation Feed screw Backlash compensation amount Workpiece Fig 7 1 Backlash compensation amount 1 Setting of the backlash compensation amount The backlash compensation amount is one of the fixed parameters and is set for each axis using a peripheral device The setting range differs according to whether mm inch or degree units are used as shown below a mm units 0 to 6 5535 Backlash compensati...

Страница 375: ...ion start the backlash compensation is executed Positioning start If travel direction is changed the backlash compensation is executed Manual pulse generator operation If travel direction is changed the backlash compensation is executed Home position return completion The backlash compensation is executed after home position return completion Absolute position system Status stored at power off and...

Страница 376: ...nstruction Refer to Section 6 16 18 is used to change the torque limit value in the Motion program PB instruction changes it to the torque limit value specified with parameter block TL or PB instruction commands to all start axes of Motion program CHGT instruction commands to only specified axis c S P CHGT instruction Refer to Section 3 6 is used to change in the PLC program Control Details 1 Torq...

Страница 377: ...anged by CHGT S P CHGT instruction Given to the change target axes 2 The servo command indicates the torque limit value given actually to the servo amplifier Note 2 When the CHGT S P CHGT instruction is not executed after power on the torque limit value is 300 4 Explanation a In comparison with the torque limit value of parameter block specified with the S P SVST and the value specified with last ...

Страница 378: ...is used when the proximity dog is near the stroke end and the stroke range is narrow Count type Note 1 Count type 3 Home position is zero point of servomotor This method is valid when the stroke range is short and count type 1 cannot be used Data set type 1 Home position is command position of Motion CPU External input signals such as dog signal are not set in this absolute position system This me...

Страница 379: ...to 21474 83647 inch 0 to 359 99999 degree 0 mm 2 5 Home position return speed 0 01 to 6000000 00 mm min 0 001 to 600000 000 inch min 0 001 to 2147483 647 Note 1 degree min 0 01 mm min 2 6 Creep speed 0 01 to 6000000 00 mm min 0 001 to 600000 000 inch min 0 001 to 2147483 647 Note 1 degree min 0 01 mm min 2 7 Travel value after proximity dog ON 0 0000 to 214748 3647 mm 0 00000 to 21474 83647 inch 0...

Страница 380: ...me position return speed after the proximity dog ON is set The travel value after the proximity dog ON for the count type is set More than the deceleration distance at the home position return speed is set 7 3 1 1 The parameter block Refer to Section 5 3 No to use for home position return is set Valid invalid of home position return retry is set The stop time at the deceleration stop during the ho...

Страница 381: ...nd 2 1 1000 VZ t 2000 VZ VP VZ TB 2000 10 103 200 10 300 103 103 75 VP VZ POINT A home position return must be made after the servomotor has been rotated more than one revolution to pass the axis through the Z phase motor reference position signal For a proximity dog type or count type home position return the distance between the point where the home position return program is started and the dec...

Страница 382: ...with the home position return speed 4 A deceleration stop is made by the proximity dog OFF 5 After a deceleration stop the temporary stop is made during time set in the dwell time at the home position return retry and it travels to direction of home position return 6 Home position return ends Acceleration time Deceleration time Home position return direction Home position return start Home positio...

Страница 383: ...ome position shift amount is positive value Home position return speed Home position Creep speed Home position return speed Home position Home position return direction Home position return speed Creep speed Home position shift amount Positive value Home position return start Proximity dog Travel value after proximity dog ON Home position shift amount is negative value Home position return directi...

Страница 384: ...sition shift function it is not necessary to care the zero point for an installation of servomotor 2 After proximity dog ON if the travel value including home position shift amount exceeds the range of 2147483648 to 2147483647 10 4 mm 10 5 inch 10 5 degree travel value after proximity dog ON of monitor register is not set correctly 4 Torque limit value at the creep speed a Torque limit value at th...

Страница 385: ...n program and if the home position return request signals M2409 20n are turned OFF for all axes specified at Motion program start after that normal travel instruction can be executed 4 JOG operation and manual pulse generator operation can be executed regardless of the home position return request signal M2409 20n ON OFF 5 Same operation is executed regardless of absolute position system or not Wh...

Страница 386: ...code 680 occurs and the Motion program ends even if it is travel instruction to Y axis Operation example in starting the Motion program in the condition that the fixed parameter and home position return request signal were set as the following is shown below Setting axis Operation setting for incompletion of home position return Home position return request signal M2409 20n Axis 1 X 1 Not execute ...

Страница 387: ...d with the home position return data The home position return data read in the starting are current value And simultaneously the home position return data are saved to memory backed up electrically When the home position return request signal M2409 20n is OFF the high speed home position return is executed the backed up home position return data as a home position The home position address specifi...

Страница 388: ...e 1 Data set type 2 Dog cradle type Stopper type 1 Stopper type 2 Limit switch combined type Home position return direction Home position address Second home position address Home position return speed Creep speed Travel value after proximity dog ON Parameter block setting Home position return retry function Dwell time at the home position return retry Home position shift amount Speed set at the h...

Страница 389: ... by proximity dog type 1 for passing zero pass signal M2406 20n ON the zero point from home position return start to deceleration stop by proximity dog ON to OFF is shown below Creep speed Home position return start V Home position return direction Home position return speed Proximity dog ON OFF Zero point The travel value in this range is stored in the monitor register travel value after proximit...

Страница 390: ...ution of the servomotor may occur Adjust the position of proximity dog OFF such that the home position return re travel value becomes half the travel value for one revolution of the servomotor OFF ON Proximity dog If the position executed deceleration stop by the proximity dog OFF is near zero point the creep speed and deceleration settings may result in a home position discrepancy equivalent to o...

Страница 391: ...ype 2 4 If home position return is executed in the proximity dog ON a major error proximity dog signal is turning ON at the home position return start error code 1003 will occur the home position return is not executed Use the proximity dog type 2 in this case 5 When home position return retry function is not set if home position return is executed again after home position return end a minor erro...

Страница 392: ...oximity dog ON after that it travels with the creep speed If the proximity dog turns OFF during a deceleration a deceleration stop is made and the operation for 4 starts 3 A deceleration stop is made by the proximity dog OFF 4 After a deceleration stop it travels for one revolution of servomotor to reverse direction of home position return with the home position return speed 5 It travels to direct...

Страница 393: ...ion to the creep speed a deceleration stop is made and the next zero point is set as the home position 4 If home position return is executed in the proximity dog ON it starts with the creep speed 5 When home position return retry function is not set if home position return is executed again after home position return completion a minor error home position return completion signal is turning ON at ...

Страница 394: ... the home position return data Refer to Section 7 3 1 2 Home position return by the count type 1 Operation of home position return by count type 1 for passing the distance set in the travel value after proximity dog ON from the home position return start is shown below t V ON Creep speed Home position return start Home position return direction Home position return speed Proximity dog Zero point N...

Страница 395: ...e position return start a minor error ZCT not set error code 120 will occur a deceleration stop is made and home position return does not end normally When a distance between home position return start position and home position is near and a zero point is not passed select the count type 3 3 When the travel value after proximity dog ON is less than the deceleration distance from home position ret...

Страница 396: ...on return data Refer to Section 7 3 1 2 Home position return by the count type 2 Operation of home position return by count type 2 is shown below V Home position return direction t Home position return speed Creep speed Home position return start Proximity dog The travel value in this range is stored in the monitor register travel value after proximity dog ON Note Home position return re travel va...

Страница 397: ...the axis once to position of the proximity dog OFF 2 When the travel value after proximity dog ON is less than the deceleration distance from home position return speed to creep speed a minor error an overrun occurred because the setting travel value is less than the deceleration distance at the proximity dog signal input during home position return of count type error code 209 will occur and dece...

Страница 398: ...urn start is shown below V Home position return speed Home position return direction Creep speed Home position Proximity dog Zero point Zero point no passing 1 2 3 5 4 The travel value in this range is stored in the monitor register travel value after proximity dog ON The travel value in this range is stored in the monitor register home position return re travel value 1 It travels to preset direct...

Страница 399: ...eturn and continuously start of home position return are executed in the proximity dog ON the home position return is executed after return the axis once to position of the proximity dog OFF 4 When the travel value setting after proximity dog ON is less than the deceleration distance from home position return speed to creep speed a minor error an overrun occurred because the setting travel value i...

Страница 400: ... and executing home position return If home position return is executed without passing a zero point once no zero point passed error occurs If no zero point passed error occurred perform the home position return again after reset the error and turn the servomotor at least one revolution by the JOG operation The zero point passing can be confirmed with the zero pass signal M2406 20n However when 1 ...

Страница 401: ...he data set type 2 home position return is also made even G28 of the Motion program Cautions 1 A zero point must be passed zero pass signal M2406 20n ON between turning ON the power supply and executing home position return If home position return is executed without passing a zero point once no zero point passed error occurs If no zero point passed error occurred perform the home position return ...

Страница 402: ...stored in the monitor register travel value after proximity dog ON The travel value in this range is stored in the monitor register home position return re travel value Zero point 1 It travels to preset direction of home position return with the home position return speed and a deceleration stop is made by the proximity dog ON 2 After a deceleration stop it travels to reverse direction of home pos...

Страница 403: ...turns OFF a deceleration stop is made it travels to direction of home position return again with the creep speed and the first zero point after proximity dog ON is home position V Acceleration time Deceleration time Home position return direction Creep speed Home position return start Proximity dog 3 2 1 Zero point 1 It travels to preset reverse direction of home position return with the home posi...

Страница 404: ...og OFF V Home position return direction Home position return speed Creep speed Home position Home position return start Home position return speed Proximity dog Zero point 1 2 5 3 4 Acceleration time Deceleration time 1 It travels to preset direction of home position return with the home position return speed 2 A deceleration stop is made by the proximity dog ON 3 After a deceleration stop it trav...

Страница 405: ... with the case to pass zero point at the time of the proximity dog OFF V Acceleration time Deceleration time Home position return direction Creep speed Home position Home position return start Home position return speed Proximity dog 2 Zero point 3 1 1 It travels to preset reverse direction of home position return with the home position return speed 2 If the zero point is passed by the proximity d...

Страница 406: ...sition return by the stopper type 1 Operation of home position return by the stopper type 1 is shown below V t Home position return direction Home position return speed Creep speed Home position return start Proximity dog Torque limit value Torque limiting signal M2416 20n Stopper Note Travel value after proximity dog ON storage register becomes 0 at the home position return start Torque limit val...

Страница 407: ...rge servomotors or machines may be damaged after pressing the stopper Also when the torque limit value is too small it becomes the torque limiting before pressing the stopper and ends the home position return 4 If the home position return is executed again after home position return completion a minor error home position return completion signal is turning ON at the stopper type home position retu...

Страница 408: ...ed of home position return data 2 Home position return by the stopper type 2 Operation of home position return by the stopper type 2 is shown below Creep speed Stopper Real position of servomotor at this point is home position Home position return start Torque limit value V Torque limiting signal M2416 20n Time which stops rotation of servomotors forcibly by the stopper Note Travel value after pro...

Страница 409: ...or system When the torque limit value is too large servomotors or machines may be damaged after pressing the stopper Also when the torque limit value is too small it becomes the torque limiting before pressing the stopper and ends the home position return 4 If the home position return is executed again after home position return completion a minor error home position return completion signal is tu...

Страница 410: ...urn direction Home position return speed V Creep speed Home position Home position return start Zero point External limit switch The travel value in this range is stored in the monitor register travel value after proximity dog ON The travel value in this range is stored in the monitor register home position return re travel value 1 2 3 Indicates with normally closed contact 1 It travels to preset ...

Страница 411: ...o reverse direction of home position return with creep speed 5 When it does not pass zero pass signal M2406 20n ON the zero point from home position return start to deceleration stop by limit switch OFF a minor error ZCT not set error code 120 will occur a deceleration stop is made and home position return does not complete normally However when 1 Not need to pass motor Z phase after the power sup...

Страница 412: ...tion return retry function 0 Invalid Do not execute the home position return retry by limit switch 1 Valid Execute the home position return retry by limit switch 0 1 0 Dwell time at the home position return retry The stop time at the deceleration stop during the home position return retry is set 0 to 5000 ms 0 Control details Operation for the home position return retry function is shown below 1 H...

Страница 413: ...ction of work home position and home position return is reverse deceleration stop is made with the proximity dog OFF and home position return is operated to preset direction of home position return Direction of work home position and home position return is reverse 2 Home position return direction Home position return start Proximity dog Home position Travel range Zero point FLS RLS 1 3 1 It trave...

Страница 414: ...f home position return 2 If the external upper lower limit switch turns OFF before the detection of proximity dog a deceleration is made and the temporary stop is made during time set in the dwell time at the home position return retry 3 After a stop it travels to reverse direction of home position return with the home position return speed 4 A deceleration is made by the proximity dog OFF and the...

Страница 415: ...celeration is made by detection of the external limit switch and travel to reverse direction of home position return is started In this case a major error external limit switch detection error error codes 1001 1002 1101 1102 will not occur CAUTION Be sure to set the external limit switch FLS RLS in the upper lower position of machines If the home position return retry function is used without exte...

Страница 416: ...e position Refer to Section 7 3 1 7 for home position return method by using the home position shift function Data Setting Set the following home position return data using a peripheral devices to use the home position shift function Set the parameters for every axis Table 7 4 Home position return data Items Setting details Setting value Initial value Home position shift amount The shift amount at...

Страница 417: ...n shift amount Positive value Set the operation speed at the home position shift with speed set at the home position shift Select one of home position return speed or creep speed Home position shift amount is negative value Home position return direction Home position return speed Home position return start Creep speed Home position return re travel value Zero point Creep speed Home position retur...

Страница 418: ... Zero point Fig 7 18 Setting range of home position shift amount 3 Travel speed at the home position shift When the home position shift function is used set the travel speed at the home position shift as the speed set at the home position shift Either the home position return speed or creep speed is selected as the travel speed at the home position shift The travel speed at the home position shift...

Страница 419: ...valid of home position shift amount setting value by the home position return method is shown below Home position return methods Valid invalid of home position shift amount Proximity dog type Count type Data set type Dog cradle type Stopper type Limit switch combined type Valid Invalid 2 Axis monitor devices and axis statuses are set after completion of home position shift 3 When the home position...

Страница 420: ...f home position set Set the condition selection of home position set in the absolute position system 0 Need to pass motor Z phase after the power supply is switched on 1 Not need to pass motor Z phase after the power supply is switched on 0 Cautions 1 When 1 Not need to pass motor Z phase after the power supply is switched on is set as the above servo parameter a restrictions such as make the home...

Страница 421: ...1 Limit switch combined type Section 7 3 12 Program A program which executes a home position return using the CHGA instruction is shown below Program example SP CHGA K0 M0 D0 H3E1 RST M100 M100 To self CPU high speed interrupt accept flag from CPU U3E1 G48 0 J4 M0 Normal complete program M1 Abnormal complete program M1 Start accept flag of the axis No 4 CPU No 2 U3E1 G516 0 Program which execute t...

Страница 422: ...de invalid When the override is valid a speed change is not executed 5 During a temporary stop a speed change is not executed 6 A speed change during constant speed control when the axis travels through mid points continuously during execution of G01 G02 G03 G12 G13 or G32 should be set within the range of F command to F command If it is outside the range the speed is controlled by F command 7 The...

Страница 423: ... G00 G28 G30 or G53 OSC mode is the travel mode executed by G25 Note 3 This mode is executed by G01 G2 G3 G12 G13 or G32 The independent M code is also handled as the constant speed mode Note 4 When a special M code M00 M01 M02 M30 M98 M99 M100 is not executed during the constant speed mode after speed change Note 5 When a special M code M00 M01 M02 M30 M98 M99 M100 is executed during the constant...

Страница 424: ...ltiplier setting for degree axis is valid Cautions A speed change is not executed with the following errors It is checked at the execution of CHGV instruction Error code Error factor Error Processing Corrective action 301 Speed change error Home position return is executed by the specified axis Error detection flag M2407 20n turns ON Error code 301 is stored in the minor error code storage registe...

Страница 425: ...ed change register CHGV Fig 7 21 Operation timing for speed change Program Example A program example for speed change is shown as the following conditions 1 Conditions for speed change a Axis No for speed change Axis 1 b New speed 1000 c Speed change command M100 2 PLC program SP CHGV K1000 M0 D0 H3E3 RST M100 M100 To self CPU high speed interrupt accept flag from CPU U3E3 G48 0 J1 M0 Normal compl...

Страница 426: ... Note 1 degree min 200 00 mm s Sets the maximum speed at the JOG operation If JOG speed setting exceeds the JOG speed limit value it is controlled with JOG speed limit value 2 Parameter block setting 1 to 64 1 Sets the parameter block No to be used at the JOG operation 5 3 Note 1 When the speed control 10 multiplier setting for degree axis is set to valid the setting range is 0 01 to 21474836 47 d...

Страница 427: ...continues at the JOG speed setting register value while the JOG operation signal turns on and a deceleration stop is made by the JOG operation signal OFF Control of acceleration deceleration is based on the data set in the JOG operation data Deceleration stop based on JOG operation data JOG operation speed Acceleration based on JOG operation data V t ON OFF JOG operation command M3202 20n M3203 20...

Страница 428: ...23 M3642 M3643 D685 D684 24 M3662 M3663 D687 D686 25 M3682 M3683 D689 D688 26 M3702 M3703 D691 D690 27 M3722 M3723 D693 D692 28 M3742 M3743 D695 D694 29 M3762 M3763 D697 D696 30 M3782 M3783 D699 D698 31 M3802 M3803 D701 D700 32 M3822 M3823 D703 D702 1 to 600000000 10 2 mm min 1 to 600000000 10 3 inch min 1 to 2147483647 10 3 degree min Note 1 Note 1 When the speed control 10 multiplier setting for...

Страница 429: ...ommand is ON After that when the reverse JOG start command turns off to on the reverse JOG operation is executed t Forward JOG operation V OFF ON ON OFF Forward JOG start command Reverse JOG start command Reverse JOG operation Reverse JOG start command is ignored 2 If the JOG operation command M3202 20n M3203 20n turns on during deceleration by the JOG operation command OFF after deceleration stop...

Страница 430: ...le without turning JOG operation command off to on Program Example Program for JOG operation is shown as the following conditions 1 System configuration JOG operation for Axis 1 and Axis 2 M M M M Motion CPU control module Axis 4 Axis 1 Axis 2 Axis 3 Forward JOG operation command PX003 Axis 1 PX005 Axis 2 Reverse JOG operation command PX004 Axis 1 PX006 Axis 2 AMP AMP AMP AMP Q61P Q02H CPU Q172H C...

Страница 431: ...T M3202 ELSE 1 RST M3202 END 1 IF ON X004 AND OFF M3202 THEN 2 SET M3203 ELSE 2 RST M3203 END 2 IF ON X005 AND OFF M3223 THEN 3 SET M3222 ELSE 3 RST M3222 END 3 IF ON X006 AND OFF M3222 THEN 4 SET M3223 ELSE 4 RST M3223 END 4 GOTO 20 M02 Note Control program O0100 is started by automatically start CALL GOSUB GOSUBE or SFCS instruction of the PLC program Two axes reverse rotation command SET RST On...

Страница 432: ...ultaneous start axis setting register D710 to D713 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 ...

Страница 433: ...2 13 M3442 M3443 D665 D664 14 M3462 M3463 D667 D666 15 M3482 M3483 D669 D668 16 M3502 M3503 D671 D670 17 M3522 M3523 D673 D672 18 M3542 M3543 D675 D674 19 M3562 M3563 D677 D676 20 M3582 M3583 D679 D678 21 M3602 M3603 D681 D680 22 M3622 M3623 D683 D682 23 M3642 M3643 D685 D684 24 M3662 M3663 D687 D686 25 M3682 M3683 D689 D688 26 M3702 M3703 D691 D690 27 M3722 M3723 D693 D692 28 M3742 M3743 D695 D69...

Страница 434: ...on conditions a JOG operation conditions are shown below Item JOG operation conditions Axis No Axis 1 Axis 2 JOG operation speed 150000 150000 b JOG operation command During PX000 ON 3 Motion program O0100 SET M2042 All axes servo ON command turns on N10 IF ON M2415 AND ON M2435 GOTO 20 Wait until axis 1 and axis 2 servo ON GOTO 10 N20 IF ON X000 THEN 1 D710 2 D712 1 D640L 150000 D642L 150000 SET ...

Страница 435: ...se generator operation is only valid while the manual pulse generator enable flag turn ON Manual pulse generator connecting position Manual pulse generator axis No setting register Manual pulse generator enable flag P1 D714 D715 M2051 P2 D716 D717 M2052 P3 D718 D719 M2053 2 The travel value and output speed for positioning control based on the pulse input from manual pulse generator are shown belo...

Страница 436: ... Make magnification setting for 1 pulse input from the manual pulse generator for each axis 1 pulse input magnification setting register Applicable axis No Note 1 Setting range D720 Axis 1 D721 Axis 2 D722 Axis 3 D723 Axis 4 D724 Axis 5 D725 Axis 6 D726 Axis 7 D727 Axis 8 D728 Axis 9 D729 Axis 10 D730 Axis 11 D731 Axis 12 D732 Axis 13 D733 Axis 14 D734 Axis 15 D735 Axis 16 D736 Axis 17 D737 Axis 1...

Страница 437: ...nual pulse generator operation off to on or on to off is set Manual pulse generator smoothing magnification setting register Setting range Manual pulse generator 1 P1 D752 Manual pulse generator 2 P2 D753 Manual pulse generator 3 P3 D754 0 to 59 a Operation Manual pulse generator input Manual pulse generator 1 enable flag M2051 t ON V OFF V1 t t t Output speed V1 Number of input pulses ms Manual p...

Страница 438: ...mit value is fixed at 300 during manual pulse generator operation 3 If the manual pulse generator enable flag turns on for the starting axis by positioning control or JOG operation an error 214 is set to the applicable axis and manual pulse generator input is not enabled After the axis has been stopped the turning OFF to ON of the manual pulse generator enable flag becomes valid the start accept f...

Страница 439: ...ime the manual pulse generator axis setting error bit of the manual pulse generator axis setting error storage register D9185 to D9187 turns on and the manual pulse generator axis setting error flag M9077 turns on Include the start accept flag OFF for specified axis in interlocks as the conditions which turn on the manual pulse generator enable flag Procedure for manual pulse generator operation P...

Страница 440: ... OFF 3 Motion program Control program O0100 SET M2042 All axes servo ON command turns on N10 IF ON M2415 AND ON M2435 GOTO 20 Wait until axis 1 and axis 2 servo ON GOTO 10 N20 IF ON X000 GOTO 30 Wait until manual pulse generator operation start GOTO 20 N30 D720 100 D721 100 D714L 1 Control axis 1 by P1 D716L 2 Control axis 2 by P2 SET M2051 SET M2052 N40 IF OFF X000 GOTO 50 Wait until manual pulse...

Страница 441: ...g Register Axis No Override Ratio Setting Register Axis No Override Ratio Setting Register 1 D1536 9 D1560 17 D1584 25 D1608 2 D1539 10 D1563 18 D1587 26 D1611 3 D1542 11 D1566 19 D1590 27 D1614 4 D1545 12 D1569 20 D1593 28 D1617 5 D1548 13 D1572 21 D1596 29 D1620 6 D1551 14 D1575 22 D1599 30 D1623 7 D1554 15 D1578 23 D1602 31 D1626 8 D1557 16 D1581 24 D1605 32 D1629 2 The ratio is set to the over...

Страница 442: ... ratio setting register is except 0 to 100 290 During operation the value set in the override ratio setting register is except 0 to 100 Operation is performed at 100 Operation is executed at command speed in the Motion program Sets the override ratio within the range of 0 to 100 Operation Timing The speed change timing by override ratio setting function is shown in Fig 7 22 0 V t Override ratio se...

Страница 443: ...M3559 M3579 M3599 M3619 M3639 M3659 M3679 M3699 M3719 M3739 M3759 M3779 M3799 M3819 M3839 M code outputting signal M2739 M2759 M2779 M2799 M2819 M2839 M2859 M2879 M2899 M2919 M2939 M2959 M2979 M2999 M3019 M3039 2 The acceleration deceleration method is the fixed acceleration deceleration time method The acceleration deceleration time of selected parameter block is used as the acceleration time Pro...

Страница 444: ...he interpolation control In this case turn on the signal for one of the interpolation axes However the FIN signal for the high speed oscillation execution axis is ignored 5 When the FIN signal for any one of the interpolation axes is ON the M code outputting signal is not output if the FIN wait function is executed 1 FIN signal 1st axis M3219 M code outputting M2419 20n 11 10 Point M code D13 20n ...

Страница 445: ...point the command in position signal turns off 1 FIN signal M3219 20n M code outputting M2419 20n 11 10 Point M code D13 20n 2 FIN wait Command in position M2403 20n Automatic deceleration Command in position setting value b When the axis transits to the next point without automatic deceleration by positioning to the executing point during FIN signal wait If the axis transits to the next point wit...

Страница 446: ...2 Address Ax Positioning operation X Ax Ay Address Ay t V V Axis 1 Axis 2 Ay t Constant speed control processing of each axis Ax 2 When the rapid stop command is executed by the setting deceleration time rapid stop deceleration time during constant speed control the point data currently executed in the middle of deceleration and the positioning may be completed suddenly as a speed 0 In the case of...

Страница 447: ...ce No Signal direction Single block processing M4009 Monitor device Single block mode M4408 Single block start M4409 Command device Single block processing signal M4009 Single block mode signal M4408 Single block start signal M4409 ON OFF OFF OFF ON ON These signals are valid for all program operations executed concurrently a Single block in progress M4009 This signal indicates that the single blo...

Страница 448: ...ock start signal M4409 to turn from OFF to ON N2 N1 Executing PLC No Start accept flag M2001 n Single block processing signal M4009 Single block mode signal M4408 Single block start signal M4409 Motion program Axis designation program start instruction OFF ON ON OFF ON OFF OFF OFF ON ON 3 How to continue single block Turn the single block start signal M4409 from OFF to ON while the single block pr...

Страница 449: ...ing PLC No Single block start signal M4409 Single block processing signal M4009 Single block mode signal M4408 ON OFF OFF OFF ON ON 5 How to perform continuous operation from a start Normal operation The Motion program Axis designation program turns ON while the single block processing signal M4009 is OFF the program makes continuous operation N2 N1 Executing PLC No Start accept flag M2001 n Singl...

Страница 450: ...n of the move instruction for PTP e g G00 or CP e g G01 Therefore if the single block function is executed while the macro instructions are pre read during motion the executing block number and executing PLC No displayed are those in the pre read area N5 N1 O0010 N1 G01 X100 F100 Single block processing signal is ON N2 D0 0 N3 D2 1 N4 D3 2 N5 D4 3 Pre read complete block M02 During N1 execution th...

Страница 451: ... command or rapid stop command is executed or an error occurs The single block processing signal M4009 turns OFF by turning OFF the single block mode signal M4408 and then turning the single block start signal M4409 from OFF to ON 3 Status at termination of one block execution when single block in progress is ON If one block execution ends when the single block processing signal M4009 is ON the au...

Страница 452: ...the CLEAR request status storage register D1445 4 When an error will occur by clearing the control program set as the CLEAR request control program No setting register D707 the following error codes are stored a A minor error the program number ended by CLEAR is outside the range of 1 to 1024 Error code 619 b A minor error the program number ended by CLEAR is nor registered Or the axis designation...

Страница 453: ...7 80 7 AUXILIARY AND APPLIED FUNCTIONS MEMO ...

Страница 454: ... a project name a project name folder is created as indicated on the next page and under that an editing folder temp are created POINT 1 Set the project name on the project management screen 2 The project name is restricted to 230 characters in length 3 The project path name project name are restricted to 230 characters in length Example C Usr project name ...

Страница 455: ... data file Information file 1 for backup and load Information file 2 for backup and load Information file 6 for backup and load Motion register file Reading file of the motion register 0 to 8191 For write only user device range 0 to 7999 is written Device setting screen information file Device setting information file of device setting screen Program editing temporary directory Folder of user set ...

Страница 456: ... start or during positioning control There are minor errors major errors and servo errors 1 Minor errors These errors occur in the PLC program or Motion program and the error codes 1 to 999 are used Remove the error cause by correcting the PLC program or Motion program 2 Major errors These errors occur in the external input signals or control commands from the Motion CPU and the error codes 1000 t...

Страница 457: ...error D326 D346 D366 D386 D406 D426 D446 D466 D486 D506 D526 D546 D566 D586 D606 D626 Major error D327 D347 D367 D387 D407 D427 D447 D467 D487 D507 D527 D547 D567 D587 D607 D627 M2407 20n Servo error D328 D348 D368 D388 D408 D428 D448 D468 D488 D508 D528 D548 D568 D588 D608 D628 M2408 20n Note The range of axis No 1 to 8 is valid in the Q172HCPU c If another error occurs after an error code has be...

Страница 458: ...er block Set the parameter block No within the range of 1 to 64 906 Axis No setting error An unused axis of the system setting is set to the Motion program set in the SVST instruction Positioning control does not start Set the axis No used in the system settings 3300 Number of control program starts over error 33 or more axis designation programs are started simultaneously Positioning control does...

Страница 459: ...e using a peripheral device 23 Home position return start of the count proximity dog dog cradle stopper and limit switch combined type The creep speed is outside the range of 1 to home position return speed Set the creep speed below to the home position return speed or less using a peripheral device 24 Home position return start of the count type The travel value after the proximity dog ON is outs...

Страница 460: ...unit of the parameter block is different from the control unit of the fixed parameters Control with the control unit of the fixed parameters Set the same control unit of the fixed parameters and servo parameters POINT When the interpolation control unit of parameter block is different from the control unit of the fixed parameters an error code may not be stored with the combination of units Refer ...

Страница 461: ...e rapid stop command M3201 20n for applicable axis is ON Turn the rapid stop command M3201 20n off and start 105 Note The feed current value is outside the range of stroke limit at the start Set within the stroke limit range by the JOG operation Set within the stroke limit range by the home position return or current value change 106 Note Positioning is outside the range of the stroke limit Perfor...

Страница 462: ... proximity dog signal ON by JOG operation or positioning operation etc and perform the home position return The setting JOG speed is 0 Positioning control does not start The setting JOG speed exceeded the JOG speed limit value Control with the JOG speed limit value Set the correct speed within the setting range 116 The setting JOG speed limit value exceeded the setting range Control with the maxim...

Страница 463: ...system setting 145 Unusable instructions were started in the external input signal setting via servo amplifier Do not start count type home position return in the external input signal setting via servo amplifier 160 The operating axis is specified in the SVST instruction Start after the operating signal has turned OFF Provide a SVST instruction operating interlock 161 Program No to be started is ...

Страница 464: ...f during the home position return Perform the home position return again after turning the PLC ready flag M2000 on or turning the stop command M3200 20n or rapid stop command M3201 20n off 202 The stop command M3200 20n turned on during the home position return Decelera tion stop Control program ends 203 The rapid stop command M3201 20n turned on during the home position return Rapid stop Return t...

Страница 465: ... count type 207 The feed current value exceeded the stroke limit range during the control Only the axis exceed the stroke limit range is stored at the circular helical interpolation All interpolation axes are stored in the linear interpolation 208 The feed current value of another axis exceeded the stroke limit value during the circular helical interpolation control or simultaneous manual pulse ge...

Страница 466: ...ute the manual pulse generator operation after the applicable axis stopped 230 When the skip is executed in the constant speed control the next interpolation instruction is an absolute circular interpolation or absolute helical interpolation Immediate stop Execute the absolute linear interpolation after a point which make a skip 290 The override ratio is outside the range of 0 to 100 during the co...

Страница 467: ...de the range of 0 to speed limit value Set the speed after speed change within the range of 0 to speed limit value 305 The absolute value of speed after speed change is set outside the range of 0 to speed limit value Control with the speed limit value Set the absolute value of speed after speed change within the range of 0 to speed limit value The speed was changed during high speed oscillation 31...

Страница 468: ...ue of the parameter block Speed is clamped at speed limit value for operation Set the correct speed within the range 504 5 or more axes were specified in 1 block 5 or more axes cannot be interpolated Set the number of interpolation axes up to 4 axes 510 Unauthorized G code was specified Set the correct G code 513 The interpolation length exceeded the setting range Set the axis address within the s...

Страница 469: ...ment exceeded the limit 547 In the specified Motion program IF THENm ELSEm and ENDm are not in pairs Correct the Motion program 555 At a subprogram call the specified subprogram is not registered Create the specified subprogram Change the call No 560 The command format in the Motion program is not correct Correct the Motion program Correct the argument following G 562 There is no M02 M30 at the en...

Страница 470: ... CALL GOSUB GOSUBE is not registered O No specified with G24 cancel start is not correct Correct the O part Correct O No specified with CALL GOSUB GOSUBE Set the correct O No 594 The axis not specified with SVST is specified in the Motion program Correct the SVST instruction Correct the Motion program 600 Number of helical interpolation pitches error Number of helical interpolation pitches is outs...

Страница 471: ...ontrol program starts over error 17 or more control programs are started simultaneously Set the simultaneous execute program up to 16 programs 632 BMOV BDMOV FMOV execution error The Motion CPU memory address set in the D S is outside the range of SRAM S to S n 1 is outside the device range D to D n 1 is outside the device range n is 0 or outside the setting range Correct the program to set the Mo...

Страница 472: ...te MULTW instruction again after the complete bit device of MULTW instruction is turned on 651 Read device data from shared CPU memory of the other CPU MULTR execution error Number of words n to be read is outside the range of 1 to 256 The shared CPU memory first address S2 of the data which it will be read is outside the range 000H to FFFH of the shared CPU memory address The shared CPU memory fi...

Страница 473: ...or Number of words n to be read is outside the range of 1 to 256 Motion CPU cannot communicate with intelligent function module special function module at the instruction execution Abnormalities of the intelligent function module special function module were detected at the instruction execution I O No s specified with S1 differ from the intelligent function module special function module controll...

Страница 474: ...G Manual pulse generator Home position return OSC Error cause Error processing Corrective action 901 The motor travel value while the power is off exceeded the System setting mode allowable travel value during power off set in the system settings at the turning on of the servo amplifier Further operation is possible Check the position Check the battery of encoder ...

Страница 475: ...irection start Move in the reverse direction by the JOG operation etc and set within the external limit range 1002 The external signal RLS lower limit LS turned off at the reverse direction address decrease direction start Move in the forward direction by the JOG operation etc and set within the external limit range 1003 The external DOG proximity dog signal turned on at the home position return s...

Страница 476: ...ation etc and set within the external limit range 1103 The external STOP signal stop signal turned on during home position return of proximity dog type Decelera tion stop by Stop processing on STOP input of the parameter block Perform the home position return after move to the proximity dog ON by the JOG operation etc at the home position return of the proximity dog type 1143 The servo error detec...

Страница 477: ... complete normally Home position return request ON Check the battery and execute a home position return 1202 A communication error between the servo amplifier and encoder occurred at the turning on servo amplifier power supply Home position return request ON servo error 2016 set Check the motor and encoder cables and execute a home position return again 1203 The amount of change in encoder current...

Страница 478: ...able 1 12 System error 1300 to 1399 list Control mode Error code Control program Axis designation program positioning JOG Manual pulse generator Home position return OSC Error cause Error processing Corrective action 1310 Initial communication with the Multiple CPU system did not complete normally Motion CPU fault Positioning control does not start Replace the Motion CPU ...

Страница 479: ... regenerative alarm error code 2030 or overload 1 or 2 error codes 2050 2051 the state at the operation is held also for after the protection circuit operation in the servo amplifier The memory contents are cleared with the external power supply off but are not cleared by the reset signal Note 2 If resetting by turning off the external power supply is repeated at the occurrence of error code 2030 ...

Страница 480: ...if power is switched on after disconnection of all cables but the control circuit power supply cables Servo amplifier power on Multiple CPU system power on Replace the servo amplifier Faulty parts in the servo amplifier Printed board fault Checking method Servo error 2013 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables Replace the servo ...

Страница 481: ...er fault Replace the servomotor 2020 Encoder error 2 Encoder cable faulty Wire breakage or shorted Repair or replace the cable Power input wires and servomotor power wires are in contact Checking method Servo error 2024 occurs if servo is switched on after disconnecting the U V and W power cables from the servo amplifier Correct the wiring Sheathes of servomotor power cables deteriorated resulting...

Страница 482: ...ke option faulty Replace the servo amplifier or regenerative brake option 2030 Regenerative alarm Regenerative transistor faulty Checking method The regenerative brake option has overheated abnormally Servo error 2030 occurs even after removal of the built in regenerative brake resistor or regenerative brake option Replace the servo amplifier Command speed is too high Motor speed has exceeded the ...

Страница 483: ...ption replace the regenerative brake option Capacity of built in regenerative brake resistor or regenerative brake option is insufficient Add regenerative brake option or increase capacity Power supply voltage is high Review the power supply 2033 Overvoltage Ground fault occurred in servomotor power U V W Correct the wiring 2034 Communica tions error Data received from the Motion CPU faulty Check ...

Страница 484: ...or Cooling fan life expiration Replace the cooling fan of the servo amplifier Foreign matter caught in the fan stopped rotation Remove the foreign matter 2047 Cooling fan alarm The power supply of the cooling fan failed Replace the servo amplifier Servo amplifier is used in excess of its continuous output current Reduce load Review operation pattern Use servomotor that provides larger output Servo...

Страница 485: ...n time Torque limit value is too small Increase the torque limit value Motor cannot be started due to torque shortage caused by power supply voltage drop Review the power supply capacity Use servomotor which provides larger output Model loop gain value of servo parameter is small Increase set value and adjust to ensure proper operation Servomotor shaft was rotated by external force When torque is ...

Страница 486: ...overload level Operation continues Refer to the details on the overload alarm 2050 2051 2143 AL E3 Absolute position counter warning Absolute position encoder pulses faulty Operation continues Home position return request ON Take noise suppression measures Replace the servomotor Execute the home position return after measures 2146 AL E6 Servo forced stop warning Servo amplifier are forced stop sta...

Страница 487: ...ption Error check Error processing Corrective action 2153 AL ED Output watt excess warning Continuous operation was performed with the output wattage speed torque of the servomotor exceeding 150 of the rated output Any time during operation Operation continues Reduce the servomotor speed Reduce the load ...

Страница 488: ...turer setting 2314 PA14 Rotation direction selection 2315 PA15 Encoder output pulse 2301 2316 PA16 For manufacturer setting to 2317 PA17 For manufacturer setting 2599 2318 PA18 For manufacturer setting 2319 PA19 Parameter write inhibit 2320 PB01 Adaptive tuning mode 2321 PB02 Vibration suppression control filter tuning mode 2322 PB03 For manufacturer setting 2323 PB04 Feed forward gain 2324 PB05 F...

Страница 489: ...a moment to servo motor inertia moment 2349 PB30 Gain changing position loop gain 2301 to 2350 PB31 Gain changing speed loop gain 2599 2351 PB32 Gain changing speed integral compensation 2352 PB33 Gain changing vibration suppression control vibration frequency setting 2353 PB34 Gain changing vibration suppression control resonance frequency setting 2354 PB35 For manufacturer setting 2355 PB36 For ...

Страница 490: ... setting 2384 PC20 For manufacturer setting 2385 PC21 Alarm history clear 2301 2386 PC22 For manufacturer setting to 2387 PC23 For manufacturer setting 2599 2388 PC24 For manufacturer setting 2389 PC25 For manufacturer setting 2390 PC26 For manufacturer setting 2391 PC27 For manufacturer setting 2392 PC28 For manufacturer setting 2393 PC29 For manufacturer setting 2394 PC30 For manufacturer settin...

Страница 491: ... For manufacturer setting 2415 PD19 For manufacturer setting 2416 PD20 For manufacturer setting 2417 PD21 For manufacturer setting 2418 PD22 For manufacturer setting 2419 PD23 For manufacturer setting 2420 PD24 For manufacturer setting 2421 PD25 For manufacturer setting 2422 PD26 For manufacturer setting 2423 PD27 For manufacturer setting 2424 PD28 For manufacturer setting 2425 PD29 For manufactur...

Страница 492: ...pulse 2616 PA16 For manufacturer setting 2601 2617 PA17 For manufacturer setting to 2618 PA18 For manufacturer setting 2899 2619 PA19 Parameter write inhibit 2620 PB01 Adaptive tuning mode 2621 PB02 Vibration suppression control filter tuning mode 2622 PB03 For manufacturer setting 2623 PB04 Feed forward gain 2624 PB05 For manufacturer setting 2625 PB06 Ratio of load inertia moment to servo motor ...

Страница 493: ...Gain changing position loop gain 2601 to 2650 PB31 Gain changing speed loop gain 2899 2651 PB32 Gain changing speed integral compensation 2652 PB33 Gain changing vibration suppression control vibration frequency setting 2653 PB34 Gain changing vibration suppression control resonance frequency setting 2654 PB35 For manufacturer setting 2655 PB36 For manufacturer setting 2656 PB37 For manufacturer s...

Страница 494: ...PC21 Alarm history clear 2601 2686 PC22 For manufacturer setting to 2687 PC23 For manufacturer setting 2899 2688 PC24 For manufacturer setting 2689 PC25 For manufacturer setting 2690 PC26 For manufacturer setting 2691 PC27 For manufacturer setting 2692 PC28 For manufacturer setting 2693 PC29 For manufacturer setting 2694 PC30 For manufacturer setting 2695 PC31 For manufacturer setting 2696 PC32 Fo...

Страница 495: ...rer setting 2716 PD20 For manufacturer setting 2717 PD21 For manufacturer setting 2718 PD22 For manufacturer setting 2719 PD23 For manufacturer setting 2720 PD24 For manufacturer setting 2721 PD25 For manufacturer setting 2722 PD26 For manufacturer setting 2723 PD27 For manufacturer setting 2724 PD28 For manufacturer setting 2725 PD29 For manufacturer setting 2726 PD30 For manufacturer setting 260...

Страница 496: ... A 0BD PCF A30CD PCF has been installed correctly 02 A receiving packet CRC code is not right Check whether there is a noise source near the PC Check the connection of the communication cable Check the communication cable for wire breakage 03 A receiving packet data ID is not right Check whether the A 0BD PCF A30CD PCF has been installed correctly Replace the A 0BD PCF A30CD PCF 04 The number of r...

Страница 497: ...ection Operation cycle 13 M2640 to M2659 9 Home position return request Main cycle 14 M2660 to M2679 10 Home position return complete Operation cycle 15 M2680 to M2699 11 FLS 16 M2700 to M2719 12 RLS 17 M2720 to M2739 13 STOP 18 M2740 to M2759 14 External signals DOG CHANGE Main cycle 19 M2760 to M2779 15 Servo ready 20 M2780 to M2799 16 Torque limiting Operation cycle Status signal 21 M2800 to M2...

Страница 498: ...e 13 M3440 to M3459 14 M3460 to M3479 9 External stop input disable at start command At start Command signal 15 M3480 to M3499 10 16 M3500 to M3519 11 17 M3520 to M3539 12 18 M3540 to M3559 13 19 M3560 to M3579 14 Unusable 20 M3580 to M3599 15 Servo OFF command Operation cycle 21 M3600 to M3619 16 Gain changing command Operation cycle Note 3 Command signal 22 M3620 to M3639 17 23 M3640 to M3659 18...

Страница 499: ...sable 13 M4120 to M4129 9 Unusable note 1 14 M4130 to M4139 M4009 Single block processing signal 15 M4140 to M4149 16 M4150 to M4159 17 M4160 to M4169 18 M4170 to M4179 19 M4180 to M4189 20 M4190 to M4199 21 M4200 to M4209 22 M4210 to M4219 23 M4220 to M4229 24 M4230 to M4239 25 M4240 to M4249 26 M4250 to M4259 27 M4260 to M4269 28 M4270 to M4279 29 M4280 to M4289 30 M4290 to M4299 31 M4300 to M43...

Страница 500: ...520 to M4529 9 Unusable Note 1 14 M4530 to M4539 M4408 Single block mode signal 15 M4540 to M4549 M4409 Single block start signal 16 M4550 to M4559 M4418 Axis interlock valid invalid 17 M4560 to M4569 18 M4570 to M4579 19 M4580 to M4589 20 M4590 to M4599 21 M4600 to M4609 22 M4610 to M4619 23 M4620 to M4629 24 M4630 to M4639 25 M4640 to M4649 26 M4650 to M4659 27 M4660 to M4669 28 M4670 to M4679 2...

Страница 501: ...s 28 M2083 Axis 23 M2029 Axis 29 M2084 Axis 24 M2030 Axis 30 M2085 Axis 25 M2031 Axis 31 M2086 Axis 26 M2032 Axis 32 Start accept flag Operation cycle Status signal Note 1 Note 2 M2087 Axis 27 M2033 Unusable M2088 Axis 28 M2089 Axis 29 M2034 Personal computer link communication error flag Operation cycle Status signal M2090 Axis 30 M2035 M2091 Axis 31 M2036 M2092 Axis 32 Speed changing flag Operat...

Страница 502: ...Axis 12 M2200 M2140 Axis 13 M2201 M2141 Axis 14 M2202 M2142 Axis 15 M2203 M2143 Axis 16 M2204 M2144 Axis 17 M2205 M2145 Axis 18 M2206 M2146 Axis 19 M2207 M2147 Axis 20 M2208 M2148 Axis 21 M2209 M2149 Axis 22 M2210 M2150 Axis 23 M2211 M2151 Axis 24 M2212 M2152 Axis 25 M2213 M2153 Axis 26 M2214 M2154 Axis 27 M2215 M2155 Axis 28 M2216 M2156 Axis 29 M2217 M2157 Axis 30 M2218 M2158 Axis 31 M2219 M2159 ...

Страница 503: ...2251 Axis 12 M2291 M2252 Axis 13 M2292 M2253 Axis 14 M2293 M2254 Axis 15 M2294 M2255 Axis 16 M2295 M2256 Axis 17 M2296 M2257 Axis 18 M2297 M2258 Axis 19 M2298 M2259 Axis 20 M2299 M2260 Axis 21 M2300 M2261 Axis 22 M2301 M2262 Axis 23 M2302 M2263 Axis 24 M2303 M2264 Axis 25 M2304 M2265 Axis 26 M2305 M2266 Axis 27 M2306 M2267 Axis 28 M2307 M2268 Axis 29 M2308 M2269 Axis 30 M2309 M2270 Axis 31 M2310 M...

Страница 504: ... Device area of 9 axes or more is unusable in the Q172HCPU Note 3 Handling of D704 to D708 and D755 to D757 registers Because cannot be turn on off for every bit from the PLC CPU the above bit devices are assigned to D register and each bit device becomes on with the lowest rank bit 0 1 of each register and each bit device becomes off with 1 0 Use it when the above functions are requested from the...

Страница 505: ...stop input flag Operation cycle M9076 M2333 Manual pulse generator axis setting error flag M9077 M2334 TEST mode request error flag M9078 M2335 Motion program setting error flag Error occurrence M9079 M2336 CPU No 1 reset flag M9240 M2337 CPU No 2 reset flag M9241 M2338 CPU No 3 reset flag M9242 M2339 CPU No 4 reset flag M9243 M2340 CPU No 1 error flag M9244 M2341 CPU No 2 error flag M9245 M2342 C...

Страница 506: ...in agreement when the device of a remarks column is turned on directly In addition when the request from a data register and the request from the above device are performed simultaneously the request from the above device becomes effective Note 2 It can also be ordered the device of a remark column 8 Special relay allocated device list Command signal Device No Signal name Refresh cycle Fetch cycle...

Страница 507: ...4 D260 to D279 9 Home position return re travel value PLS 15 D280 to D299 10 16 D300 to D319 11 Travel value after proximity dog ON Operation cycle Command unit 17 D320 to D339 12 Execute program No At start 18 D340 to D359 13 M code 19 D360 to D379 14 Torque limit value Operation cycle Monitor device 20 D380 to D399 15 21 D400 to D419 16 22 D420 to D439 17 Unusable 23 D440 to D459 18 24 D460 to D...

Страница 508: ... D651 7 D652 D653 8 D654 D655 9 D656 D657 10 D658 D659 11 D660 D661 12 D662 D663 13 D664 D665 14 D666 D667 15 D668 D669 16 D670 D671 17 D672 D673 18 D674 D675 19 D676 D677 20 D678 D679 21 D680 D681 22 D682 D683 23 D684 D685 24 D686 D687 25 D688 D689 26 D690 D691 27 D692 D693 28 D694 D695 29 D696 D697 30 D698 D699 31 D700 D701 32 D702 D703 Note 1 The range of axis No 1 to 8 is valid in the Q172HCPU...

Страница 509: ...ce No sub 14 D1060 to D1079 15 D1080 to D1099 6 Execute block No sub Immediate Monitor device 16 D1100 to D1119 7 Unusable 17 D1120 to D1139 8 G43 G44 command 18 D1140 to D1159 19 D1160 to D1179 9 Tool length offset data No 20 D1180 to D1199 10 21 D1200 to D1219 11 Tool length offset data Immediate Command unit Monitor device 22 D1220 to D1239 12 23 D1240 to D1259 13 24 D1260 to D1279 14 25 D1280 ...

Страница 510: ...quence No D1470 to D1475 2 Block No D1476 to D1481 D1482 to D1487 3 Error code Minor error code D1488 to D1493 4 Execute status Immediate Monitor device D1494 to D1499 5 Unusable Note 1 D1500to D1505 D1445 CLEAR request status storage register D1506 to D1511 D1512 to D1517 D1518 to D1523 D1524 to D1529 D1530 to D1535 Note 1 D1445 CLEAR request status storage register is used in the control program...

Страница 511: ...1559 9 D1560 to D1562 10 D1563 to D1565 11 D1566 to D1568 12 D1569 to D1571 13 D1572 to D1574 14 D1575 to D1577 15 D1578 to D1580 16 D1581 to D1583 17 D1584 to D1586 18 D1587 to D1589 19 D1590 to D1592 20 D1593 to D1595 21 D1596 to D1598 22 D1599 to D1601 23 D1602 to D1604 24 D1605 to D1607 25 D1608 to D1610 26 D1611 to D1613 27 D1614 to D1616 28 D1617 to D1619 29 D1620 to D1622 30 D1623 to D1625 ...

Страница 512: ...1663 D1662 Tool length offset data 7 D1665 D1664 Tool length offset data 8 D1667 D1666 Tool length offset data 9 D1669 D1668 Tool length offset data 10 D1671 D1670 Tool length offset data 11 D1673 D1672 Tool length offset data 12 D1675 D1674 Tool length offset data 13 D1677 D1676 Tool length offset data 14 D1679 D1678 Tool length offset data 15 D1681 D1680 Tool length offset data 16 D1683 D1682 To...

Страница 513: ...vice D712 D760 D713 JOG operation simultaneous start axis setting register At start D761 D714 D762 D715 Manual pulse generator axis 1 No setting register D763 D716 D764 D717 Manual pulse generator axis 2 No setting register D765 D718 D766 D719 Manual pulse generator axis 3 No setting register D767 D720 Axis 1 D768 D721 Axis 2 D769 D722 Axis 3 D770 D723 Axis 4 D771 D724 Axis 5 D772 D725 Axis 6 D773...

Страница 514: ... speed 0 1 r min Operation cycle 1 7 ms or less Operation cycle Operation cycle 3 5 ms or more 3 5 ms Monitor device 9 8096 to 8099 10 8100 to 8103 Note 1 The value that the lowest servo monitor device No was added 0 1 on each axis is shown 11 8104 to 8107 12 8108 to 8111 13 8112 to 8115 14 8116 to 8119 15 8120 to 8123 16 8124 to 8127 17 8128 to 8131 18 8132 to 8135 19 8136 to 8139 20 8140 to 8143...

Страница 515: ...ut the nature of the special relay Set by When set Indicates whether the relay is set by the system or user and if it is set by system when setting is performed Set by S Set by system Motion CPU U Set by user Motion SFC program or test operation using a peripheral device S U Set by both system Motion CPU and user When set Indicated only if setting is done by system Motion CPU Main process Set duri...

Страница 516: ...error M9025 Clock data set request OFF Ignored ON Set request present used Write clock data stored in D9025 to D9028 to the clock element when M9025 has changed from off to on U M9026 Clock data error OFF No error ON Error Turn on by clock data D9025 to D9028 error S Request M9028 Clock data read request OFF Ignored ON Read request Read clock data from D9025 to D9028 in BCD when M9028 is on U M903...

Страница 517: ... 1 reset flag OFF CPU No 1 reset release ON CPU No 1 resetting Turn off at reset release of the CPU No 1 Turn on during reset of the CPU No 1 It also contains when a CPU is removed from the base unit The other CPU is also resetting M9241 CPU No 2 reset flag OFF CPU No 2 reset release ON CPU No 2 resetting Turn off at reset release of the CPU No 2 Turn on during reset of the CPU No 2 It also contai...

Страница 518: ...ature of the special register Details Indicates detailed information about the nature of the special register Set by When set Indicates whether the register is set by the system or user and if it is set by system when setting is performed Set by S Set by system Motion CPU U Set by user Motion SFC program or test operation using a peripheral device S U Set by both system Motion CPU and user When se...

Страница 519: ...e two digits Minute 0 to 59 Second 0 to 59 B15 B7 B0 B8 to to Example 35 min 48 sec H3548 D9013 Error information classification Error information classification code The classification code to judge the error information stored in the error information D9014 is stored The following code is stored 0 None 1 Module No CPU No Base No 2 Parameter No D9014 Error information Error information Error info...

Страница 520: ...and 10 Re connect command D9112 Connect disconnect Connect disconnect of SSCNET 2 Connect disconnect execute command U D9182 D9183 Test mode request error It is operating in requirement error occurrence of the test mode axis information Each axis is stopping 0 Operating 1 information is stored as a bit data D9182 b0 to b15 Axis 1 to Axis 16 D9183 b0 to b15 Axis 17 to Axis 32 D9184 Motion CPU WDT e...

Страница 521: ...al or virtual to real mode switching or a mode continuation error occurs in the virtual mode its error information is stored D9196 PC link communication error codes PC link communication error codes The following error code is stored 00 No error 01 Receiving timing error 02 CRC error 03 Communication response code error 04 Received frame error 05 Communication task start error Each error code is r...

Страница 522: ... 2 to 4 3 4 7 to 6 6 13 3 to 18 6 1 9 to 2 6 3 2 to 4 3 Axis designation program start processing time SVST instruction from PLC CPU 6 7 to 8 4 6 6 to 9 3 7 9 to 12 0 17 9 to 20 1 6 7 to 8 4 6 6 to 9 3 Speed change response Note 1 CHGV instruction from PLC CPU 2 2 to 2 8 3 0 to 4 4 5 5 to 8 2 13 0 to 17 7 2 2 to 2 8 3 0 to 4 4 Time from PLC ready flag M2000 ON to PCPU ready flag M9074 ON 39 to 433...

Страница 523: ...ations of the product 4 Breakdowns that are outside the terms of warranty Since the above services are limited to Japan diagnosis of failures etc are not performed abroad If you desire the after service abroad please register with Mitsubishi For details consult us in advance 2 Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability Mitsubishi will not be held liable for damage ...

Страница 524: ... 0300115 A 0602 MEE When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice Q173HCPU Q172HCPU SV43 MOTION CONTROLLER Qseries SV43 Programming Manual Q173HCPU Q172HCPU HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN ...

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