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9 Positioning Control

9.1 Functions Available with Each Positioning Operation

151

-20SSC-H Positioning Block User's Manual

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Positioning Control

This chapter describes the control of each positioning operation.
For table operation control, refer to the following chapter.

→

For details on the table operation, refer to Chapter 10

9.1

Functions Available with Each Positioning Operation

Applicable

When the speed change disable during operation signal is ON, the operation speed and target
address cannot be changed.

- :

Not applicable

*1.

Operation becomes trapezoidal acceleration/deceleration.
Even if the approximate S-shaped acceleration/deceleration is set by the positioning parameters, the
operation will execute with trapezoidal acceleration/deceleration.

*2.

The servo end check is not performed during continuous operation.

*3.

The servo end check is not performed during continuous pass operation.

*4.

Supported in Ver.1.10 or later.

*5.

Supported in Ver.1.20 or later.

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Reference

Approximate S-shaped acceleration/deceleration,
trapezoidal acceleration/deceleration

Section 7.2

Forward rotation limit, reverse rotation limit

Section 7.3

STOP command

Section 7.4

STOP command (Sudden stop selection)

Section 7.5

Operation speed
change

Override function

Subsection 7.6.1

Operation speed
change function

Subsection 7.6.2

Target address change

Subsection 7.6.3

Ring counter setting

Section 7.8

Servo ready check

Subsection 7.9.1

Servo end check

Subsection 7.9.2

Torque limit

Subsection 7.9.3

Simultaneous start function

Subsection 7.9.8

Содержание FX3U-20SSC-H

Страница 1: ...FX3U 20SSC H USER S MANUAL ...

Страница 2: ......

Страница 3: ...n input output control block output control may be disabled External circuits and mechanisms should be designed to ensure safe machinery operation in such a case 3 Note that when an error occurs in a relay triac or transistor output device the output could be held either on or off For output signals that may lead to serious accidents external circuits and mechanisms should be designed to ensure sa...

Страница 4: ...he inputs of the 20SSC H to the dedicated connectors described in the manual If an AC power supply is connected to a DC input terminal or DC power supply terminal the product will burn out Do not wire vacant terminals externally Doing so may damage the product When drilling screw holes or wiring make sure that cutting and wiring debris do not enter the ventilation slits Failure to do so may cause ...

Страница 5: ...or port after removing the SSCNET III cable to protect the internal optical device from exposure to dust Keep the protective cap and protective tubing clean and always store them in the provided plastic bag when removing them from the hardware devices When replacing the 20SSC H or when sending the product to a local distributor for repair make sure to attach the protective cap to the 20SSC H conne...

Страница 6: ...GE PRECAUTIONS Reference The PLC is a precision instrument During transportation avoid impacts larger than those specified in the general specifications of the PLC main unit manual Failure to do so may cause failures in the PLC After transportation verify the operations of the PLC 22 ...

Страница 7: ...n take it out and read it whenever necessary Always forward it to the end user 2005 MITSUBISHI ELECTRIC CORPORATION Manual number JY997D21301 Manual revision J Date 11 2011 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 ...

Страница 8: ...ted in a device or system used in purposes related to human life Before using the product for special purposes such as nuclear power electric power aerospace medicine or passenger movement vehicles consult with Mitsubishi Electric This product has been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails inst...

Страница 9: ...cations 22 3 2 Power Supply Specification 23 3 3 Performance Specification 23 3 4 Input Specifications 24 3 4 1 Input specifications 24 3 4 2 Internal input circuit 24 3 5 Pin Configuration 25 3 5 1 Input connector 25 3 5 2 Power supply connector 25 4 Installation 26 4 1 DIN rail Mounting 27 4 2 Direct Mounting 27 5 Wiring 28 5 1 Cable to Be Used Applicable Connector and Wire Size 29 5 1 1 SSCNET ...

Страница 10: ...3 7 3 3 Software limit 84 7 4 Handling the STOP command 85 7 5 Sudden stop selection Ver 1 20 or later 88 7 6 Changing During Operation Operation Speed Target Address 92 7 6 1 Changing the operation speed with the override function 92 7 6 2 Changing the operation speed with the operation speed change function 94 7 6 3 Changing target address during operation using target address change function 98...

Страница 11: ...antity Feed Constant position stop mode 157 9 4 2 speed Positioning Operation 160 9 5 Interrupt 2 speed Constant Quantity Feed 163 9 6 Interrupt Stop Operation 166 9 7 Variable Speed Operation 169 9 8 Multi Speed Operation 171 9 9 Linear Interpolation Operation 174 9 10 Linear Interpolation Operation Interrupt Stop 177 9 11 Circular Interpolation Operation 180 9 11 1 Circular interpolation center ...

Страница 12: ... BFM 14306 214 11 1 25 Acceleration time 2 BFM 14108 BFM 14308 214 11 1 26 Deceleration time 2 BFM 14110 BFM 14310 215 11 2 Servo Parameters 216 11 2 1 Servo parameters Basic settings 216 11 2 2 Servo parameters Gain Filter settings 219 11 2 3 Servo parameters Advanced setting 222 11 2 4 Servo parameters I O setting 224 11 3 Monitor Data 226 11 3 1 Current address User BFM 1 0 BFM 101 100 226 11 3...

Страница 13: ...1 4 14 Control command enable disable BFM 522 244 11 4 15 Control command BFM 523 244 11 4 16 Manual pulse generator input magnification numerator BFM 525 524 BFM 625 624 245 11 4 17 Manual pulse generator input magnification denominator BFM 527 526 BFM 627 626 245 11 4 18 Manual pulse generator response BFM 528 BFM 628 245 11 4 19 Manual pulse generator input selection BFM 529 246 11 4 20 Ring op...

Страница 14: ...ppendix A 2 Control Data Table 282 Appendix A 3 Table Information List 284 Appendix A 4 Positioning parameters List 286 Appendix A 5 Servo Parameters List 288 Appendix B Version Information 291 Appendix B 1 Version Information 291 Appendix B 1 1 Version check method 291 Appendix B 1 2 Version Upgrade History 291 Warranty 294 Revised History 295 ...

Страница 15: ...ctive for Electromagnetic Compatibility 2004 108 EC when used as directed by the appropriate documentation Attention This product is designed for use in industrial applications Note Manufactured by Mitsubishi Electric Corporation 2 7 3 Marunouchi Chiyoda ku Tokyo 100 8310 Japan Manufactured at Mitsubishi Electric Corporation Himeji Works 840 Chiyoda machi Himeji Hyogo 670 8677 Japan Authorized Rep...

Страница 16: ...ite core approximately 200 mm or less from connector on the 20SSC H side The ferrite core should use the following equivalent product Power supply cable needs at least 1 turn Model name ZCAT2035 0930 Manufactureed by TDK co Ltd Input cable Model name ZCAT3035 1330 Manufactureed by TDK co Ltd 200 mm 0 78 or less 20SSC H Ferrite cores Input cable External equipment Power supply cable 1 turn ...

Страница 17: ...rdware Edition Supplied Manual How to install use the device Operating instructions and program examples Shows how to use FX3U 20SSC H positioning special function block and details on example programs Servo amplifer Servo motor Obtain the instruction manual of the servo motor to be connected to your system This manual will be needed to set the parameters for the servo amplifer or write to the ser...

Страница 18: ...es FX3UC 32MT LT PLC Series PLC specification for I O wiring and installation extracted from the FX3UC User s Manual Hardware Edition For details refer to FX3UC Series User s Manual Hardware Edition Supplied Manual FX3UC 32MT LT 2 Hardware Manual JY997D31601 Describes FX3UC 32MT LT 2 PLC Series PLC specification for I O wiring and installation extracted from the FX3UC User s Manual Hardware Editio...

Страница 19: ...bes operation details of FX Configurator FP Configuration Software 09R916 AC Servo Related Manual Additional Manual MR J3 B Instruction Manual SH 030051 Explains parameters and the detailed specifications for MR J3 B servo amplifier Additional Manual MR J3W B Instruction Manual SH 030073 Explains parameters and the detailed specifications for MR J3W B servo amplifier Additional Manual MR J3 B Safe...

Страница 20: ... name for special function unit Special function block Generic name for special function block The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User s Manual Hardware Edition of the main unit to be used for your system Positioning special function block or 20SSC H Abbreviated name for FX3U 20SSC H Optional unit FX Series...

Страница 21: ...FX3UC hardware Edition FX3UC Series User s Manual Hardware Edition Programming manual FX3G FX3U FX3UC Series Programming Manual Basic and Applied Instructions Edition Communication control Edition FX Series User s Manual Data Communication Edition Analog control Edition FX3G FX3U FX3UC Series User s Manual Analog Control Edition Positioning control Edition FX3G FX3U FX3UC Series User s Manual Posi...

Страница 22: ...of the chapter and the title of the section for the current page The right side of each page indexes the chapter number for the page currently opened This area shows the manual title for the current page The mark indicates a reference destination and reference manual Shows the reference Indexes the chapter number Shows the title of the chapter and the title of the section Shows the manual title ...

Страница 23: ...Ver 1 40 However it does not support the fully closed loop system Connection using the SSCNET III cable between the 20SSC H and the servo amplifier reduces wiring Maximum length is 50m With SSCNET III cables optical communication connections are less susceptible to electromagnetic noise etc from the servo amplifier Setting the servo parameters on the 20SSC H side and writing reading the servo para...

Страница 24: ...nput connector 6 Power supply connector 7 DIN rail mounting groove DIN rail DIN46277 8 Name plate 9 DIN rail mounting hook 10 SSCNET III connector POWER MOTOR Y START DOG INT0 INT1 A B X READY Y READY X ERROR Y ERROR INT0 INT1 A B 55 2 17 87 3 43 80 3 15 Mounting hole pitch 90 3 55 2 4 5 Mounting hole 7 1 2 3 4 5 6 10 8 9 Unit MASS Weight Accessory mm inches 0 3kg 0 66 lbs Special Unit Block No la...

Страница 25: ...ply or the PLC X READY Y READY Green OFF Error is occurring or positioning is being executed on the X Y axis ON Various operation commands are acceptable on the X Y axis X ERROR Y ERROR Red OFF X Y axis is operating normally Flicker Error is occurring on the X Y axis ON CPU error is occurring on the X Y axis X START Y START Red OFF Start input OFF ON Start input ON X DOG Y DOG Red OFF DOG input OF...

Страница 26: ...ndard code MR J3BUS M 015 03 05 1 3 Cable length in meters Outside panel standard cable MR J3BUS M A 5 10 20 Cable length in meters Long distance cable MR J3BUS M B 30 40 50 Cable length in meters Terminal block FX 16E TB I O cable FX 16E CAB 150 300 500 Cable length 150 1 5m 300 3m 500 5m FX 16E CAB R SSCNET III cable MR J3 B Servo amplifier FROM TO instruction etc Ladder 20SSC H GX Developer FX ...

Страница 27: ...at the total of the number of I O points occupied I O points of the main unit power extension unit and extension block and the number of points occupied by the special function block does not exceed the maximum number of I O points of the PLC For the maximum number of I O points of the PLC refer to the following manual FX3U Hardware Edition FX3UC Hardware Edition 2 3 Applicable PLC The version num...

Страница 28: ...eration in such a case At Forward Reverse rotation limits make sure to wire the contacts with NC negative logic Wiring contacts with NO positive logic may cause serious accidents DESIGN PRECAUTIONS Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise 1 Do not bundle the main ...

Страница 29: ...es PLC A maximum of 7 units blocks can be connected with the FX3UC 32MT LT 2 PLC No of occupied I O points 8 points input or output whichever may be counted Connectable servo amplifier MELSERVO J3 B Maximum 2 amplifiers can be connected MELSERVO J3W B 2 One amplifier can be connected MELSERVO J3 BS 3 Maximum 2 amplifiers can be connected Standard cord length Station to station maximum 20m 65 7 Lon...

Страница 30: ...count Manual pulse generator input for Y axis Y φ A Y φ A Y φ B Y φ B 1 edge count at 2 phase 2 count Group 3 External power supply for signals S S Connected to power supply for INT0 INT1 DOG and START Group 1 Operation display LED ON at input ON Signal voltage 24V DC 20 15 Power is supplied from S S terminal Input current 7 0mA 1mA 24V DC ON current 4 5mA or more OFF current 1 5mA or less Signal ...

Страница 31: ...r X axis Y φ A Input terminal for A phase input of the manual pulse generator 2 phase pulse for Y axis X φ A Common terminal for A phase input of the manual pulse generator 2 phase pulse for X axis Y φ A Common terminal for A phase input of the manual pulse generator 2 phase pulse for Y axis X φ B Input terminal for B phase input of the manual pulse generator 2 phase pulse for X axis Y φ B IInput ...

Страница 32: ...ion 3 1 of this manual Never use the product in areas with excessive dust oily smoke conductive dusts corrosive gas salt air Cl2 H2S SO2 or NO2 flammable gas vibration or impacts or expose it to high temperature condensation or rain and wind If the product is used in such conditions electric shock fire malfunctions deterioration or damage may occur Do not touch the conductive parts of the product ...

Страница 33: ...an be installed directly with screws An interval space between each unit of 1 to 2 mm 0 04 to 0 08 is necessary For installation refer to the following respective PLC manual For mounting hole pitches refer to Section 1 2 Refer to the FX3U Hardware Edition Refer to the FX3UC Hardware Edition 1 Make mounting holes in the mounting surface according to the external dimensions diagram 2 Fit 20SSC H A i...

Страница 34: ...ric shock equipment failures a short circuit wire breakage malfunctions or damage to the product The disposal size of the cable end should follow the dimensions described in the manual of the PLC main unit Tightening torque should follow the specifications in the manual of the PLC main unit Do not wire or bundle the SSCNET III cables together with or lay them near a main circuit cable high voltage...

Страница 35: ...l may deteriorate the optical fiber and alter its mechanical characteristics When using the SSCNET III cable near solvent oil take protective measures to shield the SSCNET III cable When storing the SSCNET III cable attach the protective cap to the 20SSC H connector port for dust protection Do not remove the protective cap from the 20SSC H connector port until just before connecting the SSCNET III...

Страница 36: ...dition Refer to the FX3UC Hardware Edition 2 Terminal layout of FX 16E TB connected to input connector For the pin array of the input connector refer to Subsection 3 5 1 1 The S S terminal is connected inside FX 16E TB Model name Cable length Remarks FX 16E 1 CAB 1 5 3 5m Flat cable with tube provided with a 20 pin connector at both ends FX 16E 1 CAB R Round multi conductor cable provided with a 2...

Страница 37: ...anual Refer to the FX3U Hardware Edition Refer to the FX3UC Hardware Edition 5 2 2 Grounding Ground the cables as follows The grounding resistance should be 100Ω or less Independent grounding should be established whenever possible Independent grounding should be performed for best results When independent grounding is not configured perform shared grounding as shown in the following figure For de...

Страница 38: ... INT1 DOG START Interrupt input INT0 Interrupt input INT1 START command input Near point DOG input Manual pulse generator input A phase Manual pulse generator input B phase A A B B A B B INT1 INT0 START DOG X or Y A 20SSC H A phase B phase Manual pulse generator differential output type 24V DC Power supply of INT0 INT1 DOG START Interrupt input INT0 Interrupt input INT1 Near point DOG input Manual...

Страница 39: ...ius greater than the minimum bend radius If the SSCNET III cable s has a smaller radius than the minimum bend radius optical transmission is interrupted and may cause malfunction 2 Tension If tension is applied to the SSCNET III cable s the chance of transmission loss increases due to external forces on the fixing part of the SSCNET III cable s or the connecting part of the SSCNET connector In the...

Страница 40: ...r to prevent the SSCNET III cable from applying its own weight to the connector Reserve the following distance when wiring 1 Wiring duct If the duct is below the bottom of the 20SSC H leave sufficient clearance to eliminate effects on the SSCNET III cable The space height should be 70 mm 2 76 minimum 2 Bundling 70mm 2 76 Optical cord Loose slack Bundling material Recommended NK Clamp SP Type NIX I...

Страница 41: ...ire damage breakage or PLC failure STARTUP AND MAINTENANCE PRECAUTIONS Do not touch any terminal while the PLC s power is on Doing so may cause electric shock or malfunctions Before cleaning or retightening terminals cut off all phases of the power supply externally Failure to do so may cause electric shock Before modifying or disrupting the program in operation or running the PLC carefully read t...

Страница 42: ...ent and applications Servo parameters stored in the flash memory or buffer memory are transferred to the servo amplifier in accordance with the setting of positioning parameters The servo amplifier will perform control using the transferred servo parameters In the 20SSC H whose version is earlier than Ver 1 10 servo parameters stored in the flash memory are transferred to the sevo amplifier For th...

Страница 43: ...d in the buffer memory Monitor the data when necessary For details refer to Section 11 3 BFM 0 to 99 BFM 100 to 199 Control data The user controls the positioning control system using the control data The control data is related to operation related settings speed change command during positioning operation stop operation restart etc For details refer to Section 11 4 BFM 500 to 599 BFM 600 to 699 ...

Страница 44: ...ameters and table information using FX Configurator FP and then save them in the flash memory If they are set using a sequence program it is necessary to create a complicated sequence program and use many devices As a result the scan time will increase 3 Writing data to the flash memory in 20SSC H C in the figure above To change data in the flash memory use a sequence program or FX Configurator FP...

Страница 45: ...peration status action status input signal status etc 2 From FX Configurator FP to 20SSC H buffer memory B in the figure above The following data is written from FX Configurator FP to the buffer memory in 20SSC H Positioning parameters Servo parameters Table information Control data new current values speed change operation test command etc 3 From FX Configurator FP buffer memory in 20SSC H to 20S...

Страница 46: ...ry to the buffer memory 2 The 20SSC H transfers the data servo parameters stored in the flash memory to the servo amplifier How to transfer the servo parameters set in the sequence program to the servo amplifier The 20SSC H Ver 1 10 or later supports this method For the parameter setting method refer to Section 7 1 Procedure Transfer sequence a and b in the above figure Stores in the flash memory ...

Страница 47: ...To transfer the following parameters from the buffer memory BFM to the servo amplifier turn the servo parameter transfer command b9 of operation command 2 BFM 519 X axis and 619 Y axis to ON For the operation command refer to Subsection 11 4 11 For the operation procedure refer to Subsection 7 1 8 Auto tuning mode Auto tuning response Feed forward gain Ratio of load inertia moment to servo motor i...

Страница 48: ...or output device the output could be held either on or off For output signals that may lead to serious accidents external circuits and mechanisms should be designed to ensure safe machinery operation in such a case At Forward Reverse rotation limits make sure to wire the contacts with NC negative logic Wiring contacts with NO positive logic may cause serious accidents DESIGN PRECAUTIONS Make sure ...

Страница 49: ...B using single axis setup Even if using the MR J3W B using single axis setup the servo series of the 20SSC H should set for both axes as MR J3 B If not set in both axes communication between the 20SSC H and servo amplifier cannot be started Caution on the use of the MR J3 BS The 20SSC H does not support the fully closed loop system Therefore set up servo parameters within the range of the semi clo...

Страница 50: ...parameters and servo parameters from the flash memory at startup Refer to the Subsection 7 1 4 b Setting the parameters from the buffer memory Ver 1 10 or later Set positioning parameters and servo parameters from the buffer memory Refer to the Subsection 7 1 5 2 Initializing the parameters Initialize positioning parameters and servo parameters of the 20SSC H using a sequence program Refer to the ...

Страница 51: ...mended This subsection explains how to set positioning parameters and servo parameters of the 20SSC H using FX Configurator FP The setting method is explained on the condition that a file is created in FX Configurator FP For details on FX Configurator FP operation procedures refer to the FX Configurator FP OPERATION MANUAL 1 Setting positioning parameters Double click File name Edit Positioning pa...

Страница 52: ...Make sure to set the servo amplifier series in accordance with the used servo amplifier For details on servo parameters refer to Section 11 2 and the Servo Amplifier Instruction Manual technical data 3 Setting the connection destination Select Online Connection setup When the connection setup dialog box appears set each item and then click the OK button 4 Connecting a personal computer to the PLC ...

Страница 53: ...r of the 20SSC H is turned OFF once and then turned ON again the following data stored in the flash memory is transferred to the buffer memory 6 Transferring servo parameters to the servo amplifier 1 Turn OFF the power of the servo amplifier and PLC including the 20SSC H 2 Turn ON the power of the servo amplifier 3 Turn ON the power of the PLC including the 20SSC H Transfer method by system reset ...

Страница 54: ... When the Connection setup dialog box appears set each item and then click the OK button 2 Connecting a personal computer to the PLC main unit For the connection route refer to the FX Configurator FP OPERATION MANUAL 3 Initializing the positioning parameters and servo parameters stored in the buffer memory of the 20SSC H Select Online Initialize module When the initialize module dialog box appears...

Страница 55: ...4 Installation 5 Wiring 6 Memory configuration and data 7 Before starting positioning control 8 Manual control 9 Positioning Control 10 Table Operation 7 1 Note on Setting Parameters 4 Setting positioning parameters and servo parameters to be changed from the default value For the setting method refer to the following Refer to the Subsection 7 1 2 ...

Страница 56: ...ier when changing servo parameters in the 20SSC H If servo parameters are changed in the servo amplifier update of servo parameters is automatically started Note When using this setting method make sure to set the following positioning parameters and servo parameters stored in the flash memory as follows Positioning parameters Ver 1 10 or later Set the servo parameter transfer mode as follows For ...

Страница 57: ... 2 The MR J3 BS can be set for 20SSC H blocks later than Ver 1 40 5 Enable make valid the control commands For the control command enable disable refer to Subsection 11 4 14 BFM Number Description X axis Y axis Operation command 2 Servo parameter update stop BFM 519 b11 BFM 619 b11 Set this bit to ON from OFF using a sequence program Servo status 2 Parameter update completed flag BFM 72 b0 BFM 172...

Страница 58: ... Turning OFF the power of the servo amplifier and PLC including the 20SSC H and then turning it ON again a Turn OFF the power of the servo amplifier and PLC including the 20SSC H b Turn ON the power of the servo amplifier c Turn ON the power of the PLC including the 20SSC H BFM Number Description X axis Y axis Control command Positioning parameters save command BFM 523 b0 BFM 523 b1 Set this bit t...

Страница 59: ...check function b2 ON Enables the zero return interlock function b3 OFF 1 Disable the ring operation b4 OFF 2 Sets the sudden stop selection STOP command to the Normal deceleration stop b5 OFF 2 Sets the sudden stop selection software limit to the Normal deceleration stop b6 OFF 2 Sets the sudden stop selection PLC limit to the Normal deceleration stop b7 OFF 2 Sets the sudden stop selection servo ...

Страница 60: ... this ladder block is unnecessary The reboot of 20SSC H needs 10ms or more after system reset When re turning ON power this ladder block is unnecessary Create the positioning operation program A positioning operation program and a parameter setting program should provide an interlock in the program not to execute simultaneously In this program example while the parameter setting program is executi...

Страница 61: ... unit No 1 Sets writes the operation command 2 X axis in unit No 1 D204 U1 G519 FNC 12 MOV M302 SET D204 B Sets the servo parameter update stop command X axis in unit No 1 U1 G619 D205 FNC 12 MOV Reads the operation command 2 Y axis in unit No 1 Sets writes the operation command 2 Y axis in unit No 1 D205 U1 G619 FNC 12 MOV M303 P0 SET D205 B Sets the servo parameter update stop command Y axis in ...

Страница 62: ...n unit No 1 T1 Setting the positioning parameters X axis Setting the positioning parameters Y axis H0007 U1 G14202 FNC 12 MOV T1 Sets the operation parameter 2 Y axis in unit No 1 K1 U1 G15000 FNC 12 MOV Setting the servo parameters X axis T1 H1 U1 G15003 FNC 12 MOV K1 U1 G15080 FNC 12 MOV Sets the servo series X axis in unit No 1 Sets the absolute position detection system X axis in unit No 1 Set...

Страница 63: ...ubroutine program is unnecessary Sets to ON the system reset command in unit No 1 K5220 U1 G522 FNC 12 MOV SET D204 1 D204 U1 G519 FNC 12 MOV Sets writes the operation command 2 X axis in unit No 1 M306 M307 FNC 40 ZRST U1 G519 D204 FNC 12 MOV D204 RST T3 RST SET END SET M307 M307 When the system reset command remains ON for 100 ms or more and then turns OFF system reset is executed T3 T3 K2 Reads...

Страница 64: ...direct specification of the buffer memory using the FROM TO instruction and applied instructions to the buffer memory For the contents of setting of servo parameters refer to Section 11 2 3 Setting to ON from OFF the positioning parameter enable command When the positioning parameter enable command is set to ON from OFF while the target axis is not performing positioning operation the system will ...

Страница 65: ...ion parameter 2 BFM 14002 BFM 14202 Set H8007 b0 ON Enables the servo end check function b1 ON Enables the servo ready check function b2 ON Enables the zero return interlock function b3 OFF Does not perform the ring counter setting of the current address b4 OFF 3 Sets the sudden stop selection STOP command to the Normal deceleration stop b5 OFF 3 Sets the sudden stop selection software limit to th...

Страница 66: ...he servo status X axis in unit No 1 Reads the servo status Y axis in unit No 1 D281 9 D280 9 System reset execution flag Unit ready X axis M385 T10 K10 Startup waiting time of a servo M390 Parameter setting program execution flag T10 Parameter setting program completion flag M386 M510 M385 System reset execution flag System reset completion flag D283 0 D285 0 Ready ON X axis SET M380 P1 FNC 01 CAL...

Страница 67: ...A positioning operation program and a parameter setting program should provide an interlock in the program not to execute simultaneously In this program example while the parameter setting program is executing M380 M385 or M390 is ON D280 0 D281 0 D283 0 READY BUSY X axis SET M391 Ready ON X axis M390 READY BUSY Y axis D285 0 Ready ON Y axis FNC 06 FEND Setting program of positioning parameters an...

Страница 68: ...NC 12 MOV K50000 U1 G14212 FNC 12 DMOV Sets the maximum speed Y axis in unit No 1 Sets the jog speed Y axis in unit No 1 K1000000 FNC 12 DMOV U1 G14224 U1 G14226 SET M394 Sets the zero return speed high speed Y axis in unit No 1 Sets the zero return speed creep Y axis in unit No 1 To the next page To the next page T12 Setting the servo parameters except the servo series X axis H0001 U1 G15003 FNC ...

Страница 69: ...FNC 12 MOV D286 U1 G519 FNC 12 MOV Reads the status information 2 X axis in unit No 1 Reads the operation command 2 X axis in unit No 1 Resets the positioning parameter enable command X axis in unit No 1 RST D286 4 Sets writes the operation command 2 X axis in unit No 1 RST M395 D288 0 U1 G519 D286 FNC 12 MOV Positioning parameter change completion flag X axis Ver 1 20 or later Setting to OFF the ...

Страница 70: ... the servo amplifier M396 K1 U1 G15200 FNC 12 MOV Sets the servo series Y axis in unit No 1 M391 Ready ON Y axis SET M398 M391 M397 M398 D283 0 D285 0 RST T12 M390 M398 FNC 40 ZRST D286 D289 FNC 40 ZRST SET M510 FNC 02 SRET Initializing parameters BFM and saves them to flash memory Executing system reset after a successful save P1 D280 0 D290 1 READY BUSY X axis SET M382 Parameter updating X axis ...

Страница 71: ...287 U1 G619 FNC 12 MOV M381 SET D287 B Sets the servo parameter update stop command Y axis in unit No 1 M382 Enables the control commands in unit No 1 Sets to ON these commands to initialize each parameter and to save them to the flash memory in unit No 1 M383 M381 K5220 U1 G522 FNC 12 MOV H6363 U1 G523 FNC 12 MOV SET M383 When T13 turns ON initializing each parameter of buffer memory and saving t...

Страница 72: ...m the previous page M380 M384 FNC 40 ZRST D286 D287 FNC 40 ZRST T14 Reads the operation command 2 X axis in unit No 1 Resets the system reset command in unit No 1 RST D286 1 D286 U1 G519 FNC 12 MOV Sets writes the operation command 2 X axis in unit No 1 Executes system reset U1 G519 D286 FNC 12 MOV D290 D291 FNC 40 ZRST SET M385 FNC 02 SRET END ...

Страница 73: ... the servo amplifier to the 20SSC H 1 Enable make valid control commands For control command enable disable refer to Subsection 11 4 14 2 Set to ON from OFF the positioning parameter initialization command and servo parameter initialization command Initialize positioning parameters and servo parameters stored in the buffer memory These initialization commands do not initialize the positioning para...

Страница 74: ...t No 1 To the next page D240 0 D242 1 READY BUSY X axis SET M341 Parameter updating X axis M340 Stopping the servo parameter update X axis Programming of this circuit block is not required when the version is earlier than Ver 1 10 U1 G519 D244 FNC 12 MOV Reads the operation command 2 X axis in unit No 1 Sets writes the operation command 2 X axis in unit No 1 D244 U1 G519 FNC 12 MOV M341 SET D244 B...

Страница 75: ...fer of servo parameters to the servo amplifier is completed set the servo parameter update stop command to OFF or restart the system For the method to set parameters using a sequence program refer to Subsection 7 1 4 or 7 1 5 From the previous page From the previous page Initializing positioning parameters and servo parameters X axis and Y axis stored in the buffer memory M341 Enables control comm...

Страница 76: ... not executed the system performs positioning operation using the positioning parameters stored in the flash memory For the operation command 2 refer to Subsection 11 4 11 Program example In this program example the following positioning parameters in unit No 1 are changed and then the changed positioning parameters are enabled BFM Number X axis Y axis Positioning parameters BFM 14000 to 14199 BFM...

Страница 77: ...n command 2 X axis in unit No 1 M321 U1 G32 D224 FNC 12 MOV D222 U1 G519 FNC 12 MOV Reads the status information 2 X axis in unit No 1 Reads the operation command 2 X axis in unit No 1 Resets the positioning parameter enable command X axis in unit No 1 RST D222 4 Sets writes the operation command 2 X axis in unit No 1 RST M321 D224 0 U1 G519 D222 FNC 12 MOV Positioning parameter change completion ...

Страница 78: ...s in unit No 1 Resets the positioning parameter enable command Y axis in unit No 1 RST D223 4 Sets writes the operation command 2 Y axis in unit No 1 RST M322 D225 0 U1 G619 D223 FNC 12 MOV Positioning parameter change completion flag Y axis Ver 1 20 or later Setting the positioning parameter enable command to OFF Y axis Set this command to OFF after one operation cycle when the version is earlier...

Страница 79: ...er command is ignored while the system is performing positioning operation 1 Set the following servo parameters to be transferred stored in the buffer memory Create a program which sets servo parameters by direct specification of the buffer memory using the FROM TO instruction and applied instructions and then save set values to the buffer memory For the contents of setting of servo parameters ref...

Страница 80: ...ransfer command These bits turn OFF automatically when transfer of servo parameters is completed BFM Number Description X axis Y axis Operation command 2 Servo parameter transfer command BFM 519 b9 BFM 619 b9 Set these bits to OFF from ON using a sequence program Status information During servo parameter transfer BFM 28 b10 BFM 128 b10 These bits remain ON while servo parameters are being transfer...

Страница 81: ...ode X axis in unit No 1 Changing servo parameters X axis Reads the operation command 2 X axis in unit No 1 Sets writes the operation command 2 X axis in unit No 1 Sets the servo parameter transfer command X axis in unit No 1 SET D234 9 U1 G519 D234 FNC 12 MOV K12 U1 G15009 FNC 12 MOV Sets the auto tuning response X axis in unit No 1 D234 U1 G519 FNC 12 MOV M331 U1 G519 D234 FNC 12 MOV Reads the op...

Страница 82: ...nd and table information save command For the control commands refer to Subsection 11 4 15 BFM Number Description X axis Y axis Operation parameter 2 Servo parameter transfer mode BFM 14002 b15 BFM 14202 b15 Set these bits to OFF using a sequence program so that the contents of the flash memory will be transferred to the servo amplifier BFM Number Description X axis Y axis Servo series BFM 15000 B...

Страница 83: ...e servo status 2 X axis in unit No 1 Reads the servo status 2 Y axis in unit No 1 D250 0 D252 1 READY BUSY X axis SET M351 Parameter updating X axis M350 Stopping the servo parameter update X axis Programming of this circuit block is not required when the version is earlier than Ver 1 10 U1 G519 D254 FNC 12 MOV Reads the operation command 2 X axis in unit No 1 Sets writes the operation command 2 X...

Страница 84: ...nit No 1 is completed M351 M352 END D250 D255 FNC 40 ZRST M353 T50 K70 When T50 turns ON saving of parameters and table information to the flash memory in unit No 1 is completed It takes 7 s or more for saving U1 G519 D254 FNC 12 MOV Reads the operation command 2 X axis in unit No 1 Sets writes the operation command 2 X axis in unit No 1 RST D254 B D254 U1 G519 FNC 12 MOV T50 Resets the servo para...

Страница 85: ...2 BFM 507 506 BFM 607 606 Actual operation speed for two speed positioning operation and interrupt two speed positioning JOG speed BFM 14013 14012 BFM 14213 14212 Manual forward reverse JOG operation speed Acceleration deceleration mode Operation parameter 1 BFM 14000 b11 BFM 14200 b11 Select the control method adopted during acceleration deceleration Trapezoidal acceleration deceleration is autom...

Страница 86: ...leration time 2 Ver 1 30 or later BFM 14108 BFM 14308 Deceleration time BFM 14020 BFM 14220 Time needed to reach zero speed from the maximum speed Deceleration time 2 Ver 1 30 or later BFM 14110 BFM 14310 Interpolation time constant BFM 14022 BFM 14222 Acceleration deceleration time for interpolation operation Time to reach the operation speed from zero speed for acceleration or time to reach zero...

Страница 87: ...ever attention should be paid to positioning operation because the acceleration time setting may not be changed with the intended timing When the acceleration deceleration time selection is changed during positioning operation at operation speed The system will operate using the new deceleration time If the acceleration deceleration time selection is changed just before start of deceleration the d...

Страница 88: ...osite direction to avoid the limit error Limit Stopping action Description Reference Servo amplifier Forward rotation limit 2 reverse rotation limit 2 Deceleration to stop 1 Specify the action limit so that no damage is caused to the machine that decelerates to stop after activation of the limit switch Subsection 7 3 1 PLC Forward rotation limit 1 reverse rotation limit 1 Deceleration to stop 1 Pr...

Страница 89: ...he operation command 1 of the 20SSC H using a sequence program Provide at a position so that activation is caused before forward rotation limit 2 or reverse rotation limit 2 connected to the servo amplifier For sudden stop operation performed when the rotation limit switch turns ON refer to Section 7 5 For parameters control data and monitor data refer to Chapter 11 1 Wiring the forward rotation l...

Страница 90: ...s as shown below Software limit upper Software limit lower Software limit upper Software limit lower Cautions for use of software limit 1 The software limit is invalid under the following control situations Mechanical zero return operation Current value change Ring counter setting Ver 1 10 or later 2 The limit error of the software limit is changed at the starting and end points of the operation T...

Страница 91: ...d is turned ON during the JOG operation manual pulse generator operation or variable speed operation the servomotor decelerates to a stop without regard to the stop mode setting type The table above shows the positioning completion flag state when the servo motor stops Operation stop for JOG operation manual pulse generator operation or variable speed operation To stop the JOG operation manual pul...

Страница 92: ...tandby for remaining travel distance flag is turned ON When the STOP command is OFF and the START command is turned ON during standby status positioning operation continues for the remaining travel distance BFM Number Data type X axis Y axis START command Operation command 1 BFM 518 b9 BFM 618 b9 Control data STOP command Operation command 1 BFM 518 b1 BFM 618 b1 Control data Standby for remaining...

Страница 93: ...rminal of the PLC For details of the PLC wiring method refer to the following manual according to the PLC being used Refer to the FX3U Hardware Edition Refer to the FX3UC Hardware Edition 4 STOP command Operate the PLC s STOP switch together with the 20SSC H STOP command BFM Number Data type X axis Y axis START command Operation command 1 BFM 518 b9 BFM 618 b9 Control data STOP command Operation c...

Страница 94: ...tant is longer than the normal deceleration time interpolation time constant BFM Number Description X axis Y axis Operation parameter 2 Sudden stop selection STOP command BFM 14002 b4 FM 14202 b4 1 ON Sudden stop when the STOP command turns ON 0 OFF Normal deceleration stop when the STOP command turns ON Sudden stop selection software limit BFM 14002 b5 FM 14202 b5 1 ON Sudden stop when the softwa...

Страница 95: ...027 14026 BFM 14227 14226 Positioning parameters Acceleration deceleration time change command Ver 1 30 or later Operation command 2 BFM 519 b5 BFM 619 b5 Control data Deceleration time BFM 14020 BFM 14220 Positioning parameters Deceleration time 2 Ver 1 30 or later BFM 14110 BFM 14310 Positioning parameters Sudden stop deceleration time BFM 14102 BFM 14302 Positioning parameters BFM Number Data t...

Страница 96: ...r data Maximum speed BFM 14009 14008 BFM 14209 14208 Positioning parameters Operation speed Operation speed 1 BFM 503 502 BFM 603 602 Control data Operation speed 2 BFM 507 506 BFM 607 606 Control data JOG speed BFM 14013 14012 BFM 14213 14212 Positioning parameters Zero return speed high speed BFM 14025 14024 BFM 14225 14224 Positioning parameters Zero return speed creep BFM 14027 14026 BFM 14227...

Страница 97: ...tion limit LSR Operation command 1 BFM 518 b3 BFM 618 b3 Control data FLS terminal input Servo terminal information BFM 8 b0 BFM 108 b0 Monitor data RLS terminal input Servo terminal information BFM 8 b1 BFM 108 b1 Monitor data Maximum speed BFM 14009 14008 BFM 14209 14208 Positioning parameters Operation speed Operation speed 1 BFM 503 502 Control data Interpolation time constant BFM 14022 BFM 14...

Страница 98: ...e setting BFM 508 BFM 608 Setting range 1 to 30000 0 1 Operations applicable to the override function Operations inapplicable to the override function Mechanical zero return at high speed JOG operation 1 speed positioning operation Interrupt 1 speed constant quantity feed 2 speed positioning operation Interrupt 2 speed constant quantity feed Interrupt stop Variable speed operation Multi speed oper...

Страница 99: ...ed is changed by the override function during interpolation operation the acceleration deceleration time interpolation time constant changes according to the ratio by which the operation speed changes For details refer to the note in Section 7 2 4 Program description example In the program below the operation speed is changed as follows Contents of change X035 ON X axis Changes the operation speed...

Страница 100: ... and target position change command in positioning operation are disabled Speed change command in positioning operation BFM 518 b13 BFM 618 b13 Set these bits to ON from OFF When these bits are set to ON from OFF the speed in the positioning operation is changed to the speed set by the speed change value Speed change value BFM 513 512 BFM 613 612 Setting range 1 to 2 147 483 647 User unit 1 Set th...

Страница 101: ... of operation speed 1 operation speed 2 jog speed 1 and zero return speed high speed 1 before giving the START input or command 1 For the jog speed and zero return speed high speed change the positioning parameters For update of positioning parameters refer to Subsection 7 1 7 During deceleration by STOP command During automatic deceleration in position control If an operation speed larger than th...

Страница 102: ...ion change command in positioning operation X axis in unit No 1 Sets writes the operation command 1 X axis in unit No 1 Sets the speed change value X axis in unit No 1 Preparing to change the operation speed Y axis M361 D261 D During operation speed change flag Y axis RST D263 C U1 G618 D263 FNC 12 MOV RST D263 D RST D263 E D263 U1 G618 FNC 12 MOV K2000000 U1 G612 FNC 12 DMOV SET M363 Reads the op...

Страница 103: ...2 D D262 U1 G518 FNC 12 MOV Reads the operation command 1 X axis in unit No 1 Sets the change command in operation disabled X axis in unit No 1 Sets the speed change command in positioning X axis in unit No 1 Sets writes the operation command 1 X axis in unit No 1 Disabling the change command in operation Y axis M365 D261 D SET D263 C U1 G618 D263 FNC 12 MOV RST D263 D D263 U1 G618 FNC 12 MOV Read...

Страница 104: ...rom OFF the target address during operation is changed to the address and speed set in the target position change value address and target position change value speed Target position change value address BFM 515 514 BFM 615 614 Setting range 2 147 483 648 to 2 147 483 647 User unit 1 Set the value within 2 147 483 648 to 2 147 483 647 PLS in converted pulse data Target position change value speed ...

Страница 105: ...ges by change commands excluding speed changes using the override function Operation when the operation direction changes When the operation direction changes due to a change of the target address the system will decelerate and stop turn around and then reach the newly set address Operation speed present value BFM 11 10 BFM 111 110 Monitor data Change command in operation disabled Operation comman...

Страница 106: ...e Interrupt 1 speed Constant Quantity Feed 1 Interrupt 2 speed Constant Quantity Feed 1 However the operation is different in the constant position stop mode Refer to Subsection 9 3 2 The following target address changes are not allowed during 2 speed positioning operation Target address change that requires change of the operation direction at the 1st speed during 1st speed operation Target addre...

Страница 107: ...es the operation command 1 X axis in unit No 1 Sets the target position change value address X axis in unit No 1 Preparing to change the target position Y axis M371 D271 E During target address change flag Y axis RST D273 C U1 G618 D273 FNC 12 MOV RST D273 D RST D273 E D273 U1 G618 FNC 12 MOV K5000000 U1 G614 FNC 12 DMOV Reads the operation command 1 Y axis in unit No 1 Resets the change command i...

Страница 108: ...axis in unit No 1 Resets the target position change command in positioning operation X axis in unit No 1 Sets writes the operation command 1 X axis in unit No 1 Disabling the change command in operation Y axis M375 D271 E SET D273 C U1 G618 D273 FNC 12 MOV RST D273 E D273 U1 G618 FNC 12 MOV Reads the operation command 1 Y axis in unit No 1 Sets the change command in operation disabled Y axis in un...

Страница 109: ... time and deceleration time ON The system will perform positioning operation using the acceleration time 2 and deceleration time 2 Acceleration time BFM 14018 BFM 14218 Time required to achieve the maximum speed from speed 0 Acceleration time 2 Ver 1 30 or later BFM 14108 BFM 14308 Deceleration time BFM 14020 BFM 14220 Time required to achieve speed 0 from the maximum speed Deceleration time 2 Ver...

Страница 110: ...eration deceleration time selection is changed just before start of deceleration the deceleration time setting may not be changed If the time needed for the remaining travel distance is shorter than the time needed for deceleration after a change the pulse output may decrease suddenly during deceleration For 2 speed positioning operation interrupt 2 speed constant quantity feed variable speed oper...

Страница 111: ...celeration time change command X axis in unit No 1 RST D280 5 Sets writes operation command 2 X axis in unit No 1 U1 G519 FNC 12 MOV D280 Selects the acceleration time 2 and deceleration time 2 for the acceleration deceleration time of X axis X042 D280 U1 G519 FNC 12 MOV Reads operation command 2 X Axis in unit No 1 Sets the acceleration deceleration time change command X axis in unit No 1 Sets wr...

Страница 112: ... the next power startup in this case 1 Set the following for enabling ring operation in the current address 1 Refer to the section shown below for details on the user units Refer to Section 7 10 BFM Number Description X axis Y axis Operation parameter 2 Ring counter setting BFM 14002 b3 BFM 14202 b3 Set these bits to ON for enabling ring operation in the current address 1 ON Enables ring operation...

Страница 113: ...the absolute address to 0 Direction for shorter rotation When specifying the address with a relative value In interrupt 1 speed constant quantity feed even if the target address and rotation direction are specified in absolute values the system operates as if they are specified in relative values Target address Set a proper address suitable for each positioning operation Rotation direction Set a p...

Страница 114: ...ning operation BFM Number Data type X axis Y axis Current address user BFM 1 0 BFM 101 100 Monitor data Ring counter setting Operation parameter 2 BFM 14002 b3 BFM 14202 b3 Positioning parameters Ring counter upper limit value BFM 14101 14100 BFM 14301 14300 Positioning parameters Target address Target address 1 BFM 501 500 BFM 601 600 Control data Target address 2 BFM 505 504 BFM 605 604 Control ...

Страница 115: ...e preset ring value When the address is specified in relative value The 20SSC H positions the motor while regarding the preset target address as a relative movement quantity Example of rotation when the address is specified as a relative value 1 speed positioning operation The rotation direction is forward when the target address sign is and reverse when the target address sign is The 20SSC H can ...

Страница 116: ...e setting range will cause an error The software limit setting is invalid during the ring operation Performing interpolation during the ring operation causes error 7 9 Other functions The 20SSC H has an absolute position detection system torque limit function servo ON OFF servo check functions and others The parameter setting and sequence program enable each function 7 9 1 Servo ready check functi...

Страница 117: ...are handled as 1ms 5001 or larger settings are handled as 5000ms 2 Applicable positioning operations BFM Number Description X axis Y axis Servo end check enabled disabled Operation parameter 2 BFM 14002 b0 BFM 14202 b0 Enables or disables the servo end check function 1 ON Enable 0 OFF Disable Servo end evaluation time BFM 14032 BFM 14232 This parameter sets the evaluation time for the servo end ch...

Страница 118: ...orque limit value Positioning operation Torque output set value Used torque limit value Mechanical zero return operation The system operates at the zero return speed creep Zero return torque limit value The system operates at the zero return speed high speed 0 Torque limit value 1 to 10000 0 1 Torque output setting value JOG operation 1 speed positioning operation Interrupt 1 speed constant quanti...

Страница 119: ...o return torque limit value BFM 14040 BFM 14240 Positioning parameters Torque output setting value BFM 510 BFM 610 Control data Torque limit storing value BFM 5 4 BFM 105 104 Monitor data Positioning parameter enable command Operation command 2 BFM 519 b4 BFM 619 b4 Control data During torque limit 5 Servo status BFM 64 b13 BFM 164 b13 Monitor data Various operations START command Torque limit set...

Страница 120: ... ring operation when the absolute position detection system is used For ring operation refer to Section 7 8 When zero return operation is performed using the absolute position detection system the zero point information is saved in the flash memory in the 20SSC H At this time the number of writes to the flash memory Maximum allowable number of writes 100 000 is increased by 1 For the number of wri...

Страница 121: ... the rotation direction servo parameter is selected in the absolute position detection system 7 9 5 Servo ON OFF The servo of the servo amplifier connected with 20SSC H turns ON OFF The servo ON enables the servomotor operations In the 20SSC H Ver 1 30 or later it is possible to set the servo ON OFF status to be selected when the servo amplifier is started up For servo ON OFF selection at startup ...

Страница 122: ...cessary to start up again the PLC including the 20SSC H and servo amplifier For setting of parameters refer to Section 7 1 When servo OFF is selected as the servo amplifier status at startup The servo OFF status is selected when the servo amplifier is started up Specify the servo ON status using the following procedure BFM Number Description X axis Y axis Servo startup ON OFF selection Ver 1 30 or...

Страница 123: ...on in the X and Y axes start simultaneously with this function For the parameters control data and monitor data refer to Chapter 11 1 Applicable positioning operations 2 Operation 1 Enter the X axis and Y axis operation patterns 2 Turn ON the X axis simultaneous start flag 3 Turn ON the X axis start command In JOG operation turn ON the X axis forward reverse rotation jog command 4 X axis and Y axi...

Страница 124: ...ss pulse BFM 3 2 BFM 103 102 Monitor data READY BUSY Status information BFM 28 b0 BFM 128 b0 Monitor data Standby for remaining travel distance at stop Status information BFM 28 b7 BFM 128 b7 Monitor data Operations applicable to the zero return interlock setting Operations inapplicable to the zero return interlock setting 1 speed positioning operation Interrupt 1 speed constant quantity feed 2 sp...

Страница 125: ...mpletion flag turns ON after positioning is completed 1 The positioning completion signal turns ON in the following operations However the positioning completion signal remains OFF even in an operation in which the positioning completion signal usually turns ON if the position stopped by the STOP command is equivalent to the target address position BFM Number Description X axis Y axis Positioning ...

Страница 126: ...M 128 b6 Monitor data Positioning completion signal output waiting time BFM 14106 BFM 14306 Positioning parameters STOP command deceleration stop Operation command 1 BFM 518 b1 BFM 618 b1 Control data Mechanical zero return command Operation command 1 BFM 518 b6 BFM 618 b6 Control data START command Operation command 1 BFM 518 b9 BFM 618 b9 Control data X START input terminal Y START input termina...

Страница 127: ...flash memory it is necessary to turn OFF and ON the power for transferring the servo parameters stored in the flash memory to the servo amplifier Operation 7 9 13 Servo parameter update stop Ver 1 10 or later The servo parameter update stop command disables the update of the servo parameters stored in the 20SSC H buffer memory even when the servo parameters are updated in the servo amplifier A seq...

Страница 128: ... magnification setting For position data magnification refer to 3 Position data magnification 3 Data magnification Selects the position data magnification 1 10 100 or 1000 Note The following position data is magnified by the position data magnification setting Example When target address 1 is 123 and the position data magnification is x1000 the actual address or travel distance is as follows in ac...

Страница 129: ... per revolution of servomotor 3 Error Supposing that the pulse rate be A feed rate be B and relative travel distance be C C A B is the number of pulses output from 20SSC H No command error occurs as long as A B is an integer C A B does not have to be an integer However if C A B is not an integer repetitive operation of relative movement causes an accumulated error in the current address In absolut...

Страница 130: ...istance target address 1 is shorter than the acceleration deceleration time the actual operation speed does not reach the command speed operation speed 1 1 For the relation between the time for the actual acceleration deceleration and the specified time for desired acceleration deceleration refer to the following Refer to Section 7 2 BFM Number Data type X axis Y axis Operation pattern selection B...

Страница 131: ... 14200 b11 Positioning parameters Acceleration time 2 Ver 1 30 or later BFM 14108 BFM 14308 Positioning parameters Deceleration time 2 Ver 1 30 or later BFM 14110 BFM 14310 Positioning parameters BFM Number Data type X axis Y axis Target address 1 BFM 501 500 BFM 601 600 Control data Operation speed 1 BFM 503 502 BFM 603 602 Control data Acceleration deceleration time change command Ver 1 30 or la...

Страница 132: ...t allowable stop is disabled the system performs in the same way as versions earlier than Ver 1 30 BFM Number Data type X axis Y axis Target address 1 BFM 501 500 BFM 601 600 Control data Operation speed 1 BFM 503 502 BFM 603 602 Control data Acceleration deceleration time change command Ver 1 30 or later Operation command 2 BFM 519 b5 BFM 619 b5 Control data Mode selection for the Interrupt 1 spe...

Страница 133: ...ype X axis Y axis Target address 1 BFM 501 500 BFM 601 600 Control data Operation speed 1 BFM 503 502 BFM 603 602 Control data Acceleration deceleration time change command Ver 1 30 or later Operation command 2 BFM 519 b5 BFM 619 b5 Control data Mode selection for the Interrupt 1 speed constant quantity feed Operation command 2 BFM 519 b6 BFM 619 b6 Control data Interrupt 1 speed Constant Quantity...

Страница 134: ... distance Target address 1 BFM 501 500 BFM 601 600 Control data Target address 2 BFM 505 504 BFM 605 604 Control data Operation speed setting Operation speed 1 BFM 503 502 BFM 603 602 Control data Operation speed 2 BFM 507 506 BFM 607 606 Control data Acceleration deceleration time change command Ver 1 30 or later Operation command 2 BFM 519 b5 BFM 619 b5 Control data Maximum speed BFM 14009 14008...

Страница 135: ...shaped acceleration deceleration or trapezoidal acceleration deceleration in acceleration deceleration mode BFM Number Data type X axis Y axis Travel distance Target address 1 BFM 501 500 BFM 601 600 Control data Target address 2 BFM 505 504 BFM 605 604 Control data Operation speed setting Operation speed 1 BFM 503 502 BFM 603 602 Control data Operation speed 2 BFM 507 506 BFM 607 606 Control data...

Страница 136: ...errupt input INT0 ON 8 Interpolation operation during continuous pass operation If the travel distance is small and the travel time from the starting point to the end point is shorter than the interpolation time constant the operation temporarily stops and then shifts to the next interpolation operation For cautions on continuous pass operation refer also to Subsection 7 11 4 BFM Number Data type ...

Страница 137: ... feed rate X axis and pulse rate feed rate Y axis during interpolation operation If the 20SSC H version is earlier than Ver 1 20 Circular arcs are deformed if the ratio of the pulse rate to the feed rate differs between the X axis and the Y axis Set ratios that are the same for the pulse rate to the feed rate for the X axis and the Y axis If the 20SSC H version is Ver 1 20 or later Set the interpo...

Страница 138: ...code in With mode in a 20SSC H earlier than Ver 1 30 the system waits for the m code OFF command the m code OFF command is needed for the system operation to transition to the next table Condition Operation Interpolation operation in which the m code is set in After mode The system waits for the m code OFF command When the m code OFF command is set to ON the system operation will transition to the...

Страница 139: ...eed The system will operate using the new deceleration time If the acceleration deceleration time selection is changed just before start of deceleration the deceleration time setting may not be changed If the time needed for the remaining travel distance is shorter than the time needed for deceleration after a change the pulse output may decrease suddenly during deceleration For 2 speed positionin...

Страница 140: ... return operation The mechanical zero return operation varies according to the zero return mode For details refer to the following For details on the DOG type mechanical zero return refer to Subsection 8 1 2 For details on the data set type mechanical zero return refer to Subsection 8 1 3 For details of the stopper type 1 mechanical zero return operation refer to Subsection 8 1 4 For details of th...

Страница 141: ... current address is set as the mechanical zero point address in positioning parameters 6 The 20SSC H turns the positioning completion flag ON and sets turns ON the zero return complete flag For the parameters control data and monitor data refer to Chapter 11 BFM Number Data type X axis Y axis Zero return direction Operation parameter 1 BFM 14000 b10 BFM 14200 b10 Positioning parameters DOG input l...

Страница 142: ...ioning parameters DOG signal logic of servo amplifier External input selection BFM 14044 b9 BFM 14244 b9 Positioning parameters Acceleration time 2 Ver 1 30 or later BFM 14108 BFM 14308 Positioning parameters Deceleration time 2 Ver 1 30 or later BFM 14110 BFM 14310 Positioning parameters X DOG Input terminal 20SSC H Y DOG Input terminal 20SSC H X axis forward rotation limit 1 LSF Input terminal P...

Страница 143: ...high speed b Upon the forward reverse rotation limit the travel decelerates to stop c Operation is conducted in the direction opposite to the zero return direction at the zero return speed high speed d Upon the DOG detection escaping from the DOG the travel decelerates to stop The operation begins again in the zero return direction at the zero return speed high speed e After DOG detection the trav...

Страница 144: ...int pass signal turns ON when the motor passes the motor reference position signal Z phase To execute zero return immediately after power on specify 1 Motor Z phase pass unnecessary after power on default setting at servo parameter function selection C 4 With this setting the zero point pass signal turns ON even if the motor does not pass the zero point Z phase With the simultaneous start flag ON ...

Страница 145: ...or the parameters control data and monitor data refer to Chapter 11 BFM Number Data type X axis Y axis Zero return direction Operation parameter 1 BFM 14000 b10 BFM 14200 b10 Positioning parameters DOG input logic 20SSC H Operation parameter 1 BFM 14000 b12 BFM 14200 b12 Positioning parameters Zero return interlock setting enabled disabled Operation parameter 2 BFM 14002 b2 BFM 14202 b2 Positionin...

Страница 146: ...change function to change the zero return speed high speed However the speed does not change when the operation speed change disable flag is ON For the override function refer to Subsection 7 6 1 For the operation speed change function refer to Subsection 7 6 2 BFM Number Data type X axis Y axis DOG signal logic of servo amplifier External input selection BFM 14044 b9 BFM 14244 b9 Positioning para...

Страница 147: ...axis Y axis Zero return direction Operation parameter 1 BFM 14000 b10 BFM 14200 b10 Positioning parameters Zero return interlock setting enabled disabled Operation parameter 2 BFM 14002 b2 BFM 14202 b2 Positioning parameters Maximum speed BFM 14009 14008 BFM 14209 14208 Positioning parameters Acceleration time BFM 14018 BFM 14218 Positioning parameters Zero return speed Creep BFM 14027 14026 BFM 1...

Страница 148: ...meter function selection C 4 With this setting the zero point pass signal turns ON even if the motor does not pass the zero point Z phase With the simultaneous start flag ON the X axis mechanical zero return command simultaneously starts the X and Y axes mechanical zero return operation The 20SSC H ignores the Y axis mechanical zero return command BFM Number Data type X axis Y axis Current address...

Страница 149: ...hapter 11 BFM Number Data type X axis Y axis Maximum speed BFM 14009 14008 BFM 14209 14208 Positioning parameters Acceleration time BFM 14018 BFM 14218 Positioning parameters Deceleration time BFM 14020 BFM 14220 Positioning parameters JOG speed BFM 14013 14012 BFM 14213 14212 Positioning parameters JOG command determination time BFM 14014 BFM 14214 Positioning parameters Acceleration time 2 Ver 1...

Страница 150: ... during the current jog operation When changing positioning parameters Even if the positioning parameters are changed updated the jog operation speed will not be changed during the current jog operation The system will adopt the changed jog speed from a jog operation started after the jog speed change For enabling the jog speed positioning parameters changed in a sequence program it is necessary t...

Страница 151: ...eration disabled Operation command 1 BFM 518 b12 BFM 618 b12 Control data Speed change command in positioning operation Operation command 1 BFM 518 b13 BFM 618 b13 Control data Speed change value BFM 513 512 BFM 613 612 Control data Operation speed present value BFM 11 10 BFM 111 110 Monitor data Received target speed Ver 1 20 or later BFM 27 26 BFM 127 126 Monitor data During operation speed chan...

Страница 152: ...BFM 520 b6 BFM 620 b6 Control data Manual pulse input magnification numerator BFM 525 524 BFM 625 624 Control data Manual pulse input magnification denominator BFM 527 526 BFM 627 626 Control data MPG response BFM 528 BFM 628 Control data MPG input selection BFM 529 Control data X A X A X B X B Input terminal 20SSC H Y A Y A Y B Y B Input terminal 20SSC H Positioning completion Status information ...

Страница 153: ...s output pulses to 20SSC H If the pulse generator magnification is smaller than 1 1 one pulse is output for every multiple input pulse Therefore the frequency of output pulses is low while the pulse quantity is small If the manual pulse input magnification is larger than 1 1 multiple pulses are output for each input pulse Therefore the frequency of output pulses is high while the pulse quantity is...

Страница 154: ...ration If the set value is smaller the follow up capability of output pulses to manual pulse generator inputs is higher However note that the machine may be overloaded if the speed is changed drastically If the set value is larger the follow up capability of output pulses to manual pulse generator inputs is lower but the machine gives smoother motions outputs Caution A phase B phase 2 phase pulses...

Страница 155: ...K0 to MPG input selection In this case set any choice other than manual pulse generator operation to operation pattern selection for the Y axis When operating the Y axis using the X axis input set K1 to MPG input selection When operating both the X axis and the Y axis at the same time using the X axis input set K2 to MPG input selection Caution Change the setting of manual pulse generator operatio...

Страница 156: ...anual pulse generator input magnification 8 3 3 Input frequency of manual pulse generator The frequency of the manual pulse generator inputs is stored The sign of an increasing count is positive while the sign of a decreasing count is negative The stored data does not include the manual pulse generator input magnification BFM Number Data type X axis Y axis Manual pulse generator input current valu...

Страница 157: ...with trapezoidal acceleration deceleration 2 The servo end check is not performed during continuous operation 3 The servo end check is not performed during continuous pass operation 4 Supported in Ver 1 10 or later 5 Supported in Ver 1 20 or later 1 speed positioning Interrupt 1 speed constant quantity feed 2 speed positioning Interrupt 2 speed constant quantity feed Interrupt stop Variable speed ...

Страница 158: ...ion command 1 BFM 518 b1 BFM 618 b1 Control data Relative absolute address specification Operation command 1 BFM 518 b8 BFM 618 b8 Control data START command Operation command 1 BFM 518 b9 BFM 618 b9 Control data Simultaneous START flag Operation command 1 BFM 518 b10 Control data Change command in operation disabled Operation command 1 BFM 518 b12 BFM 618 b12 Control data Speed change command in ...

Страница 159: ...itor data Received target speed Ver 1 20 or later BFM 27 26 BFM 127 126 Monitor data Current address user BFM 1 0 BFM 101 100 Monitor data Current address pulse BFM 3 2 BFM 103 102 Monitor data Real current address User Ver 1 20 or later BFM 21 20 BFM 121 120 Monitor data Real current address pulse Ver 1 20 or later BFM 23 22 BFM 123 122 Monitor data Operation speed present value BFM 11 10 BFM 111...

Страница 160: ... START command to start the interrupt 1 speed constant quantity feed above figure The positioning completion signal is turned OFF 3 At interrupt input INT0 ON the work piece moves at the operation speed 1 to the target address 1 where the operation ends and the positioning completion signal turns ON In a 20SSC H Ver 1 30 or later the current address when an interrupt input INT0 occurs is stored in...

Страница 161: ...ser Ver 1 20 or later BFM 21 20 BFM 121 120 Monitor data Real current address pulse Ver 1 20 or later BFM 23 22 BFM 123 122 Monitor data Operation speed present value BFM 11 10 BFM 111 110 Monitor data Current address when an interrupt occurs INT0 Ver 1 30 or later 1 BFM 35 34 BFM 135 134 Monitor data System of units user unit Operation parameter 1 BFM 14000 b1 b0 BFM 14200 b1 b0 Positioning param...

Страница 162: ...ration speed 1 can be changed using the operation speed change function except under the following conditions For change of the operation speed refer to Section 7 6 During deceleration operation When the speed change disable during operation signal is ON 3 Address specification Specified addresses are handled as relative addresses travel distance from the current address The absolute relative addr...

Страница 163: ...operation speed 1 where the operation ends and the positioning completion signal turns ON In a 20SSC H Ver 1 30 or later the current address when an interrupt input INT0 occurs is stored in the BFM current address when an interrupt occurs INT0 For the parameters control data and monitor data refer to Chapter 11 BFM Number Data type X axis Y axis Target address 1 BFM 501 500 BFM 601 600 Control dat...

Страница 164: ... an interrupt occurs INT0 1 Ver 1 30 or later BFM 35 34 BFM 135 134 Monitor data System of units user unit Operation parameter 1 BFM 14000 b1 b0 BFM 14200 b1 b0 Positioning parameters Unit of measurement for the user units Operation parameter 1 BFM 14000 b3 b2 BFM 14200 b3 b2 Positioning parameters Position data magnification Operation parameter 1 BFM 14000 b5 b4 BFM 14200 b5 b4 Positioning parame...

Страница 165: ...value of deceleration time it stops at the target position target address 1 using a deceleration time 1 set by the 20SSC H automatically However if the travel distance to the target position target address 1 after the interrupt input INT0 turns ON is shorter than the travel distance required for a sudden stop the system passes the 1st target position target address 1 decelerates and then stops at ...

Страница 166: ...s 1 BFM 501 500 BFM 601 600 Control data Operation speed 1 BFM 503 502 BFM 603 602 Control data Target address 2 BFM 505 504 BFM 605 604 Control data Operation speed 2 BFM 507 506 BFM 607 606 Control data 2 speed positioning operation Operation pattern selection BFM 520 b2 BFM 620 b2 Control data STOP command Operation command 1 BFM 518 b1 BFM 618 b1 Control data Relative absolute address specific...

Страница 167: ... 100 Monitor data Current address pulse BFM 3 2 BFM 103 102 Monitor data Real current address user Ver 1 20 or later BFM 21 20 BFM 121 120 Monitor data Real current address pluse Ver 1 20 or later BFM 23 22 BFM 123 122 Monitor data Operation speed present value BFM 11 10 BFM 111 110 Monitor data System of units user unit Operation parameter 1 BFM 14000 b1 b0 BFM 14200 b1 b0 Positioning parameters ...

Страница 168: ... 2 are not the same as follows a reverse operation is performed immediately after the deceleration stop at target address 1 With the specified absolute address when the sign difference between the current value and target address 1 is different from the sign difference between target address 1 and target address 2 With the specified relative address when the sign positive negative of target addres...

Страница 169: ...rk piece moves at operation speed 2 to target address 1 and the operation ends turning ON the positioning completion signal In a 20SSC H Ver 1 30 or later the current address when an interrupt input INT1 occurs is stored in the current address when an interrupt occurs INT1 For the parameters control data and monitor data refer to Chapter 11 BFM Number Data type X axis Y axis Target address 1 BFM 5...

Страница 170: ...135 134 Monitor data Current address when an interrupt occurs INT1 Ver 1 30 or later 1 BFM 37 36 BFM 137 136 Monitor data System of units user unit Operation parameter 1 BFM 14000 b1 b0 BFM 14200 b1 b0 Positioning parameters Unit of measurement for the user units Operation parameter 1 BFM 14000 b3 b2 BFM 14200 b3 b2 Positioning parameters Position data magnification Operation parameter 1 BFM 14000...

Страница 171: ... actual operation speed is decided by the following calculation formulas Operation speed 1 Override setting Operation speed 2 Override setting The actual operation speed 1 and operation speed 2 can be changed using the operation speed change function except under the following conditions For change of the operation speed refer to Section 7 6 During deceleration operation from operation speed 2 Whe...

Страница 172: ...nterrupt occurs INT0 For the parameters control data and monitor data refer to Chapter 11 BFM Number Data type X axis Y axis Target address 1 BFM 501 500 BFM 601 600 Control data Operation speed 1 BFM 503 502 BFM 603 602 Control data Interrupt stop Operation pattern selection BFM 520 b4 BFM 620 b4 Control data STOP command Operation command 1 BFM 518 b1 BFM 618 b1 Control data Relative absolute ad...

Страница 173: ...135 134 Monitor data System of units user unit Operation parameter 1 BFM 14000 b1 b0 BFM 14200 b1 b0 Positioning parameters Unit of measurement for the user units Operation parameter 1 BFM 14000 b3 b2 BFM 14200 b3 b2 Positioning parameters Position data magnification Operation parameter 1 BFM 14000 b5 b4 BFM 14200 b5 b4 Positioning parameters Acceleration deceleration mode Operation parameter 1 BF...

Страница 174: ...eed change disable during operation signal is ON 3 Address Specification The absolute relative address can be specified With the specified absolute address Specifies a target address position using address 0 as the base With the specified relative address Specifies a travel distance from the current address 4 Rotation Direction With the specified absolute address The rotation direction depends on ...

Страница 175: ...ter Operation command 2 BFM 519 b5 BFM 619 b5 Control data Ring operation rotation direction for absolute address Ver 1 10 or later BFM 530 BFM 630 Control data Positioning completion Status information BFM 28 b6 BFM 128 b6 Monitor data READY BUSY Status information BFM 28 b0 BFM 128 b0 Monitor data Received target speed Ver 1 20 or later BFM 27 26 BFM 127 126 Monitor data Current address user BFM...

Страница 176: ...rse operation starts after decelerating to stop Caution An abrupt change in the rotation direction may cause damage to the machine It may also cause an error through motor overload To change the rotation direction set operation speed 1 value to 0 and wait for the motor to stop completely after decelerating to stop If operation speed 1 value changes from positive to negative e g 100 100 the work pi...

Страница 177: ... operation pattern selection 3 Set the table number which specifies multi speed operation to table operation start number and set the START command from OFF to ON The system will start positioning operation for the specified table number The positioning completion signal is set to OFF 4 The operation continuously executes the table positioning until the END command above figure 5 The work piece de...

Страница 178: ...itor data Real current address pulse Ver 1 20 or later BFM 23 22 BFM 123 122 Monitor data Operation speed present value BFM 11 10 BFM 111 110 Monitor data System of units user unit Operation parameter 1 BFM 14000 b1 b0 BFM 14200 b1 b0 Positioning parameters Unit of measurement for the user units Operation parameter 1 BFM 14000 b3 b2 BFM 14200 b3 b2 Positioning parameters Position data magnificatio...

Страница 179: ...using XY axes table information only the setup for X axis multi speed operation or Y axis multi speed operation is used Setting example of XY axes table information 2 Operation information Set multi speed operation absolute address specification relative address specification and the End command in the operation information For details refer to Chapter 10 3 Speed information The actual operation s...

Страница 180: ...ion command 1 BFM 518 b1 BFM 618 b1 Control data Relative absolute address specification Operation command 1 BFM 518 b8 BFM 618 b8 1 Control data START command Operation command 1 BFM 518 b9 BFM 618 b9 1 Control data Change command in operation disabled Operation command 1 BFM 518 b12 BFM 618 b12 1 Control data Speed change command in positioning operation Operation command 1 BFM 518 b13 BFM 618 b...

Страница 181: ...section 7 9 11 When interpolation operations are consecutively repeated in a table operation the 20SSC H provides continuous pass operation For details on the continuous pass operation refer to Section 10 10 Pulse rate and feed rate In versions earlier than Ver 1 20 make sure that the ratio between the pulse rate and the feed rate is equivalent between the X axis and the Y axis In versions Ver 1 2...

Страница 182: ...tion operation When the speed change disable during operation signal is ON 3 Address specification The absolute relative address can be specified With the specified absolute address Specifies a target address position using address 0 as the base With the specified relative address Specifies a travel amount from the current address 4 Rotation Direction With the specified absolute address The rotati...

Страница 183: ... to target address 1 and the operation ends turning the positioning completion signal ON In a 20SSC H Ver 1 30 or later the current address when an interrupt input INT0 occurs is stored in the current address when an interrupt occurs INT0 For the parameters control data and monitor data refer to Chapter 11 BFM Number Data type X axis Y axis Target address 1 BFM 501 500 BFM 601 600 Control data Ope...

Страница 184: ...or data Current address when an interrupt occurs INT0 Ver 1 30 or later 2 BFM 35 34 BFM 135 134 Monitor data System of units user unit Operation parameter 1 BFM 14000 b1 b0 BFM 14200 b1 b0 Positioning parameters Unit of measurement for the user units Operation parameter 1 BFM 14000 b3 b2 BFM 14200 b3 b2 Positioning parameters Position data magnification Operation parameter 1 BFM 14000 b5 b4 BFM 14...

Страница 185: ...For details on the continuous pass operation refer to Section 10 10 Pulse rate and feed rate In versions earlier than Ver 1 20 make sure that the ratio between the pulse rate and the feed rate is equivalent between the X axis and the Y axis In versions Ver 1 20 or later if the ratio between the pulse rate and the feed rate is not equivalent between the X axis and the Y axis set interpolation gear ...

Страница 186: ...table operation start number with the specified circular interpolation center CW direction center CCW direction the work piece moves to the target position at the specified speed following the circle s center coordinate 4 The work piece stops at the XY coodinate in target address 1 and the operation ends turning the positioning completion signal ON For the parameters control data and monitor data ...

Страница 187: ...itor data Current address pulse BFM 3 2 BFM 103 102 Monitor data Real current address user Ver 1 20 or later BFM 21 20 BFM 121 120 Monitor data Real current address pulse Ver 1 20 or later BFM 23 22 BFM 123 122 Monitor data Operation speed present value BFM 11 10 BFM 111 110 1 Monitor data System of units user unit Operation parameter 1 BFM 14000 b1 b0 BFM 14200 b1 b0 Positioning parameters Unit o...

Страница 188: ...rily stops and shifts to the next interpolation operation When interpolation operations are consecutively repeated in a table operation the 20SSC H provides continuous pass operation For details on the continuous pass operation refer to Section 10 10 2 Operation information Set a circular interpolation operation center CW direction or center CCW direction and an absolute relative address in the op...

Страница 189: ...ation pattern selection BFM 520 b10 BFM 620 b10 Control data Table operation start number BFM 521 BFM 621 1 Control data STOP command Operation command 1 BFM 518 b1 BFM 618 b1 Control data START command Operation command 1 BFM 518 b9 BFM 618 b9 1 Control data m code OFF Operation command 1 BFM 518 b11 BFM 618 b11 1 Control data Change command in operation disabled Operation command 1 BFM 518 b12 B...

Страница 190: ...ection 10 10 2 Operation information Set a circular interpolation operation radius CW direction or radius CCW direction and an absolute relative address in the operation information For details refer to Chapter 10 BFM Number Data type X axis Y axis Current address pulse BFM 3 2 BFM 103 102 Monitor data Real current address user Ver 1 20 or later BFM 21 20 BFM 121 120 Monitor data Real current addr...

Страница 191: ...operation speed change function except under the following conditions For change of the operation speed refer to Section 7 6 During deceleration operation When the speed change disable during operation signal is ON 4 Position address information The absolute relative address can be specified in the operation information With the specified absolute address Specifies a target address position using ...

Страница 192: ...ng operation above The system starts to move toward target address 2 at operation speed 2 Stopped in the close position Open signal INT0 ON The system remains stopped in the close position Open signal INT0 OFF The system starts opening operation above The system starts to move toward target address 1 at operation speed 1 Close position Target address 2 Operation speed 2 Open position Target addres...

Страница 193: ...Open signal INT0 ON close signal INT1 OFF The system starts closing operation The system starts to move toward target address 2 at operation speed 2 For the parameters control data and monitor data refer to Chapter 11 BFM Number Data type X axis Y axis Target address 1 BFM 501 500 BFM 601 600 Control data Operation speed 1 BFM 503 502 BFM 603 602 Control data Target address 2 BFM 505 504 BFM 605 6...

Страница 194: ...Monitor data Real current address pulse Ver 1 20 or later BFM 23 22 BFM 123 122 Monitor data Operation speed present value BFM 11 10 BFM 111 110 Monitor data System of units user unit Operation parameter 1 BFM 14000 b1 b0 BFM 14200 b1 b0 Positioning parameters Unit of measurement for the user units Operation parameter 1 BFM 14000 b3 b2 BFM 14200 b3 b2 Positioning parameters Position data magnifica...

Страница 195: ...s Operation speed1 Override setting Operation speed2 Override setting The actual operation speed 1 and operation speed 2 can be changed using the operation speed change function except under the following conditions For change of the operation speed refer to Section 7 6 During deceleration operation When the speed change disable during operation signal is ON 3 Address specification Specified addre...

Страница 196: ...tioning operations for table operation 1 When interpolation operations are consecutively repeated in a table operation the 20SSC H provides continuous pass operation For details on continuous operation refer to Section 10 10 10 1 2 Types of table information and number of registered tables Applicable positioning operations for table operation Inapplicable positioning operations for table operation...

Страница 197: ... interrupt stop Circular interpolation center CW direction Circular interpolation center CCW direction Circular interpolation radius CW direction Circular interpolation radius CCW direction Mechanical zero return Current address change Absolute address specification Relative address specification Dwell Jump Position information x y Sets the following items depending on the settings in the operatio...

Страница 198: ...Y 3 Interrupt 1 speed constant quantity feed X axis SINT_X 4 For the positioning operation details refer to Section 9 3 Y axis SINT_Y 5 XY axis SINT_XY 6 2 speed positioning operation 2 table rows used X axis DRV2_X 7 For the positioning operation details refer to Section 9 4 Y axis DRV2_Y 8 XY axis DRV2_XY 9 Interrupt 2 speed constant quantity feed 2 table rows used X axis DINT_X 10 For the posit...

Страница 199: ...ser Refer to Subsection 7 9 9 Y axis SET_Y 91 XY axis SET_XY 92 Absolute address ABS 93 When this command is issued the position information x y of the table operation becomes an absolute address which specifies positions from the 0 0 point absolute address is specified by default Relative address INC 94 When this command is issued the position information x y of the table operation becomes a rela...

Страница 200: ...er 6 Write transfer table data to buffer memories with FX Configurator FP For details on operation refer to the FX Configurator FP Operation Manual Write table information by a sequence program For an explanation of applied instructions refer to the Programming Manual Change write table information by the test function in GX Developer s BFM monitor For details on operation refer to theGX Developer...

Страница 201: ...y assignments refer to the following Refer to Section 10 3 and 11 5 Note It is strongly recommended to set and store table information in the flash memory via FX Configurator FP When table information is set by sequence program a considerable amount of the sequence program and devices are used which makes the program complicatedand increases the scan time Setting table information on FX Configurat...

Страница 202: ...ble information Buffer memory 1 2 The setting method for the following information is different Dwell time Buffer memory Set in position information FX Configurator FP Set in Time Jump point table No Buffer memory Set in position information FX Configurator FP Set in Jump No FX Configurator FP 3 In 2 speed positioning operation and interrupt 2 speed constant quantity feed operation two setting row...

Страница 203: ...s different Dwell time Buffer memory Set in position information FX Configurator FP Set in Time Jump point table No Buffer memory Set in position information FX Configurator FP Set in Jump No FX Configurator FP 2 In 2 speed positioning operation and interrupt 2 speed constant quantity feed operation two setting rows are required 3 4 Operation information Table No Position information X axis Y axis...

Страница 204: ...mation Center coordinate i radius r BFM 7009 7008 Center coordinate j BFM 7011 7010 Operation information BFM 1004 BFM 4004 BFM 7012 m code information BFM 1005 BFM 4005 BFM 7013 299 Position information Position data x BFM 3991 3990 BFM 12981 12980 Position data y BFM 6991 6990 BFM 12983 12982 Speed information Speed data f fx BFM 3993 3992 BFM 12985 12984 Speed data fy BFM 6993 6992 BFM 12987 12...

Страница 205: ...ed constant quantity feed setting items are handled as relative addresses 10 6 Relative address specification This operation information item sets the position data of subsequent table operations to a relative address based on the current address Point When table operation begins the position information data is handled by the absolute address specification default To use position information data...

Страница 206: ...s the operation does not continue the table since the 20SSC H suspends the operation until m code OFF With 0 in m code information the 20SSC H turns to standby mode With start command or m code OFF command the m code turns OFF To turn only the m code ON without performing positioning operation set m code to the operation information of the table information and set the m code information 2 Availab...

Страница 207: ...SC H turns to standby mode With the start command or m code OFF command the m code turns OFF The 20SSC H continues operating during multi speed operation and continuous pass operation without m code OFF commands The specified m codes also turn ON in consecutive order 2 Available m code Nos To use the m code in the with mode set the m code in the range from 10000 to 32767 BFM number Data type X axi...

Страница 208: ...en continuous pass operation is disabled Operations that result in continuous pass operation Operations that do not result in continuous pass operation Linear interpolation Circular interpolation Variable speed operation Manual pulse generator JOG operation 1 speed positioning operation Interrupt 1 speed constant quantity feed 2 speed positioning operation Interrupt 2 speed constant quantity feed ...

Страница 209: ...terpolation instructions do not stop and inflection points become smooth curves The radius of curvature varies depending on the interpolation time constant A larger interpolation time constant makes a larger radius of curvature To draw a precise locus apply circular interpolation operations When the speeds between each interpolation operation differ the velocity becomes a composite speed with the ...

Страница 210: ...ion 7 1 7 When positioning parameters are set in FX Configurator FP and written to the 20SSC H the written positioning parameters will become valid from the next positioning operation For setting of parameters refer to Subsection 7 1 2 11 1 1 Operation parameters 1 BFM 14000 BFM 14200 BFM Number Bit Number Description Default X axis Y axis BFM 14000 BFM 14200 b0 System of units user unit 1 b1 b0 0...

Страница 211: ...tion refer to Subsection 8 1 2 H0000 b13 Count start timing for zero phase signal 1 DOG forward end at OFF to ON transition of DOG input The front end of DOG triggers the zero phase signal count 0 DOG backward end at ON to OFF transition of DOG input The back end of DOG triggers the zero point signal count For details on the DOG mechanical zero return operation refer to Subsection 8 1 2 b14 Not av...

Страница 212: ...tion b4 Set the stop method when the Stop command turns ON Ver 1 20 or later For details on sudden stop Normal deceleration stop refer to Section 7 5 1 Sudden stop 0 Normal deceleration stop b5 Set the stop method when the software limit turns ON Ver 1 20 or later For details on sudden stop Normal deceleration stop refer to Section 7 5 1 Sudden stop 0 Normal deceleration stop b6 Set the stop metho...

Страница 213: ...fer to Section 7 10 11 1 4 Feed rate BFM 14007 14006 BFM 14207 14206 This parameter sets the travel distance per revolution of the motor Mechanical system units and Composite system units require this setting Motor system units ignores it For details on the system of units refer to Section 7 10 BFM 14002 BFM 14202 b14 2 Sets the interpolation gear ratio selection Ver 1 20 or later For details on i...

Страница 214: ...ts and converted pulse data Refer to Section 7 10 Note Set the JOG speed at or below the maximum speed When the JOG speed exceeds the maximum speed the 20SSC H operates at the maximum speed Speed change commands in positioning operation change the JOG speed into a preset value 11 1 7 JOG Instruction evaluation time BFM 14014 BFM 14214 This parameter sets the evaluation time for the forward reverse...

Страница 215: ...the maximum In a 20SSC H Ver 1 30 or later deceleration time and deceleration time 2 are offered as the acceleration time except for interpolation operation Use the acceleration deceleration time change command in operation command 2 to select deceleration time or deceleration time 2 to be used for actual positioning operation For details on the deceleration time refer to Section 7 2 For setting o...

Страница 216: ...and zero return speed high speed When the zero return speed creep exceeds the maximum speed the 20SSC H operates at the maximum speed Set the speed as slow as possible to achieve the best stop position accuracy 11 1 13 Mechanical zero point address BFM 14029 14028 BFM 14229 14228 This parameter sets the current value address at zero return operation completion After mechanical zero return completi...

Страница 217: ...point signal count at the DOG backward end Design the DOG to allow the machine to gently decelerate to the zero return speed creep before the zero phase signal count 11 1 15 Zero return mode BFM 14031 BFM 14231 This parameter selects mechanical zero return operations For details on the zero return operation refer to Section 8 1 11 1 16 Servo end evaluation time BFM 14032 BFM 14232 This parameter s...

Страница 218: ... magnifies the servo motor torque in the range from 0 1 to 1000 0 For a target move with a torque limit refer to the section shown below For details on the torque limit function refer to Subsection 7 9 3 11 1 19 Zero return torque limit BFM 14040 BFM 14240 This parameter sets the torque limit value torque generated by the servo motor for mechanical zero return at the zero return speed creep in the...

Страница 219: ...ier to be used not used For instructions on how to use forward reverse rotation limit refer to Section 7 3 1 Use Use forward reverse rotation limits from the servo amplifier and those from the PLC 0 Not use Use only forward reverse rotation limits from the PLC H0100 b1 Sets the DOG signals from the servo amplifier to be used not used For details on the mechanical zero return refer to Section 8 1 1...

Страница 220: ...during the positioning completion signal output waiting time the positioning completion signal remains OFF The setting of the positioning completion signal output waiting time is invalid during table operation 11 1 25 Acceleration time 2 BFM 14108 BFM 14308 This parameter sets the time for the operation speed to reach the maximum speed from zero The acceleration time except in interpolation operat...

Страница 221: ...ime 2 Use the acceleration deceleration time change command in operation command 2 to select which type should be used for actual positioning operation Ver 1 30 or later For the deceleration time refer to Section 7 2 For setting of the deceleration time refer to Subsection 11 1 9 For changeover of the acceleration deceleration time refer to Section 7 7 Note The set value smaller than 0 ms is handl...

Страница 222: ...fier refer to Subsection 6 2 3 Set or change servo parameters and transfer them to the servo amplifier It is necessary to turn OFF the power once and then turn it ON again or a perform system reset to transfer servo parameters to the servo amplifier For the parameter setting method refer to Section 7 1 The following servo parameters stored in the buffer memory are transferred to the servo amplifie...

Страница 223: ...stors or regenerative option is used with the servo amplifier of 11k to 22kW For a drive unit of 30kW or more select regenerative option by the converter unit 01 FR BU FR RC 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 Cooling fan is required 08 MR RB31 09 MR RB51 Cooling fan is required 80 MR RB1H 4 81 MR RB3M 4 Cooling fan is required 82 MR RB3G 4 Cooling fan is required 83 MR RB5G 4 ...

Страница 224: ... or output division ratio for encoder pulses A phase B phase output by the servo amplifier Setting range 1 to 65535 PLS REV K4000 Setting value EM1 EM2 selection Deceleration method when EM1 or EM2 becomes valid Deceleration method when an alarm occurs 00 Forced stop 2 EM2 The electromagnetic brake interlock MBR turns off after the forced stop deceleration The electromagnetic brake interlock MBR t...

Страница 225: ...000 rad s K823 BFM 15028 BFM 15228 PB10 Speed integral compensation Set the integral time constant of the speed loop Setting range 1 to 10000 0 1 ms K337 BFM 15029 BFM 15229 PB11 Speed differential compensation Set the differential compensation Setting range 0 to 1000 K980 BFM 15030 BFM 15230 PB12 Overshoot amount compensation Ver 1 40 or later Set the control ratio against the friction torque Set...

Страница 226: ...oop pulses as a trigger to change gain 4 Set servo motor speed as a trigger to change gain Gain changing condition 0 Valid when a value is bigger than the set value 1 Valid when a value is smaller than the set value H0000 BFM 15045 BFM 15245 PB27 Gain changing condition Set the value for gain changing condition Setting range 0 to 9999 kpps PLS r min K10 BFM 15046 BFM 15246 PB28 Gain changing time ...

Страница 227: ... when the gain changing is valid Setting range 1 to 1000 0 1 Hz K1000 BFM 15063 BFM 15263 PB45 Vibration suppression control filter 2 Ver 1 40 or later Set the vibration suppression control filter 2 setting frequency selection and notch depth selection Vibration suppression control filter 2 setting frequency selection 0 Disable 1 2250 Hz 5F 4 5 Hz Notch depth selection 0 Deep 40 0db F Shallow 0 6d...

Страница 228: ...tion selection C 2 Enable or disable the motor less operation 0 Disable 1 Enable K0 BFM 15069 BFM 15269 PC06 Function selection C 3 Ver 1 40 or later Select the error excessive alarm level setting 0 1REV 1 0 1REV 2 0 01REV 3 0 001REV H0000 BFM 15070 BFM 15270 PC07 Zero speed Set the output range of the zero speed signal ZSP Setting range 0 to 10000 r min K50 BFM 15072 BFM 15272 PC09 Analog monitor...

Страница 229: ...O1 or 2 MO2 Setting range 9999 to 9999 PLS K0 BFM 15077 BFM 15277 PC14 Analog monitor feedback position output standard data High Ver 1 40 or later Set the standard position of feedback output with analog monitor 1 MO1 or 2 MO2 Setting range 9999 to 9999 10000PLS K0 BFM 15080 BFM 15280 PC17 Function selection C 4 Select the home position setting condition in the absolute position detection system ...

Страница 230: ...to 3F For manufacturer setting C A Always OFF in speed control mode B Becomes SA speed achieved in speed control mode C Never specify the values for the manufacturer setting H0005 BFM 15103 BFM 15303 PD08 Output signal device selection 2 CN3 9 Specify a signal assigned output to the CN3 9 connector of the servo amplifier 00 Always OFF 01 RDY ready ON 02 RD servo ON 03 ALM error 04 INP In position ...

Страница 231: ...acturer setting C 0F CDPS selecting a variable gain 10 For manufacturer setting C 11 ABSV losing the absolute position A 12 to 3F For manufacturer setting C A Always OFF in speed control mode B Becomes SA speed achieved in speed control mode C Never specify the values for the manufacturer setting H0003 BFM 15109 BFM 15309 PD14 Function selection D 3 Ver 1 40 or later Select the warning WNG and tro...

Страница 232: ...e to change the current address of a stopped axis to any address Overwrite the current address user with a new address The current address will be changed and its pulse data will be updated Set a value within the range from 0 to the ring value during the ring operation For details on the current address change function refer to Subsection 7 9 9 11 3 2 Current address Pulse BFM 3 2 BFM 103 102 The ...

Страница 233: ...9 BFM 109 At m code ON the m code number is stored At no m code ON 1 is stored For details on the m code refer to Section 10 9 BFM Number Description Value Format Default X axis Y axis BFM 5 4 BFM 105 104 1 to 10 000 0 1 Decimal BFM Number Description Value Format Default X axis Y axis BFM 6 BFM 106 1 No error Others BFM number in which an error occurred Decimal BFM Number Bit Number Description V...

Страница 234: ...ulse generator BFM 15 14 BFM 115 114 Manual pulse generator input frequency is stored POINT Magnification settings for the manual input pulses are not reflected on the stored value 11 3 11 Table numbers in execution BFM 16 BFM 116 While performing a table operation the table number in execution is stored 11 3 12 Version information BFM 17 The version of 20SSC H is stored BFM Number Description Val...

Страница 235: ... units specified by the user 1 Ver 1 20 or later 1 Refer to the section shown below for details on the user units Refer to Section 7 10 POINT The target address for the table number currently being executed is stored during table operation Variable speed operation is not supported 11 3 16 Received target speed BFM 27 26 BFM 127 126 The target speed for the positioning operation currently being exe...

Страница 236: ...d becomes active For details on the statuses at occurrence of errors refer to Section 13 2 b6 Completion of positioning This bit is set upon normal completion of positioning 1 Cleared when a START command becomes active an error occurs or an error reset command becomes active When the 20SSC H is stopped by a STOP command the bit is kept in OFF status b7 Ready and waiting for remaining travel after...

Страница 237: ...n the operation speed change command refer to Subsection 7 6 2 b14 Changing a target address is in progress This bit is set upon receiving a target address change command during positioning operation Cleared upon completion of the change of target address For details on the target address change command refer to Subsection 7 6 3 b15 Table operation is in progress This bit is kept in ON status whil...

Страница 238: ...e model code of the 20SSC H is K5220 Decimal BFM Number Bit Number Description Value Format Default X axis Y axis BFM 32 BFM 132 b0 Positioning parameter change completion flag Ver 1 20 or later Turns ON when positioning parameter change is completed Automatically turns OFF when the positioning parameters enable command turns OFF Bit H0000 b1 to b15 Not available BFM Number Description Value Forma...

Страница 239: ...pdated at control power on to the servo amplifier Note The servo amplifier software number is stored in ASCII code as shown below Example When the number is BFM Number Description Value Format Default X axis Y axis BFM 53 52 BFM 153 152 The present rotation speed of the servo motor 0 1 r min Decimal BFM Number Description Value Format Default X axis Y axis BFM 54 BFM 154 The value of the servo mot...

Страница 240: ...are within a range of In position b13 Torque is limited This bit is set while the servo amplifier is limiting torque b14 Losing an absolute position This bit is set while the servo amplifier is losing an absolute position b15 A warning is occurring This bit is set while a warning is occurring at the servo amplifier Stored value 001 Parameter No PA01 PA18 PB17 002 PA02 PB01 PB18 003 PA03 PB02 PB19 ...

Страница 241: ... torque during operations is stored This parameter stores the peak value to the rated torque 100 from the past 15 seconds 11 3 31 Servo warning code BFM 68 BFM 168 Warnings detected by the servo amplifier are stored Clear the cause of the warning For details on the warnings refer to the manual of the connected servo amplifier For details on the warning codes refer to Subsection 13 2 4 11 3 32 Moto...

Страница 242: ...Default X axis Y axis BFM 72 BFM 172 b0 A parameter update completed flag This bit is set when an automatic update of servo parameters is completed Cleared when a servo parameter save command or servo parameter initialization command is finished Bit b1 Parameter updating flag This bit is ON while servo parameters are being updated b2 Parameter update request flag This bit turns ON when the servo a...

Страница 243: ... as follows depending on the procedure to specify the absolute address or relative address With absolute address travels from the current position to the target position The rotation direction depends on whether target address 1 is larger or smaller than the current address With relative address moves by the specified travel distance from the current position The rotation direction depends on the ...

Страница 244: ... operation speed 2 lower than the maximum speed If the operation speed 2 exceeds the maximum speed the 20SSC H operates at the maximum speed Use the override function or operation speed change function when changing the operation speed during operation For details of the override operation refer to Subsection 7 6 1 For details on the operation speed change function refer to Subsection 7 6 2 11 4 5...

Страница 245: ...pulse data K1 BFM Number Description Default X axis Y axis BFM 515 514 BFM 615 614 Setting range 2 147 483 648 to 2 147 483 647 User unit 1 Set the value within 2 147 483 648 to 2 147 483 647 PLS in the converted pulse data K0 BFM Number Description Default X axis Y axis BFM 517 516 BFM 617 616 Setting range 1 to 2 147 483 647 User unit 1 Set the value within 1 to 50 000 000 Hz in converted pulse ...

Страница 246: ...ied target address based on the base position ON A relative address is used moves by a specified amount of travel from the current address Level b9 START command Set this to start a positioning operation selected from the operation patterns Edge b10 2 Simultaneous START flag ON Starts X and Y positioning operations simultaneously when a START command for X axis becomes active includes JOG and zero...

Страница 247: ...oning operation using acceleration time 2 and deceleration time 2 Level b6 Mode selection for the Interrupt 1 speed constant quantity feed Ver 1 10 or later OFF Relative positioning by the specified travel distance ON Absolute positioning by the specified address constant position stop mode For details on the interrupt 1 speed constant quantity feed refer to Section 9 3 Level b7 Interrupt 1 speed ...

Страница 248: ...n auto tuning mode 2 b During positioning operations or when the STOP command state is ON the servo parameter transfer command is ignored c Transferring servo parameters in the status information is ON during the transfer For details on the status information refer to Subsection 11 3 17 11 4 12 Operation pattern selection BFM 520 BFM 620 Auto tuning mode setting status Interpolation mode Auto tuni...

Страница 249: ...cuted b When a different operation pattern from Y axis is set to the X axis and operation pattern above is set to the Y axis X axis Operates by the operation pattern set in the X axis Y axis Does not operate BFM 520 BFM 620 b5 Variable speed operation Set this to perform a variable speed operation For details on the variable speed operation refer to Section 9 7 Level H0000 b6 Operation using the m...

Страница 250: ... command X axis Writes X axis positioning parameters BFM 14000 to BFM 14199 into the flash memory Edge H0000 b1 Y axis Writes Y axis positioning parameters BFM 14200 to BFM 14399 into the flash memory b2 Table information save command X axis Writes X axis table information BFM 1000 to BFM 3999 into the flash memory b3 Y axis Writes Y axis table information BFM 4000 to BFM 6999 into the flash memor...

Страница 251: ...information is ON and READY BUSY is OFF BUSY The initialization command is ignored during the positioning operation or when the STOP command state is ON 11 4 16 Manual pulse generator input magnification numerator BFM 525 524 BFM 625 624 This data item sets the magnification to be applied to the numerator of a pulse train input by the manual pulse generator For details on the manual pulse generato...

Страница 252: ... absolute address Sets the rotation direction when absolute address is specified in the ring operation Ver 1 10 or later For details on the ring counter setting refer to Section 7 8 BFM Number Description Default X axis Y axis BFM 529 0 X input X opr Y input Y opr 1 X input Y opr 2 X input X and Y opr K0 BFM Number Description Default X axis Y axis BFM 530 BFM 630 0 Direction for shorter rotation ...

Страница 253: ... Y axis XY axes 0 BFM 1001 1000 BFM 7001 7000 Position informa tion Position information x Set target addresses or etc for the table operation K 1 BFM 4001 4000 BFM 7003 7002 Position information y K 1 BFM 1003 1002 BFM 7005 7004 Speed informa tion Speed information x Set the operation speed K 1 BFM 4003 4002 BFM 7007 7006 Speed information y K 1 BFM 7009 7008 Circular informa tion Center coordina...

Страница 254: ...ils on the user units Refer to Section 7 10 299 BFM 3991 3990 BFM 12981 12980 Position informa tion Position information x Same as the table 0 K 1 BFM 6991 6990 BFM 12983 12982 Position information y K 1 BFM 3993 3992 BFM 12985 12984 Speed informa tion Speed information x K 1 BFM 6993 6992 BFM 12987 12986 Speed information y K 1 BFM 12989 12988 Circular informa tion Center coordinate i Radius r K ...

Страница 255: ...nformation Sets the positioning operation for table operation and changes the current address Set the numeric value corresponding to each operation to the operation information Refer to Subsection 10 1 3 5 m code information m code is output each time at positioning operation For instructions on how to use the m code refer to the following Refer to Section 10 9 No code 1 m code after mode 0 to 999...

Страница 256: ... the Zero return JOG or testing of the positioning data carefully read through this manual and the associated manuals and ensure the safety of the operation An operation error may damage the machinery or cause accidents STARTUP AND MAINTENANCE PRECAUTIONS Do not disassemble or modify the PLC Doing so may cause fire equipment failures or malfunctions For repair contact your local Mitsubishi Electri...

Страница 257: ...emory that is assigned in 32 bits must use 32 bit instructions to read write Data cannot be correctly read written from to buffer memory assigned in 32 bits if 16 bit read write instructions are used 1 How to read and write numeric values 1 Direct specification of buffer memory Specify the buffer memory directly as the source or destination in applied instructions and then read or write the conten...

Страница 258: ...1 are read and transferred to data registers D11 and D10 b Writing numeric values to the buffer memory TO instruction In the program below K5 000 000 is written to the buffer memory BFM 501 and 500 in unit No 1 c Writing the current value of data registers to the buffer memory TO instruction In the program below the current value of data register D21 and D20 is written to the buffer memory BFM 501...

Страница 259: ...the bit information to auxiliary relays In the program below the contents of the buffer memory BFM 28 in unit No 1 are read and transferred to auxiliary relays M40 to M55 b Reading and transferring bit information to data registers In the program below the contents of the buffer memory BFM 28 in unit No 1 are read and transferred to a data register D200 The read bit information is used in bit spec...

Страница 260: ...ister D201 should be set to ON or OFF in advance by bit specification of word devices 2 FROM TO instructions conventional method Read and write the contents of the buffer memory using the FROM TO instructions a Reading and transferring bit information to auxiliary relays In the program below the contents of the buffer memory BFM 28 in unit No 1 are read and transferred to auxiliary relays M40 to M...

Страница 261: ... auxiliary relays M20 to M35 is written to the buffer memory BFM 518 in unit No 1 d Writing bit information stored in data registers to the buffer memory In the program below the ON OFF status of each bit of a data register D201 is written to the buffer memory BFM 518 in unit No 1 Each bit of the data register D201 should be set to ON or OFF in advance by bit specification of word devices D200 0 D...

Страница 262: ...n M5 M105 Manual pulse generator M6 M106 Linear interpolation operation M7 M107 Linear interpolation interrupt stop operation M8 M108 Table operation individual M9 M109 Table operation simultaneous M10 M110 Reciprocal movement instruction M11 M111 Not available M11 to M15 M111 to M115 Always OFF Operation command 1 Error reset M20 M120 STOP command M21 M121 Forward rotation limit M22 M122 Reverse ...

Страница 263: ...information READY M40 M140 During forward rotation pulse output M41 M141 During reverse rotation pulse output M42 M142 Zero return completed M43 M143 Current value overflow M44 M144 Error occurrence M45 M145 Positioning completion M46 M146 Standby for remaining travel distance at STOP M47 M147 m code ON M48 M148 Unit ready M49 M149 During servo parameters transfer M50 M150 Saving to flash memory M...

Страница 264: ...ion stops at the zero phase signal of the motor and the mechanical zero point address is stored to the current value zero point signal count 1 time 12 3 2 JOG operation X axis When turning X004 X axis forward rotation JOG to ON at the PLC main unit the JOG operation starts in the current value incrementing direction When turning X005 X axis reverse rotation JOG to ON at the PLC main unit the JOG o...

Страница 265: ...ion of 1 speed positioning operation turned ON at the PLC main unit the1 speed positioning operation starts After 5 000 000 pulses of travel in the current value incrementing direction the operation decelerates to stop When X017 is turned ON again positioning starts with the same travel distance again The state of X021 Y axis selection of 1 speed positioning operation on the PLC main unit changes ...

Страница 266: ...number of 10003 the m code OFF command turns ON and the m code turns OFF Y axis When turning X017 Y axis START command to ON with X023 Y axis selection of table operation individual turned ON multi speed operation starts with the preset Y axis table information After 10 000 000 pulses of travel in the current value incrementing direction operation decelerates to stop When turning X017 Y axis START...

Страница 267: ...simultaneous turned ON operation starts in the order of the XY table information 1 Linear interpolation operation 2 Dwell 3 Circular interpolation operation 4 End When turnig X001 X axis stop to ON during positioning operation decelerates to stop 2 Setting table information Set the XY axis table information as follows on FX Configurator FP 12 4 Sequence Program This program example describes the s...

Страница 268: ... interpolation operation Linear interpolation interrupt stop operation M9 X axis table operation individual M10 Table operation simultaneous M12 Always OFF Always OFF M14 Always OFF M15 Always OFF X022 Selection of X axis table operation individual M8000 RUN monitor Selection of X axis table operation simultaneous X024 M13 Select X axis operation pattern To next page To next page M8000 RUN monitor...

Страница 269: ...axis K0 D621 Set the target address 1 and operation speed 1 for X and Y axes 1 step positioning M200 Unit ready X Y axis K5000000 D500 FNC 12 DMOVP Target address 1 for X axis 1 speed positioning K5 000 000 D501 D500 K2000000 D502 FNC 12 DMOVP Operation speed 1 for X axis 1 seed positioning K2 000 000 D503 D502 K5000000 D600 FNC 12 DMOVP K2000000 D602 FNC 12 DMOVP Target address 1 for Y axis 1 spe...

Страница 270: ... absolute address specification M28 M29 D500 U0 G500 FNC 12 DMOV D502 U0 G502 FNC 12 DMOV X axis positioning at 1 step speed M0 X axis table operation individual M9 X axis table operation simultaneous M10 D521 U0 G521 FNC 12 MOV Table operation start No for X axis XY axis D521 BFM 521 Target address 1 for X axis 1 speed positioning D501 D500 BFM 501 500 Operation speed 1 for X axis 1 speed positio...

Страница 271: ...0 G602 FNC 12 DMOV Y axis positioning at 1 step speed M100 Y axis table operation individual M109 D621 U0 G621 FNC 12 MOV Table operation start No for Y axis D621 BFM 621 Target address 1 for Y axis 1 speed positioning D601 D600 BFM 601 600 Operation speed 1 for Y axis 1 speed positioning D603 D602 BFM 603 602 M8000 RUN monitor Y axis relative absolute address specification M128 Select Y axis oper...

Страница 272: ...ation speed present value BFM 11 10 D11 D10 U0 G16 D16 FNC 12 MOV X axis number of the table in operation BFM 16 D16 U0 G29 D29 FNC 12 MOV U0 G68 D68 FNC 12 MOV U0 G64 D64 FNC 12 MOV U0 G52 D52 FNC 12 DMOV U0 G70 D70 FNC 12 DMOV X axis error code BFM 29 D29 X axis motor rotation speed BFM 53 52 D53 D52 X axis servo status BFM 64 D64 X axis servo warning code BFM 68 D68 X axis motor feedback positi...

Страница 273: ...axis motor rotational speed BFM 153 152 D153 D152 Y axis servo status BFM 164 D164 Y axis servo warning code BFM 168 D168 Y axis motor feedback position BFM 171 170 D171 D170 END Read Y axis monitor data from 20SSC H M8000 RUN monitor U0 G100 D100 FNC 12 DMOV U0 G106 D106 FNC 12 MOV U0 G109 D109 FNC 12 MOV U0 G110 D110 FNC 12 DMOV Y axis current address user BFM 101 100 D101 D100 Y axis error BFM ...

Страница 274: ... operation error may damage the machinery or cause accidents Before operating the Zero return JOG or testing of the positioning data carefully read through this manual and the associated manuals and ensure the safety of the operation An operation error may damage the machinery or cause accidents STARTUP AND MAINTENANCE PRECAUTIONS Do not disassemble or modify the PLC Doing so may cause fire equipm...

Страница 275: ...ghts If the LED does not light even after a stop an error has occuerd Check the error and remove the cause On The X axis Y axis cannot accept operation commands X ERROR Y ERROR Red Off No error Flashing An error has occurred An error has occurred on the 20SSC H Check the error code and perform the action according to the content of the error For details on error codes refer to the following Refer ...

Страница 276: ...urrence BFM No BFM 6 BFM 106 When an error occurs the BFM No with error is stored 1 No error occurrence Other BFM No with error Refer to Subsection 11 3 4 Status information Error occurrence BFM 28 b5 BFM 128 b5 This is set when a 20SSC H and servo amplifier error occurs This can be reset by an error reset Refer to Subsection 11 3 17 Error code BFM 29 BFM 129 When an error occurs an error code is ...

Страница 277: ...rdinate End point center coordinate Center coordinate is outside of the 2 147 483 648 to 2 147 483 647 PLS range Check the center coordinate setting and set so that a circle is formed Control errors 3000 Table operation start No error The table No is executed outside of the range 0 to 299 Change the table operation start No to 0 to 299 3001 Jump No fault The jump No for the table information is se...

Страница 278: ...motor to retain the origin position Make sure that the absolute position detection system in servo parameters is valid Check the servo motor and encoder cable 4008 Illegal origin data The backup data for restoring the absolute position is illegal Execute a zero return 4009 Encoder error 1 During operation the variation of the encoder current value changes as follows Encoder current value variation...

Страница 279: ...occurred between sensor and servo amplifier Connect correctly Change the servo motor Repair or change the cable Correct the setting of the 4th digit of parameter No PC04 2017 17 Board error CPU part fault The servo amplifier must be repaired Consult your local Mitsubishi Electric representative 2019 19 Memory error 3 Flash ROM ROM memory fault 2020 20 Encoder error 2 during runtime Communication e...

Страница 280: ...er For a wire break of the regenerative brake option change the regenerative brake option Add the regenerative brake option or increase the capacity Review the power supply Correct the wiring 2034 34 Receive error 1 SSCNET III communication error continuous communication error for about 3 5ms Connect after turning the control circuit power supply of the servo amplifier OFF Wipe off any dirt from t...

Страница 281: ...ace the servo motor 2051 51 Overload 2 A machine collision or other similar factor has caused the max output current to flow continuously for several seconds Servo motor Locked 1s or more During rotation 2 5s or more Machine collision occurred Review the operation pattern Install limit switches Connect the servo motor correctly Hunting is occurring due to an unstable servo system Repeat accelerati...

Страница 282: ...on error Wrong combination of servo amplifier and servo motor Select the correct combination 2063 63 STO timing error Only the MR J3 BS STO signal turns off while the servo motor is rotating Check the external sequence if the condition which turns off the STO signal is appropriate Check STO delay time setting rotary switch of MR J3 D05 Be sure to consult with a machine builder when changing the de...

Страница 283: ...g There is a possibility that overload error code 2050 or overload error code 2051 may occur Refer to the manual of the servo amplifier 2143 E3 Absolute position counter warning Absolute position encoder pulses are faulty To reduce the noise follow the servo amplifier manual Replace the servo motor 2144 E4 Parameter warning Parameters are outside the setting range Set the servo parameters correctl...

Страница 284: ...nternal errors in the PLC Check the supply voltage After disconnecting cables other than the power cable turn the power ON again and check for changes in the state If no improvement is obtained Consult your local Mitsubishi Electric representative Off One of the following causes may have occurred The power supply is OFF Incorrect external wiring Power of the specified voltage is not being supplied...

Страница 285: ...s to the program and reset the watchdog timer several times in one scan Change the watchdog timer value Change the watchdog timer setting D8000 in the program so that the setting is larger than the maximum value of the scan time D8012 2 Remove the PLC and supply the power to it from another power source If the ERROR LED goes out noise may have affected the PLC Adopt the following measures Check th...

Страница 286: ...se generator input current value 2 147 483 648 to 2 147 483 647 PLS Decimal Subsection 11 3 9 BFM 15 14 BFM 115 114 Manual pulse generator input frequency 100000 to 100000Hz Decimal Subsection 11 3 10 BFM 16 BFM 116 Number of the table in operation Stores the number of the table in operation Decimal Subsection 11 3 11 BFM 17 Version information Example In Ver 1 00 K100 is stored Decimal Subsection...

Страница 287: ...l Subsection 11 3 23 BFM 54 BFM 154 Motor current value Current value of servo motor 0 1 Decimal Subsection 11 3 24 BFM 61 to 56 BFM 161 to 156 Software number of servo amplifier Stores software number of servo amplifier ASCII code Subsection 11 3 25 BFM 62 BFM 162 Servo parameter error number Stores parameter number of servo parameter Decimal Subsection 11 3 26 BFM 63 BFM 163 Servo status b0 Zero...

Страница 288: ... rotation JOG b6 Mechanical zero return command b7 Not available b8 Relative absolute address specification b9 START command b10 Simultaneous START flag 3 b11 m code OFF b12 Change command in operation disabled b13 Speed change command in positioning operation b14 Target position change command in positioning operation b15 Not available H0000 Subsection 11 4 10 BFM 519 BFM 619 Operation command 2 ...

Страница 289: ...eters of Y axis BFM 15200 to BFM 15399 to flash memory b7 Not available b8 Initializes positioning parameters of X axis BFM 14000 to BFM 14199 b9 Initializes positioning parameters of Y axis BFM 14200 to BFM 14399 b10 Initializes table information of X axis BFM 1000 to BFM 3999 b11 Initializes table information of Y axis BFM 4000 to BFM 6999 b12 Initializes table information of XY axes BFM 7000 to...

Страница 290: ... 1 K 1 BFM 7011 7010 Center coordinate j K 1 BFM 1004 BFM 4004 BFM 7012 Operation informa tion Sets operation command 1 to 99 2 K 1 BFM 1005 BFM 4005 BFM 7013 m code information Stores m code in execution K 1 BFM 1011 1010 BFM 7021 7020 1 Position data x Same as table number 0 K 1 BFM 4011 4010 BFM 7023 7022 Position data y K 1 BFM 1013 1012 BFM 7025 7024 Speed data x K 1 BFM 4013 4012 BFM 7027 70...

Страница 291: ...stant quantity feed DINT_X 11 Interrupt 2 speed constant quantity feed DINT_Y 12 Interrupt 2 speed constant quantity feed DINT_XY 13 Interrupt stop INT_X 14 Interrupt stop INT_Y 15 Interrupt stop INT_XY 16 Multi speed operation DRVC_X 17 Multi speed operation DRVC_Y 19 Linear interpolation LIN 20 Linear interpolation interrupt stop LIN_INT 21 Circular interpolation center CW direction CW_i 22 Circ...

Страница 292: ...lection Servo amplifier limit sudden stop Normal deceleration stop Ver 1 20 or later b8 Servo startup ON OFF selection Ver 1 30 or later b13 to b9 Not available b14 Interpolation gear ratio selection Ver 1 20 or later 2 b15 BFM servo parameter transfer mode Ver 1 10 or later H0007 Subsection 11 1 2 BFM 14005 14004 BFM 14205 14204 Pulse rate 1 to 200 000 000 PLS REV K262 144 Subsection 11 1 3 BFM 1...

Страница 293: ... 10000 0 1 K3000 Subsection 11 1 19 BFM 14044 BFM 14244 External input selection b0 Use not use FLS RLS signal servo amplifier b1 Use not use DOG signal of servo amplifier b7 to b2 Not available b8 FLS RLS signal logic of servo amplifier b9 DOG signal logic of servo amplifier b15 to b10 Not available H0100 Subsection 11 1 20 BFM 14101 14100 BFM 14301 14300 Ring counter upper limit value Ver 1 10 o...

Страница 294: ... 15015 BFM 15215 Encoder output pulses 1 to 65535 PLS REV K4000 BFM 15019 BFM 15219 Adaptive tuning mode Adaptive filter 2 Setting of adaptive filter tuning K0 Subsection 11 2 2 BFM 15020 BFM 15220 Vibration suppression control tuning mode advanced vibration suppression control Setting of vibration suppression control tuning mode K0 BFM 15022 BFM 15222 Feed forward Gain 0 to 100 K0 BFM 15024 BFM 1...

Страница 295: ...15251 Gain changing Vibration suppression control Vibration frequency setting 1 to 1000 0 1Hz K1000 BFM 15052 BFM 15252 Gain changing Vibration suppression control Resonance frequency setting 1 to 1000 0 1Hz K1000 BFM 15063 BFM 15263 Vibration suppression control filter 2 Ver 1 40 or later Selects the vibration suppression control filter 2 setting frequency selection and notch depth selection H000...

Страница 296: ...o clear the alarm history H0000 BFM 15087 BFM 15287 Forced stop deceleration time constant Ver 1 40 or later Only the MR J3 BS Setting of deceleration time constant for forced stop deceleration H0000 BFM 15094 BFM 15294 Vertical axis freefall prevention compensation amount Ver 1 40 or later Only the MR J3 BS Setting of compensation amount of the vertical axis freefall prevention function H0000 BFM...

Страница 297: ...pgrade History The 20SSC H has undergone the following upgrades Version Contents of version upgrade Ver 1 00 First product Ver 1 10 Reciprocal movement instruction added to Positioning Operation Patterns Ring counter setting added Ring operation rotation direction for absolute address Mode Selection added to the Interrupt 1 speed Constant Quantity Feed The following functionalities added to MPG In...

Страница 298: ...on are added The continuous pass operation with m code with mode is changed Ver 1 40 The following servo parameters are added Control mode Overshoot amount compensation Vibration suppression control filter 2 Function selection C 3 Analog monitor feedback position output standard data Low Analog monitor feedback position output standard data High Function selection C 7 Alarm history clear Forced st...

Страница 299: ...B Version Information Appendix B 1 Version Information 293 FX3U 20SSC H Positioning Block User s Manual 11 Buffer Memory 12 Program Example 13 Diagnostics A List of Parameters and Data B Version Information MEMO ...

Страница 300: ...not to be the responsibility of Mitsubishi or that admitted not to be so by the user 2 Onerous repair term after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not availa...

Страница 301: ...ons for interpolation operation Subsection 7 10 3 The following functionalities added to positioning parameters Section 11 1 Operation parameter 2 b4 Sudden stop selection STOP command b5 Sudden stop selection software limit b6 Sudden stop selection PLC limit b7 Sudden stop selection Servo amplifier limit b14 Interpolation gear ratio selection Sudden stop deceleration time Sudden stop interpolatio...

Страница 302: ... set data becomes valid Sections 6 2 11 1 11 2 11 4 and 11 5 The contents of description are reviewed Sections 5 3 6 2 and 6 3 and Chapters 7 8 9 and 10 User s Manual errors corrected 12 2010 G Supported in Ver 1 40 Servo parameters are added Sections 11 2 and Appendix A 5 Error codes are added Subsection 13 2 3 Servo warning code is added Subsection 13 2 4 MR J3W B is added MR J3 BS is added User...

Страница 303: ......

Страница 304: ...RUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN HIMEJI WORKS 840 CHIYODA CHO HIMEJI JAPAN JY997D21301J MEE Effective Nov 2011 Specifications are subject to change without notice MODEL FX3U 20SSC U E MODEL CODE 09R622 FX3U 20SSC H USER S MANUAL ...

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