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9

Chapter 9 Major Positioning Control

The details and usage of the major positioning controls (control functions using the
"positioning data") are explained in this chapter.

The major positioning controls include such controls as "positioning control" in which
positioning is carried out to a designated position using the address information,
"speed control" in which a rotating object is controlled at a constant speed,
"speed-position switching control" in which the operation is shifted from "speed control"
to "position control" and "position-speed switching control" in which the operation is
shifted from "position control" to "speed control".

Carry out the required settings to match each control.

9.1 Outline of major positioning controls........................................................................... 9- 2

9.1.1

Data required for major positioning control................................................... 9- 4

9.1.2

Operation patterns of major positioning controls .......................................... 9- 5

9.1.3

Designating the positioning address ............................................................ 9- 15

9.1.4

Confirming the current value ........................................................................ 9- 16

9.1.5

Control unit "degree" handling...................................................................... 9- 18

9.1.6

Interpolation control ...................................................................................... 9- 21

9.2 Setting the positioning data ....................................................................................... 9- 25

9.2.1

Relation between each control and positioning data................................... 9- 25

9.2.2

1-axis linear control....................................................................................... 9- 27

9.2.3

2-axis linear interpolation control.................................................................. 9- 29

9.2.4

3-axis linear interpolation control.................................................................. 9- 33

9.2.5

4-axis linear interpolation control.................................................................. 9 -39

9.2.6

1-axis fixed-feed control................................................................................ 9- 43

9.2.7

2-axis fixed-feed control (interpolation) ........................................................ 9- 45

9.2.8

3-axis fixed-feed control (interpolation) ........................................................ 9- 47

9.2.9

4-axis fixed-feed control (interpolation) ....................................................... 9- 51

9.2.10 2-axis circular interpolation control with sub point designation ................... 9- 53

9.2.11 2-axis circular interpolation control with center point designation............... 9- 59

9.2.12 1-axis speed control...................................................................................... 9- 67

9.2.13 2-axis speed control...................................................................................... 9- 70

9.2.14 3-axis speed control...................................................................................... 9- 73

9.2.15 4-axis speed control...................................................................................... 9- 77

9.2.16 Speed-position switching control (INC mode) ............................................. 9- 82

9.2.17 Speed-position switching control (ABS mode) ............................................ 9- 90

9.2.18 Position-speed switching control.................................................................. 9- 98

9.2.19

Current

value

changing ................................................................................ 9-105

9.2.20

NOP

instruction............................................................................................. 9-110

9.2.21

JUMP

instruction........................................................................................... 9-111

9.2.22

LOOP ............................................................................................................ 9-113

9.2.23

LEND............................................................................................................. 9-114

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Содержание QD75M1

Страница 1: ...IB NA 0300062 A 0212 MEE MODEL MODEL CODE QD75M U S E 1CT752 IB NA 0300062 A 0212 MEE When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry f...

Страница 2: ...Please save this manual to make it accessible when required and always forward it to the end user Design Instructions DANGER Provide a safety circuit outside the programmable logic controller so that...

Страница 3: ...crews Tighten the screws within the specified torque range Undertightening can cause a drop short circuit or malfunction Overtightening can cause a drop short circuit or malfunction due to damage to t...

Страница 4: ...e or malfunctioning Before starting test operation set the parameter speed limit value to the slowest value and make sure that operation can be stopped immediately if a hazardous state occurs Precauti...

Страница 5: ...al Version IB 0300030 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 responsibl...

Страница 6: ...1 1 Positioning control 1 2 1 1 1 Features of QD75 1 2 1 1 2 Purpose and applications of positioning control 1 5 1 1 3 Mechanism of positioning control 1 7 1 1 4 Overview of positioning control funct...

Страница 7: ...autions for installation 4 7 4 3 Wiring 4 9 4 3 1 Precautions for wiring 4 9 4 4 Confirming the installation and wiring 4 14 4 4 1 Items to confirm when installation and wiring are completed 4 14 4 5...

Страница 8: ...recautions for creating program 6 2 6 2 List of devices used 6 5 6 3 Creating a program 6 15 6 3 1 General configuration of program 6 15 6 3 2 Positioning control operation program 6 16 6 4 Positionin...

Страница 9: ...polation control 9 21 9 2 Setting the positioning data 9 25 9 2 1 Relation between each control and positioning data 9 25 9 2 2 1 axis linear control 9 27 9 2 3 2 axis linear interpolation control 9 2...

Страница 10: ...itioning control 10 23 10 6 1 Starting high level positioning control 10 23 10 6 2 Example of a start program for high level positioning control 10 24 11 Manual Control 11 1 to 11 36 11 1 Outline of m...

Страница 11: ...5 2 Override function 12 44 12 5 3 Acceleration deceleration time change function 12 47 12 5 4 Torque change function 12 51 12 6 Absolute position system 12 54 12 7 Other functions 12 56 12 7 1 Step...

Страница 12: ...LED display functions 15 106 Appendices Appendix 1 to Appendix 112 Appendix 1 Functions Appendix 3 Appendix 1 1 Multiple CPU correspond function Appendix 3 Appendix 1 2 The combination of software pac...

Страница 13: ...itioning terms Appendix 70 Appendix 8 Positioning control troubleshooting Appendix 94 Appendix 9 List of buffer memory addresses Appendix 100 Appendix 10 External dimension drawing Appendix 112 INDEX...

Страница 14: ...Pr Symbol indicating positioning parameter and OPR parameter item Da Symbol indicating positioning data block start data and condition data item Md Symbol indicating monitor data item Cd Symbol indica...

Страница 15: ...E or later Peripheral software package Generic term for QD75 software package and GX Developer software package Servo amplifier drive unit Abbreviation for SSCNET compatible servo amplifier drive unit...

Страница 16: ...nce program required for positioning control 5 To understand the memory configuration and data transmission process Read Section 2 for details on each control Chapter 1 Product outline 1 1 to 1 28 Cha...

Страница 17: ...MEMO...

Страница 18: ...d the positioning system can be structured smoothly 1 1 Positioning control 1 2 1 1 1 Features of QD75 1 2 1 1 2 Purpose and applications of positioning control 1 5 1 1 3 Mechanism of positioning cont...

Страница 19: ...be prepared for each axis Using the prepared positioning data the positioning control is performed independently for each axis In addition such controls as interpolation involving two to four axes an...

Страница 20: ...l be no irregularity of startup timings between different axes 4 SSCNET makes the connection to the servo amplifier possible a The QD75 can be directly connected to the servo amplifier using the MELSE...

Страница 21: ...s recently output offering more complete error and warning histories Refer to section 5 6 1 8 Support of intelligent function module dedicated instructions Dedicated instructions such as the positioni...

Страница 22: ...nd the positioning pattern is changed Palletizer Servo amplifier PLC MELSEC Q Conveyor Servomotor with brakes Reduction gears Ball screw From QD75 Palletizer QD75 G Conveyor control Unloader control P...

Страница 23: ...tor Servomotor Worm gears Index table Digital switch PLC MELSEC Q Servo amplifier QD75 The index table is positioned at a high accuracy using the 1 axis servo Inner surface grinder PLC MELSEC Q QD75 S...

Страница 24: ...angeover signal to the QD75 GX Configurator QP QD75 positioning module External signal Manual pulse generator Issues commands by transmitting pulses Sets the parameters and positioning data for contro...

Страница 25: ...The following figure shows the operations when the start point address is 5000 and the positioning address are 2000 and 8000 2000 5000 8000 Positioning when the specified address is 2000 Start point...

Страница 26: ...ng from the specified increment of travel from the start point address 2 The sign of the travel increment determines the direction of travel For positive travel increment Positioning in the positive d...

Страница 27: ...point End point Reverse direction Forward direction b Circular interpolation with the specified center point Circular interpolation is performed using the specified endpoint address and center point a...

Страница 28: ...timing Travel along axis 2 Reverse direction Stop position Movement direction for a positive movement amount Positioning direction Travel along axis 1 2 axis fixed feed control Forward direction Rever...

Страница 29: ...ut of the QD75 speed position switching signal and perform positioning for the specified increment of travel V Speed control Position control Specified travel increment Dwell time t ON ON ON OFF OFF O...

Страница 30: ...eration with one positioning data item or to perform continuous positioning operation with multiple positioning data items 1 Independent positioning control operation pattern 00 positioning terminated...

Страница 31: ...number This is specified when performing positioning in which the direction changes because of multiple positioning data items having consecutive positioning data numbers V Address direction Address d...

Страница 32: ...tinues positioning This is specified when continuously executing multiple positioning data items having consecutive positioning data numbers at a specified speed ON ON ON OFF OFF OFF OFF V Address dir...

Страница 33: ...tart command from the QCPU or external complex positioning control can be performed The block positioning control can be performed by specifying the positioning start number and positioning start info...

Страница 34: ...ssing method This is a method in which linear acceleration deceleration is carried out based on the acceleration time deceleration time and speed limit value set by the user Velocity Distance b S patt...

Страница 35: ...ta Positioning control Speed control Current control Inverter Current feedback Speed feedback Position feedback Interface Servo motor M PLG FLS Upper limit signal RLS Lower limit signal CHG External c...

Страница 36: ...l Operation monitor Parameter write read JOG operation inching operation Test Positioning operation Test Home position return operation Test Peripheral device Peripherral device interface Y9 YB YD YF...

Страница 37: ...PLC CPU for details QD75 Peripheral device The QD75 and peripheral device communicate the following data via the PLC CPU Direction Communication QD75 Peripheral device Peripheral device QD75 Data rea...

Страница 38: ...or axes 1 and 2 Direction Communication QD75 Manual pulse generator Manual pulse generator QD75 Pulse signal Manual pulse generator A phase Manual pulse generator B phase QD75 External signal The QD75...

Страница 39: ...Setting of the Parameters Positioning data Block start data Condition data Servo parameter Creation of sequence program for operation Refer to Note 2 3 4 5 6 7 8 Writing of setting data Writing of pro...

Страница 40: ...GX Configurator QP into the QD75 Chapter 7 GX Configurator QP Operating Manual 6 Using GX Developer write the created sequence program into the PLC CPU When not using GX Configurator QP also write in...

Страница 41: ...tart Simultaneous start Repeated start Machine OPR control Fast OPR control JOG operation Inching operation Manual pulse generator operation Installation and connection of module Setting of hardware S...

Страница 42: ...n and the sub functions that need to be set beforehand When set with GX Configurator QP this does not need to be created Write Create sequence program for setting data Create sequence program for exec...

Страница 43: ...Y OFF Servo amplifier power supply OFF Servo alarm Emergency stop to the servo amplifier Each axis No change During error Servo OFF or free run The operation stops with dynamic brake or electromagneti...

Страница 44: ...oning to the end point of the positioning data will be restarted from the stopped position regardless of the absolute system or incremental system 2 When Md 26 Axis operation status is not stopped the...

Страница 45: ...nd the axis 2 movement amount is 600 Start point address Stop position due to stop cause Designated end point position Axis 1 400 200 100 100 300 700 Axis 2 Stop position due to stop cause Stop positi...

Страница 46: ...sing QD75 the configuration devices applicable CPU and the precautions of configuring the system are explained Prepare the required configuration devices to match the positioning control system 2 1 Ge...

Страница 47: ...on refer to the No in section 2 2 Component list CPU module 1 Positioning module I O module Extension system RS 232 cable 1 4 USB cable 5 Extension cable Main base unit 2 REMARK 1 Refer to section 2 3...

Страница 48: ...ystem inputs switches SSCNET cable Upper lower stroke limit switch External command signal switching signal Stop signal Near point dog signal Peripheral device Personal computer 6 7 For details refer...

Страница 49: ...e servo amplifier 9 Cable 1 For connecting between the QD75 and the external device Prepared by user Cables are needed to connect the QD75 with the external device Prepare them referring to the manual...

Страница 50: ...of the I O slots 3 of a base unit When installing the QD75 always consider the power supply capacity since a shortage of the power supply capacity may occur depending on the combination with the othe...

Страница 51: ...SERIAL 02751 SERIAL No The first five digits Function version 2 Method using the software Check the alphabet at the end of Product information displayed on System monitor Module s Detailed Information...

Страница 52: ...2 3 2 List of functions 3 4 3 2 1 QD75 control functions 3 4 3 2 2 QD75 main functions 3 6 3 2 3 QD75 sub functions and common functions 3 8 3 2 4 Combination of QD75 main functions and sub functions...

Страница 53: ...absolute system In absolute system 214748364 8 to 214748364 7 m 21474 83648 to 21474 83647 inch 0 to 359 99999 degree 2147483648 to 2147483647 PLS In incremental system 214748364 8 to 214748364 7 m 21...

Страница 54: ...ed AWG 30 single wire when A6CON3 is used Applicable connector for external device A6CON1 A6CON2 A6CON3 A6CON4 sold separately MR HBUS M Connection between MR H BN MR H BN4 and MR H BN MR H BN4 0 5m 1...

Страница 55: ...ter 9 Major Positioning Control 3 High level positioning control This control executes the positioning data stored in the QD75 using the block start data The following types of applied positioning con...

Страница 56: ...2 3 or 4 axis linear interpolation control 1 axis fixed feed control 2 3 or 4 axis fixed feed control 2 axis circular interpolation control 1 axis linear control 2 axis linear interpolation control 3...

Страница 57: ...n the positioning data or to the position designated with the movement amount sub point or center point 9 2 10 9 2 11 Speed control Linear control 1 axis linear control 2 axis linear interpolation con...

Страница 58: ...control Starts the operation of multiple axes simultaneously according to the pulse output level Positioning start No 9004 same as the simultaneous start above 10 5 JOG operation Outputs a pulse to se...

Страница 59: ...d speed exceeds Pr 8 Speed limit value during control this function limits the commanded speed to within the Pr 8 Speed limit value setting range 12 4 1 Torque limit function If the torque generated b...

Страница 60: ...tion 12 7 7 Continuous operation interrupt function This function interrupts continuous operation When this request is accepted the operation stops when the execution of the current positioning data i...

Страница 61: ...ol 2 axis circular interpolation control Speed control 1 to 4 axis Only independent positioning control can be set Speed position switching control Continuous path control cannot be set Position speed...

Страница 62: ...ion deceleration time change function Torque change function Step function Skip function M code output function Teaching function Target position change function Command in position function Accelerat...

Страница 63: ...3 Y6 Axis 3 X7 Axis 4 M code ON Y7 Axis 4 Axis stop X8 Axis 1 Y8 Axis 1 Forward run JOG start X9 Axis 2 Y9 Axis 1 Reverse run JOG start XA Axis 3 YA Axis 2 Forward run JOG start XB Axis 4 Error detec...

Страница 64: ...urns OFF the M code ON signal will also turn OFF If operation is started while the M code is ON an error will occur X8 X9 XA XB Axis 1 Axis 2 Axis 3 Axis 4 Error detection OFF No error ON Error occurr...

Страница 65: ...ATIONS AND FUNCTIONS Important Positioning complete of the QD75 refers to the point when the pulse output from QD75 is completed Thus even if the QD75 s positioning complete signal turns ON the system...

Страница 66: ...tion inching operation and manual pulse generator operation will stop By turning the axis stop signal ON during positioning operation the positioning operation will be stopped Whether to decelerate or...

Страница 67: ...r more 7VDC or less 1 0mA or less Approx 6 8k 4ms or less 5VDC 5mA 4 5 to 6 1VDC 2 5VDC or more 1mA or more 1VDC or less 0 1mA or less Approx 1 2k 1ms or less 1 Pulse width 2ms or more 1ms or more 1ms...

Страница 68: ...nect 1A15 No connect 2B14 No connect 2A14 No connect 1B14 No connect 1A14 No connect 2B13 No connect 2A13 No connect 1B13 No connect 1A13 No connect 2B12 No connect 2A12 No connect 1B12 No connect 1A1...

Страница 69: ...the upper limit for finding the near point dog signal Lower limit signal 1A2 1B2 2A2 2B2 This signal is input from the limit switch installed at the lower limit position of the stroke Positioning will...

Страница 70: ...A3 Near point dog signal DOG 1A4 Stop signal STOP 1A5 External command signal switching signal CHG 1A6 1A7 Common COM 1A19 PULSER A 1B19 Manual pulse generator A phase PULSER A 1A20 PULSER B 1B20 Manu...

Страница 71: ...3 20 MELSEC Q 3 SPECIFICATIONS AND FUNCTIONS MEMO...

Страница 72: ...ion wiring or maintenance and always following the precautions 4 1 Outline of installation wiring and maintenance 4 2 4 1 1 Installation wiring and maintenance procedures 4 2 4 1 2 Names of each part...

Страница 73: ...mble the connector Connect the cable to the module QD75 Wire and connect the manufactured cable to QD75 after reading the precautions for wiring Confirming the installation and wiring Servicing the mo...

Страница 74: ...play LED 3 External device connector AX2 Axis 2 AX3 Axis 3 AX4 Axis 4 Refer to Section 3 4 2 Signal layout for external device connection connector for details 4 SSCNET cable connector No Name Details...

Страница 75: ...X3 AX4 RUN illuminates ERR is OFF The module operates normally RUN ERR AX1 AX2 AX3 AX4 ERR flashes AX1 or other axis flashes An error occurs on the corresponding axis RUN ERR AX1 AX2 AX3 AX4 ERR illum...

Страница 76: ...ire scraps do not enter the module Failure to observe this could lead to fires trouble or malfunctioning Never disassemble or modify the module Failure to observe this could lead to trouble malfunctio...

Страница 77: ...s on the cable Do not damage the cable sheath 3 Installation environment Do not install the module in the following type of environment Where the ambient temperature exceeds the 0 to 55 C range Where...

Страница 78: ...stalling the QD75 are given below Refer to this section as well as 4 1 3 Handling precautions when carrying out the work 1 Precautions for SSCNET cable wiring If the duct is below the bottom of the mo...

Страница 79: ...he PLC outside the general specification range environment could lead to electric shocks fires malfunctioning product damage or deterioration Don t directly touch the conductive area or electronic com...

Страница 80: ...e films to prevent foreign objects such as cable off cuts from entering the module when wiring Do not remove this film until the wiring is complete Before operating the system be sure to remove the fi...

Страница 81: ...is being used and cables to connect to QD75 are separated from the power line duct use metal piping Ground the pipes securely after metal piping 4 If cables to connect to QD75 absolutely must be posit...

Страница 82: ...FG wire and each shielded cable Coat the wire with insulaing tape Remove the covering from all shielded cables and bind the appeared shield with a conductive tape Solder the shield of any one of the...

Страница 83: ...Electric for grounding connected to the control box and the shielded cable the SSCNET cable QD75 20cm 7 88inch to 30cm 11 82inch Inside control box AD75CK How to ground shielded cable using AD75CK Sh...

Страница 84: ...oise source Power system etc Relay Relay Relay PLC QD 75 Servo amplifier Servo amplifier The servo amplifiers are placed near the noise source The connection cable between the QD75 and servo amplifier...

Страница 85: ...dress increment direction in the actual positioning work and whether the QD75 recognizes the external input output signals such as the near point dog signal and stop signal can be checked Refer to GX...

Страница 86: ...externally before cleaning or tightening the screws Failure to turn all phases OFF could lead to electric shocks CAUTION Never disassemble or modify the module Failure to observe this could lead to t...

Страница 87: ...4 16 MELSEC Q 4 INSTALLATION WIRING AND MAINTENANCE OF THE PRODUCT MEMO...

Страница 88: ...rameters 5 6 5 1 4 Setting items for servo parameters 5 7 5 1 5 Setting items for positioning data 5 9 5 1 6 Setting items for block start data 5 12 5 1 7 Setting items for condition data 5 13 5 1 8 T...

Страница 89: ...ndition data Set the condition data for high level positioning control Memo data Set the condition judgment values for the condition data used in high level positioning control to Pr 1 Pr 57 to Pr 1 P...

Страница 90: ...ecifications and the operation history Axis monitor data Monitors the data related to the operating axis such as the current position and speed to Md 1 Md 47 to Md 1 Md 19 to Md 20 Md 47 to Md 101 Md...

Страница 91: ...S Pr 3 Movement amount per rotation AL Pr 4 Unit magnification AM 12 3 2 Basic parameters 1 Pr 7 Bias speed at start Pr 8 Speed limit value 12 4 1 Pr 9 Acceleration time 0 Basic parameters 2 Pr 10 Dec...

Страница 92: ...on time 12 7 7 Pr 37 Stop group 1 sudden stop selection Pr 38 Stop group 2 sudden stop selection Pr 39 Stop group 3 sudden stop selection Pr 40 Positioning Complete signal output time Pr 41 Allowable...

Страница 93: ...oint dog ON Pr 51 OPR acceleration time selection Pr 52 OPR deceleration time selection Pr 53 OP shift amount S S S Pr 54 OPR torque limit value Pr 56 Speed designation during OP shift S S S OPR detai...

Страница 94: ...o tuning Servo basic parameters Pr 109 Servo response Pr 112 Load inertia ratio Pr 113 Position loop gain 1 Pr 114 Speed loop gain 1 Pr 115 Position loop gain 2 Pr 116 Speed loop gain 2 Pr 117 Speed i...

Страница 95: ...144 Slight vibration suppression control selection 2 Pr 145 Induction voltage compensation Pr 149 Gain changing selection Pr 150 Gain changing condition Pr 151 Gain changing time constant Pr 152 Rati...

Страница 96: ...Da 2 Control system Linear 1 Linear 2 Linear 3 Linear 4 Fixed feed 1 Fixed feed 2 Fixed feed 3 Fixed feed 4 Circular sub Circular right Circular left Forward run speed 1 Reverse run speed 1 Forward r...

Страница 97: ...Q 5 DATA USED FOR POSITIONING CONTROL Checking the positioning data The items Da 1 to Da 10 are checked at the following timings 1 Startup of a positioning operation 2 Error check performed by GX Conf...

Страница 98: ...5 11 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Страница 99: ...h setting item High level positioning control Block start data Block start Normal start Condition start Wait start Simultaneous start Repeated start FOR loop Repeated start FOR condition Da 11 Shape s...

Страница 100: ...control High level positioning control Control Condition data Other than JUMP instruction JUMP instruction Block start Normal start Condition start Wait start Simul taneous start Repeated start FOR lo...

Страница 101: ...toring details Corresponding item Whether the system is in the test mode or not Md 1 In test mode flag Start information Md 3 Start information Start No Md 4 Start No Hour Md 5 Start Hour Start Minute...

Страница 102: ...toring the speed Monitor details Corresponding item During independent axis control Indicates the speed of each axis When 0 Composite speed is set for Pr 20 Interpolation speed designation method Indi...

Страница 103: ...etitions special start Md 41 Special start repetition counter Monitor the remaining No of repetitions control system Md 42 Control system repetition counter Monitor the block No Md 45 Block No being e...

Страница 104: ...5 17 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Страница 105: ...tem data or machine operation Controlling the system data Setting and resetting QD75 setting data through the system control data Cd 1 and Cd 2 Controlling the operation Setting operation parameters c...

Страница 106: ...g data selection Specify data to be taught Cd 39 Teaching positioning data No Controlling operation per step Control details Corresponding item Stop positioning operation after each operation Cd 35 St...

Страница 107: ...g when target position is changed during positioning Cd 29 Target position change request flag Set new positioning address when changing target position during positioning Cd 27 Target position change...

Страница 108: ...5 21 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Страница 109: ...e Pr 4 Unit magnification AM 1000 1000 times 1000 1 1 151 301 451 Pr 7 Bias speed at start Not used 0 6 7 156 157 306 307 456 457 This buffer memory address in QD75M is different from QD75P Pr 1 Unit...

Страница 110: ...ft If you are using the Mitsubishi servo amplifier MR H BN MR J2 B MR J2S B MR J2 03B5 set the value given as the resolution per servomotor rotation in the speed position detector specifications No of...

Страница 111: ...is maximum value Movement amount per rotation AL PB 1 n Movement amount per rotation AL Unit magnification AM Note The unit magnification AM is a value of 1 10 100 or 1000 If the PB 1 n value exceeds...

Страница 112: ...5 25 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Страница 113: ...ult value Axis 1 Axis 2 Axis 3 Axis 4 Pr 8 Speed limit value The setting range differs depending on the Pr 1 Unit setting Here the value within the Table 1 range is set Table 1 on right page 200000 10...

Страница 114: ...kpiece movement speed Pr 9 Acceleration time 0 Pr 10 Deceleration time 0 Pr 9 Acceleration time 0 specifies the time for the speed to increase from zero to the speed limit value Pr 8 Pr 10 Deceleratio...

Страница 115: ...troke limit selection 1 Apply software stroke limit on machine feed value 1 0 22 172 322 472 0 Software stroke limit valid during JOG operation inching operation and manual pulse generator operation 0...

Страница 116: ...eral device unit Value set with sequence program unit 0 mm 0 to 6553 5 m 0 to 65535 10 1 m 1 inch 0 to 0 65535 inch 0 to 65535 10 5 inch 2 degree 0 to 0 65535 degree 0 to 65535 10 5 degree 3 PLS 0 to...

Страница 117: ...to validate the software stroke limit during JOG Inching operation and manual pulse generator operation Setting value setting range Setting value buffer memory address Item Value set with peripheral d...

Страница 118: ...e ON signal is turned ON when a positioning operation starts m1 m2 01 continuous 00 end Positioning start signal Y10 Y11 Y12 Y13 BUSY signal XC XD XE XF Positioning M code ON signal X4 X5 X6 X7 M code...

Страница 119: ...value during speed control 2 Clear current feed value to zero 2 0 30 180 330 480 b0 Lower limit b1 Upper limit b2 Not used b3 Stop signal b4 External command b5 Not used b6 Near point signal b7 Not us...

Страница 120: ...d 0 Composite speed The movement speed for the control target is designated and the speed for each axis is calculated by the QD75 1 Reference axis speed The axis speed set for the reference axis is de...

Страница 121: ...abling and disabling the update of Md 20 Current feed value depends on how the reference axis is set Note2 Set 2 to exercise speed position switching control ABS mode Pr 22 Input signal logic selectio...

Страница 122: ...5 35 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Страница 123: ...ers depending on the Pr 1 Unit setting Here the value within the Table 1 range is set Table 1 on right page 20000 48 49 198 199 348 349 498 499 0 Pr 9 Acceleration time 0 0 1 Pr 25 Acceleration time 1...

Страница 124: ...alue to less than Pr 8 Speed limit value If the speed limit value is exceeded the JOG speed limit value error error code 956 will occur Pr 32 JOG operation acceleration time selection Set which of acc...

Страница 125: ...0 54 55 204 205 354 355 504 505 Pr 37 Stop group 1 sudden stop selection 56 206 356 506 0 Normal deceleration stop 0 Pr 38 Stop group 2 sudden stop selection 57 207 357 507 Pr 39 Stop group 3 sudden s...

Страница 126: ...S pattern acceleration deceleration process The S pattern ratio indicates where to draw the acceleration deceleration curve using the Sin curve as shown below A B B 2 B 2 V t V t b a 0 7 b a sin curv...

Страница 127: ...leration starts following the sudden stop deceleration time 3 Positioning stop When a sudden stop cause does not occur the decelera tion starts toward the stop position following the decel eration tim...

Страница 128: ...p 3 External stop signal Stop signal from PLC CPU Stop signal from peripheral device Error occurrence excludes errors in stop groups 1 and 2 includes only the software stroke limit errors during JOG o...

Страница 129: ...quest 1 2 Speed position position speed switching request 2 Pr 42 External command function selection 3 Skip request 3 0 62 212 362 512 Pr 201 Restart allowable range when servo OFF to ON 0 1 to 16384...

Страница 130: ...carried out to the set end point address while compensating the error with spiral interpolation The allowable circular interpolation error width is set in the following axis buffer memory addresses If...

Страница 131: ...p request The external command signal input is used skip the current positioning operation POINT To enable the external command signal set the Cd 8 External command enable to 1 Pr 201 Restart allowabl...

Страница 132: ...of the QD75 at the time the servo ON signal when from ON to OFF and the present value at the time the servo ON signal went from OFF to ON is greater than the value set in the buffer memory for the res...

Страница 133: ...e or other force while the servo is OFF e Restart can only be executed while the operating status of the axis is stop Restart cannot be executed when the operation status of the axis is other than sto...

Страница 134: ...5 47 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Страница 135: ...unt method 2 After decelerating at the near point dog ON move the designated distance and complete the OPR 6 Data set method The position where the OPR has been made will be the OP Note Refer to 8 2 2...

Страница 136: ...signal after moving the movement amount after near point dog ON Movement amount after near point dog ON Md 34 The near point dog must turn OFF at a sufficient distance away from the OP position 5 Cou...

Страница 137: ...range is set Table 2 on right page 1 74 75 224 225 374 375 524 525 Pr 44 OPR direction Set the direction to start movement when starting machine OPR 0 Positive direction address increment direction Mo...

Страница 138: ...h 0 001 to 2000000 000 inch min 1 to 2000000000 10 3 inch min 2 degree 0 001 to 2000000 000 degree min 1 to 2000000000 10 3 degree min 3 PLS 1 to 10000000 PLS s 1 to 10000000 PLS s Pr 45 OP address Se...

Страница 139: ...Here the value within the Table 1 range is set Table 1 on right page 1 76 77 226 227 376 377 526 527 0 Do not retry OPR with limit switch 0 Pr 48 OPR retry 1 Retry OPR with limit switch 1 0 78 228 378...

Страница 140: ...point dog signal is detected 2 the axis will decelerate to a stop and then will move in the direction opposite the OPR direction 3 If it is detected that the near point dog signal has turned OFF whil...

Страница 141: ...0 1 Pr 25 Acceleration time 1 1 2 Pr 26 Acceleration time 2 2 Pr 51 OPR acceleration time selection 3 Pr 27 Acceleration time 3 3 0 82 232 382 532 0 Pr 10 Deceleration time 0 0 1 Pr 28 Deceleration ti...

Страница 142: ...value of Pr 50 Movement amount after near point dog is calculated as follows Deceleration distance 1 2 Vz 1000 t 0 01 Vz Conversion to a speed based on distance per 1 ms Tb Vz Vp 0 01 Vz Vz 2000 300...

Страница 143: ...ep speed 1 0 88 238 388 538 Pr 57 Dwell time during OPR retry 0 to 65535 ms 0 to 65535 ms 0 to 32767 Set as a decimal 32768 to 65535 Convert into hexadecimal and set 0 89 239 389 539 Pr 53 OP shift am...

Страница 144: ...rvomotor torque after reaching the creep speed during OPR Refer to 12 4 2 Torque limit function for details on the torque limits Pr 56 Speed designation during OP shift Set the operation speed for whe...

Страница 145: ...valid When used to the absolute position detection system 1 valid POINT When absolute position detection selection invalid is selected with incremental encoder a parameter error occurs Absolute positi...

Страница 146: ...value Axis 1 Axis 2 Axis 3 Axis 4 0 to 4 3 30100 30200 30300 30400 0 to 1 0 30101 30201 30301 30401 3 3 3 3 Regenerative selection brake option 0 H Select the external dynamic brake 1 is used to set...

Страница 147: ...100 5 Set up 5H Example 2 For used motor capacity is 22kW 22 kW 100 2200 Set up 2200H POINT Be sure to set up motor capacity Communication with servo amplifier isn t started by the initial value 0 in...

Страница 148: ...2 Axis 3 Axis 4 Motor type selection 0 0 H 1 is used to set up the setting value Hexadecimal 80H 30103 30203 30303 30403 0000 to FFFF 0000H 30104 30204 30304 30404 1 to 3 1 30105 30205 30305 30405 0 F...

Страница 149: ...n mode B Large friction mode C Large friction mode 1 Low response 15Hz 2 Low response 20Hz 3 Low response 25Hz 4 Low response 30Hz 5 Low response 35Hz 6 Low response 45Hz 7 Low response 55Hz 8 Middle...

Страница 150: ...device Setting value buffer memory address Servo amplifier setting invalid Invalid Valid MR H BN MR H BN4 MR J2 B MR J2S B MR J2 Jr MR J2M B Value set with sequence program Default value Axis 1 Axis...

Страница 151: ...flash ROM 0 to 300 0 times 4 to 1000 rad s Pr 113 Position loop gain 1 Used to set the gain of position loop 1 Increase the gain to improve trackability performance in response to the position comman...

Страница 152: ...BN MR H BN4 MR J2 B MR J2S B MR J2 Jr MR J2M B Value set with sequence program Default value Axis 1 Axis 2 Axis 3 Axis 4 0 to 1000 0 to 3000 70 30112 30212 30312 30412 4 to 1000 4 to 2000 35 30113 302...

Страница 153: ...z 19 180 Hz 0A 450 Hz 1A 173 1 Hz 0B 409 1 Hz 1B 166 7 Hz 0C 375 Hz 1C 160 1 Hz 0D 346 2 Hz 1D 155 2 Hz 0E 321 4 Hz 1E 150 Hz Notch filter selection 0F 300 Hz 1F 145 2 Hz Pr 118 Machine resonance supp...

Страница 154: ...dress Servo amplifier setting invalid Invalid Valid MR H BN MR H BN4 MR J2 B MR J2S B MR J2 Jr MR J2M B Value set with sequence program Default value Axis 1 Axis 2 Axis 3 Axis 4 Notch filter selection...

Страница 155: ...off 0 to 1000 ms 0 Speed output 1 Torque output 2 Speed output 3 Torque output 4 Current command output 5 Command speed output 6 Droop pulses 1 1 output 7 Droop pulses 1 4 output 8 Droop pulses 1 16 o...

Страница 156: ...tting invalid Invalid Valid MR H BN MR H BN4 MR J2 B MR J2S B MR J2 Jr MR J2M B Value set with sequence program Default value Axis 1 Axis 2 Axis 3 Axis 4 0 to 50000 100 30120 30220 30320 30420 0 to 10...

Страница 157: ...put signal from analog monitor ch1 and ch2 of the servo amplifier B Bus voltage servo amplifier of 100V 200V 8V 400V servo amplifier of 400V 8V 800V Servo forced stop selection 0 Valid Use the forced...

Страница 158: ...tor 2 output setting 0 0 Monitor 1 output setting 1 is used to set up the setting value Hexadecimal H 0001H 30122 30222 30322 30422 Servo forced stop selection 0 Serial encoder cable setting Low acous...

Страница 159: ...occurs 3 Emergency stop input turn off Valid 1 Output is executed when status of 1 to 3 and rotation speed of the servomotor are less than Pr 130 Low pass filter selection 0 Valid Automatic adjustment...

Страница 160: ...g Electromagnetic brake interlock output timing setting 0 Motor less operation selection 1 is used to set up the setting value Hexadecimal H 0000H 30124 30224 30224 30424 Low pass filter selection 0 A...

Страница 161: ...77 ms 1 3 55 ms 2 7 11 ms 3 14 22 ms Pr 129 Pre alarm data selection Pre alarm data sampling time selection Used to set the pre alarm data selection 4 28 44 ms Pr 130 Zero speed Used to set the outpu...

Страница 162: ...arm data selection 1 Pre alarm data selection 2 0001H 30129 30229 30329 30429 0 to 10000 50 30130 30230 30330 30430 1 to 1000 80 30131 30231 30331 30431 PI PID control switch over selection H 0 0 Serv...

Страница 163: ...34 PI PID control switch over position droop Used to select the position droop value Number of pulse which PI control is switched over to PID control The parameter Pr 132 becomes effective when a para...

Страница 164: ...lse setting selection OPR set condition selection 1 is used to set up the setting value Hexadecimal H 0000H 30133 30233 30333 30433 0 to 50000 0 30134 30234 30334 30434 0 to 1000 980 30136 30236 30336...

Страница 165: ...re than Command frequency KPPS 3 Effective in more than Droop pulse PLS 4 Effective in more than Model speed r min Pr 150 Gain changing condition Used to set the ratio of changing Pr 152 to Pr 155 whe...

Страница 166: ...ed integral compensation shift value H 0111H 30143 30243 30343 30443 0 to 1000 20 30144 30244 30344 30444 0 to 100 50 30145 30245 30345 30445 0 2 to 4H 0000H 30149 30249 30349 30449 0 to 9999 10 30150...

Страница 167: ...4500 Hz 11 264 7 Hz 02 2250 Hz 12 250 Hz 03 1500 Hz 13 236 8 Hz 04 1125 Hz 14 225 Hz 05 900 Hz 15 214 3 Hz 06 750 Hz 16 204 5 Hz 07 642 9 Hz 17 195 7 Hz 08 562 5 Hz 18 187 5 Hz 09 500 Hz 19 180 Hz 0A...

Страница 168: ...55 30355 30455 0 Encoder output pulse direction selection H 0 0 1 is used to set up the setting value Hexadecimal 0000H 30160 30260 30360 30460 Notch filter frequency 0 Notch depth selection selection...

Страница 169: ...997 7998 7999 u q Da 1 Da 4 P u A h X Da 5 A h X Da 6 w x Da 7 h E F C Da 8 M R h Da 9 u f 600 u q Da 1 Da 4 P u A h X Da 5 A h X Da 6 w x Da 7 h E F C Da 8 M R h Da 9 u f 599 u q Da 1 Da 4 P u A h X...

Страница 170: ...99 Buffer memory address 2 3 600 599 u q Da 1 Da 4 P u A h X Da 5 A h X Da 6 w x Da 7 h E F C Da 8 M R h Da 9 u q Da 1 Da 4 P u A h X Da 5 A h X Da 6 w x Da 7 h E F C Da 8 M R h Da 9 u q Da 1 Da 4 P u...

Страница 171: ...ar interpolation control with center point specified INC CCW 12H VF2 2 axis speed control forward run 13H VR2 2 axis speed control reverse run 14H ABS3 3 axis linear interpolation control ABS 15H INC3...

Страница 172: ...ntrol Positioning is carried out successively in order of data Nos with one start signal The operation does not stop at each positioning data Da 2 Control system Set the control system for carrying ou...

Страница 173: ...or will occur during the program execution error code 521 This item does not need to be set in case 3 or 4 axis interpolation is selected Setting value setting range Setting value buffer memory addres...

Страница 174: ...e m Value set with sequence program 1 10 1 m ABS Linear 1 01H ABS Linear 2 0AH ABS Linear 3 15H ABS Linear 4 1AH Current value changing 81H Set the address 214748364 8 to 214748364 7 Set the address 2...

Страница 175: ...movement amount needs to be set Da 2 setting value Value set with peripheral device degree Value set with sequence program 1 10 5 degree ABS Linear 1 01H ABS Linear 2 0AH ABS Linear 3 15H ABS Linear 4...

Страница 176: ...ar 2 0BH INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 2147483648 to 2147483647 Set the movement amount 2147483648 to 21...

Страница 177: ...ear 2 0BH INC Linear 3 16H INC Linear 4 1BH Fixed feed 1 03H Fixed feed 2 0CH Fixed feed 3 17H Fixed feed 4 1CH Set the movement amount 21474 83648 to 21474 83647 Set the movement amount 2147483648 to...

Страница 178: ...5 91 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Страница 179: ...hen carrying out circular interpolation with sub point designation set the sub point passing point address as the arc address 2 When carrying out circular interpolation with center point designation s...

Страница 180: ...ress does not need to be set Da 2 setting value Value set with peripheral device PLS Value set with sequence program 1 PLS ABS circular sub 0DH ABS circular right 0FH ABS circular left 10H Set the add...

Страница 181: ...tion data Da 10 M code condition data No of LOOP to LEND repetitions The setting value range differs according to the Da 2 Control method Here the value within the Table 3 range is set Table 3 on righ...

Страница 182: ...ecify 0 error code 545 The condition data specifies the condition for the JUMP instruction to be executed A JUMP will take place when the condition is satisfied Table 1 Pr 1 setting value Value set wi...

Страница 183: ...ation pattern ON V t V t V t 1 When Da 1 Operation pattern in 00 Positioning end Set the time from when the positioning ends to when the positioning complete signal turns ON as the dwell time Position...

Страница 184: ...5 97 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Страница 185: ...oint 50th point Axis 1 Start block 0 27049 27099 27001 27051 u n f b15 b0 b7 b8 Da 11 Shape Da 12 Start data No 27000 b15 b0 b7 b8 Da 13 Special start instruction Da 14 Parameter 27050 Setting item Bu...

Страница 186: ...h point Axis 3 Start block 0 29049 29099 29001 29051 u n f b15 b0 b7 b8 Da 11 Shape Da 12 Start data No 29000 b15 b0 b7 b8 Da 13 Special start instruction Da 14 Parameter 29050 Setting item Buffer mem...

Страница 187: ...art block 0 Condition data 1 to 10 Axis 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 10 7001 Axis 4 Start block 1 Condition data 1 to 10 Axis 1 Condition data 1 to...

Страница 188: ...data No 1 to 600 01H to 258H 01H to 258H b15 b0 b3 b7 b11 0 0 0 Start data No Shape 0000H 26000 27000 28000 29000 0 Block start normal start 00H 1 Condition start 01H 2 Wait start 02H 3 Simultaneous s...

Страница 189: ...in condition data for the designated positioning data and when the conditions are established execute the block start data If not established stop the control wait until the conditions are establishe...

Страница 190: ...5 103 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Страница 191: ...y address Axis 1 start block 0 Open Up to 10 block start data points can be set stored for each axis in the buffer memory addresses shown on the left Items in a single unit of condition data are shown...

Страница 192: ...ddress Buffer memory address Open 10th point Setting item 2nd point 29190 29191 29192 29193 29194 29195 29196 29197 29198 29199 29110 29111 29112 29113 29114 29115 29116 29117 29118 29119 Setting item...

Страница 193: ...art block 0 Condition data 1 to 10 Axis 1 Condition data 1 to 10 Axis 2 Condition data 1 to 10 Axis 3 Condition data 1 to 10 7001 Axis 4 Start block 1 Condition data 1 to 10 Axis 1 Condition data 1 to...

Страница 194: ...Axes 1 2 and 3 selected 70H 80 Axis 4 selected 80H 90 Axes 1 and 4 selected 90H A0 Axes 2 and 4 selected A0H B0 Axes 1 2 and 4 selected B0H C0 Axes 3 and 4 selected C0H D0 Axes 1 3 and 4 selected D0H...

Страница 195: ...05H P1 P2 03H Buffer memory 1 word 04H Buffer memory 2 word 06H P1 P2 Select how to use the value in the buffer memory as a part of the condition 10H Axis 1 selected 20H Axis 2 selected 30H Axes 1 and...

Страница 196: ...2 Set the parameters as required for the Da 16 Condition operator Da 16 Condition operator Setting value Setting details 01H P1 02H P1 03H P1 04H P1 Not used No need to be set 05H P1 P2 06H P1 P2 Valu...

Страница 197: ...ING CONTROL 5 6 List of monitor data 5 6 1 System monitor data Storage item Storage details Md 1 In test mode flag Whether the mode is the test mode from the peripheral device or not is stored When no...

Страница 198: ...onitor value Default value Storage buffer memory address common for axis 1 to axis 4 Monitoring is carried out with a decimal Storage value 0 Not in test mode 1 In test mode Monitor value 0 1200 Unles...

Страница 199: ...3 3 2 9010 OPR 2 3 3 3 9011 Manual pulse generator 2 3 2 9 9001 High speed zero point return 2 3 2 A 9002 Current value changing 2 3 2 B 9003 b15 b12 b8 b4 b0 A B C D B A C D Buffer memory Monitor va...

Страница 200: ...1216 Starting history Md 3 Start information Md 4 Start No 1292 Md 8 Pointer Md 5 Start hour Md 6 Start min sec Md 7 Error judgement Indicates a pointer No that is next to the Pointer No assigned to...

Страница 201: ...Monitor value D C B A Error flag OFF Stored contents Storage value 0 1 Error flag ON Error flag Error No Convert the hexadecimal value a B C D into a decimal value and match it with 15 2 List of error...

Страница 202: ...roy Md 3 Start information Md 4 Start No 1292 Md 8 Start history pointer Md 5 Start hour Md 6 Start min sec Md 7 Error judgement Indicates a pointer No that is next to the Pointer No assigned to the l...

Страница 203: ...ected Monitoring is carried out with a hexadecimal display 0 b15 b12 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 b8 b4 b0 0 1 5 0 Buffer memory stored with BCD code 0 to 2 0 to 3 00 to 23 hour Monitor value 0 0 1 5...

Страница 204: ...error No 1357 Md 13 Error history pointer Md 11 Axis error occurrence hour Md 12 Indicates a pointer No that is next to the Pointer No assigned to the latest of the existing error history records Eac...

Страница 205: ...to 3 00 to 23 hour Monitor value 0 0 1 5 Not used Md 17 Axis warning occurrence Minute second Stores the time at which an axis warning was detected Monitoring is carried out with a hexadecimal display...

Страница 206: ...o 1422 Md 18 Warning history pointer Md 16 Axis warning occurrence hour Md 17 Indicates a pointer No that is next to the Pointer No assigned to the latest of the existing warning history records Each...

Страница 207: ...l not be cleared to 0 at the beginning of fixed feed control Even if degree is selected as the unit the addresses will not have a ring structure for values between 0 and 359 99999 degrees Machine coor...

Страница 208: ...e 800 High order buffer memory Example 801 Sorting Decimal integer value Converted from hexadecimal to decimal 1 m 5 inch 5 degree 0 PLS n Unit n 2 mm min 3 inch min 3 degree min 0 PLS s Unit Unit con...

Страница 209: ...tores an M code that is currently active i e set to the positioning data relating to the current operation Update timing turning ON of the M code ON signal When the PLC READY signal Y0 goes OFF the va...

Страница 210: ...Interpolation 3 JOG operation 4 Manual pulse generator operation 5 Analyzing 6 Special start standby 7 OPR 8 Position control 9 Speed control 10 Speed control in speed position switching control 11 P...

Страница 211: ...POINT Refer to Md 22 Feedrate Md 29 Speed position switching control positioning amount The value set as the movement amount for the position control to end after changing to position control with th...

Страница 212: ...nit n 2 mm min 3 inch min 3 degree min 0 PLS s Unit Unit conversion table Unit conversion Actual value High order buffer memory Low order buffer memory R 10n Unit conversion table Md 29 Axis feedrate...

Страница 213: ...trol P11 as the operation pattern The state of this signal is monitored every 3 5 ms except when the monitoring is canceled under the speed control or while the speed control is in effect during the s...

Страница 214: ...memory Not used Default value Stored items Meaning Not used In speed control flag Speed position switching latch flag Command in position flag OPR request flag OPR complete flag Axis warning detectio...

Страница 215: ...cceleration deceleration state inside each piece of data changes with the speed change because the target speed changes Md 34 Movement amount after near point dog ON 0 is stored when OPR starts After...

Страница 216: ...memory Example 820 High order buffer memory Example 821 Sorting Decimal integer value Converted from hexadecimal to decimal 1 m 5 inch 5 degree 0 PLS n Unit n 2 mm min 3 inch min 3 degree min 0 PLS s...

Страница 217: ...t positioning data No setting value The positioning data No indicated by the start data pointer currently being executed is stored Md 39 In speed limit flag If the speed exceeds the Pr 8 Speed limit v...

Страница 218: ...ith a decimal display Storage value Monitor value setting value Md 36 00 06 01 02 03 05 04 1 to 10 0 to 255 Stored contents Storage value None None Condition data No of repetitions 0 828 928 1028 1128...

Страница 219: ...ing executed This area stores a point No 1 to 50 attached to the start data currently being executed This area stores 0 after completion of a positioning operation Md 44 Positioning data No being exec...

Страница 220: ...Storage value 1 to 600 0 835 935 1035 1135 Monitoring is carried out with a decimal display Monitor value Storage value 1 to 50 0 836 936 1036 1136 Monitoring is carried out with a decimal display Mon...

Страница 221: ...ifference between the feed present and the actual present value Buffer memory details PLS Md 103 Motor rotation speed This area stores the present rotation speed of the servomotor Buffer memory 0 1 rp...

Страница 222: ...Md 100 OPR re travel value Md 101 Real current value Md 102 Divation counter value Md 103 Motor rotation speed Unit conversion table Md 103 n Unit n Unit 0 854 855 954 955 1054 1055 1154 1155 Monitori...

Страница 223: ...ower than the servo parameter zero speed Torque being restricted Turns ON when the servo amplifier is having the torque restricted Servo alarm Turn ON during the servo alarm Servo warning Turn ON duri...

Страница 224: ...Servo ON Zero point pass In position Zero speed Torque limit Servo alarm Servo warning Stored items Meaning POINT When the servo forced stop occurs the b13 servo alarm and the b14 servo warning is tur...

Страница 225: ...riting to the flash ROM is completed 3 The number of writes to the flash ROM with the PLC program is 25 max while the power is turned ON Writing to the flash ROM beyond 25 times will cause an error er...

Страница 226: ...te access to flash ROM The QD75 resets the value to 0 automatically when the write access completes This indicates the completion of write operation 0 1900 Set with a decimal Setting value K Parameter...

Страница 227: ...ing Handled as 1 if the value of other than 1 to 50 is set Cd 5 Axis error reset Clears the axis error detection axis error No axis warning detection and axis warning No When the QD75 axis operation s...

Страница 228: ...interrupted 1 to 50 0 1501 1601 1701 1801 Set with a decimal K 1 Error reset request Setting value After the axis error reset is completed 0 is stored by the QD75 automatically Indicates that the axis...

Страница 229: ...ommand signals When changing the current feed value using the start No 9003 use this data item to specify a new feed value Set a value within the following range Pr 1 mm 10 1 m inch 10 5 inch degree 1...

Страница 230: ...cimal Setting value External command valid 0 Invalidates an external command 1 Validates an external command K 0 1505 1605 1705 1805 Set with a decimal Actual value Conversion into an integer value Cd...

Страница 231: ...to 8388608 ms Cd 10 New acceleration time value When changing the deceleration time during a speed change use this data item to specify a new deceleration time Cd 11 setting range unit 0 to 8388608 m...

Страница 232: ...eleration time value Setting value Example When the Cd 10 New acceleration time value is set as 60000 ms the buffer memory stores 60000 0 1510 1511 1610 1611 1710 1711 1810 1811 Set with a decimal Set...

Страница 233: ...ns below the minimum unit the speed is raised to make a complete unit and the warning No 110 is output When changing the speed use this data item to specify a new speed The operation halts if you spec...

Страница 234: ...lue Override value 1 to 300 K 100 1513 1613 1713 1813 Set with a decimal 0 1514 1515 1614 1615 1714 1715 1814 1815 Set with a decimal Setting value Speed change request 1 Executes speed change K The Q...

Страница 235: ...0 to 65535 0 to 65535 0 to 65535 Cd 16 Inching movement amount Use this data item to set the JOG speed Set a value within the following range Pr 1 mm 10 2 mm min inch 10 3 inch min degree 10 3 degree...

Страница 236: ...Actual value Conversion into an integer value Cd 17 JOG speed 10n Unit conversion table Cd 17 n 2 mm min 3 inch min 3 degree min 0 PLS s Unit R Setting value Decimal Example When the Cd 17 JOG speed...

Страница 237: ...tem determines the factor by which the number of pulses from the manual pulse generator is magnified Value 0 read as 1 Value 101 or less read as 100 Cd 21 Manual pulse generator enable flag This data...

Страница 238: ...ned OFF This indicates the completion of OPR request flag OFF request 1 0 1521 1621 1721 1821 Set with a decimal Setting value K Manul pulse generator 1 pulse input magnification 1 to 100 1 1522 1523...

Страница 239: ...3 Speed position switching control movement amount change register Cd 24 Speed position switching enable flag Set whether the external control signal external command signal CHG speed position positio...

Страница 240: ...1726 1727 1826 1827 Set with a decimal Setting value K Speed position switching enable flag 0 Speed control will not be taken over by position control even when the external command signal comes ON 1...

Страница 241: ...47483647 2147483648 to 2147483647 0 to 35999999 2147483648 to 2147483647 INC 2147483648 to 2147483647 2147483648 to 2147483647 2147483648 to 2147483647 2147483648 to 2147483647 Cd 27 Target position c...

Страница 242: ...ting value Decimal 10n n 1 m 5 inch 5 degree 0 PLS Unit n 2 mm min 3 inch min 3 degree min 0 PLS s Unit Conversion into an integer value Unit conversion table Cd 27 Unit conversion table Cd 28 Cd 27 T...

Страница 243: ...t data No axis 3 start data No Cd 33 Simultaneous starting axis start data No axis 4 start data No Use these data items to specify a start data No for each axis that has to start simultaneously Set 0...

Страница 244: ...1742 1842 Set with a decimal Setting value K Cd 30 to Cd 33 1 to 600 Simultaneous starting axis start data No 0 1543 1643 1743 1843 Set with a decimal Setting value Step mode 0 Stepping by decelerati...

Страница 245: ...tion This data item specifies the teaching result write destination Cd 39 Teaching positioning data No This data item specifies data to be produced by teaching If a value between 1 and 600 is set a te...

Страница 246: ...0 automatically when processing of the skip request completes 1 Issues a skip request to have the machine decelerate stop and then start the next positioning operation 0 1547 1647 1747 1847 Set with...

Страница 247: ...e beside 0 is set in the Cd 101 Torque output setting value the torque generated by the servomotor will be limited by that value The Pr 17 Torque limit setting value of the servo adjustment parameter...

Страница 248: ...mal Setting value Servo OFF command 0 Servo ON 1 Servo OFF K When all axis servo ON is valid 0 1551 1651 1751 1851 Set with a decimal Setting value K Torque output setting 0 to 500 0 1552 1652 1752 18...

Страница 249: ...5 162 MELSEC Q 5 DATA USED FOR POSITIONING CONTROL MEMO...

Страница 250: ...created The first half of this chapter explains the program configuration of general control and the latter half explains the program details Create the required program while referring to the various...

Страница 251: ...s path control or continuous positioning control rewrite the data four positioning data items before the actual execution If the positioning data is not rewritten before the positioning data four item...

Страница 252: ...e two methods for communication with QD75 using the sequence program a method using an intelligent function device and a method using a FROM TO command In the sequence program in this chapter and subs...

Страница 253: ...nd change the command to a FROM command and a COMPARISON command RST M0 M0 FROMP D102 M0 K1521 H0 K1 RST M0 G1521 K0 D102 K0 0 0 Data read out U0 d When the circuit uses the intelligent function devic...

Страница 254: ...ation completed Y1 All axis servo ON signal All axis servo ON signal Y4 Y5 Y6 Y7 Axis stop signal Requesting stop Y8 YA YC YE Forward run JOG start signal Starting forward run JOG Y9 YB YD YF Reverse...

Страница 255: ...hing X3A Continuous operation interrupt command Commanding continuous operation interrupt command X3B Restart command Commanding restart X3C Parameter initialization command Commanding parameter initi...

Страница 256: ...M14 Acceleration deceleration time change command Requesting acceleration deceleration time change M15 Torque change command Requesting torque change M16 Step operation command pulse Step operation co...

Страница 257: ...sters and timers Device Device name Axis 1 Axis 2 Axis 3 Axis 4 Application Details of storage D0 OPR request flag Md 31 Status b3 D1 Speed low order 16 bits D2 Speed high order 16 bits Cd 25 Position...

Страница 258: ...lag D21 Step mode Cd 34 Step mode D22 Step start information D23 Target position low order 16 bits D24 Target position high order 16 bits Cd 27 New target position value address D25 Target speed low o...

Страница 259: ...pecial start instruction D75 Point 3 special start instruction D76 Point 4 special start instruction D77 Block start data Block 0 Point 5 special start instruction Da 11 Shape Da 12 Start data No Da 1...

Страница 260: ...order 16 bits D125 Command speed high order 16 bits D126 Positioning address low order 16 bits D127 Positioning address high order 16 bits D128 Circular interpolation address low order 16 bits D129 Ci...

Страница 261: ...nterpolation address Da 8 Command speed Da 9 Dwell time Da 10 M code D190 Positioning identifier D191 M code D192 Dwell time D193 Unused D194 Command speed low order 16 bits D195 Command speed high or...

Страница 262: ...high order 16 bits D248 Circular interpolation address low order 16 bits D249 Circular interpolation address high order 16 bits Data No 15 Da 1 Operation pattern Da 2 Control system Da 3 Acceleration...

Страница 263: ...1520 Interruption request during continuous operation Cd 18 Interruption request during continuous operation U0 G1521 OPR request flag OFF request Cd 19 OPR request flag OFF request U0 G1524 Manual pu...

Страница 264: ...n of the positioning control operation program is shown below Parameter and data are Set using GX Configurator QP Set using the sequence program Initialization program Parameter and data setting progr...

Страница 265: ...program that matches the positioning system Numbers are assigned to the following programs Configuring the program in the order of these numbers is recommended No 1 No 2 No 3 Start of program creation...

Страница 266: ...9 Error reset program Yes Absolute system No Continued on next page Carried out OPR request OFF program External command function valid setting program PLC READY signal Y0 ON program Refer to section...

Страница 267: ...section 6 5 3 Refer to section 11 2 4 Refer to section 11 4 4 Program to reset the start signal and turn the M code ON signal OFF Start details setting program Start program JOG operation program Manu...

Страница 268: ...Refer to section 12 5 1 Refer to section 12 5 3 Refer to section 12 5 4 Refer to section 12 7 1 Refer to section 12 7 2 Refer to section 12 7 4 Refer to section 6 5 4 Refer to section 6 5 5 Refer to s...

Страница 269: ...in this section No 1 to No 3 parameter and data setting program When setting the parameters or data with the sequence program set them in the QD75 using the TO command from the PLC CPU Carry out the...

Страница 270: ...6 21 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 271: ...6 22 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 272: ...6 23 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 273: ...6 24 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 274: ...6 25 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 275: ...6 26 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 276: ...6 27 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 277: ...6 28 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 278: ...6 29 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 279: ...6 30 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 280: ...6 31 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 281: ...6 32 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 282: ...6 33 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 283: ...6 34 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 284: ...6 35 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 285: ...6 36 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 286: ...6 37 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 287: ...6 38 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 288: ...6 39 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 289: ...6 40 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 290: ...6 41 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 291: ...6 42 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 292: ...6 43 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 293: ...6 44 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 294: ...6 45 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 295: ...6 46 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 296: ...6 47 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 297: ...6 48 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 298: ...6 49 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 299: ...6 50 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 300: ...6 51 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 301: ...6 52 MELSEC Q 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL...

Страница 302: ...etails on the setting details Time chart for OPR OFF request OFF ON OFF 0 1 0 ON OFF 0 PLC READY signal Y0 QD75 READY signal X0 OPR request OFF flag Md 31 Status b3 Cd 19 OPR request flag OFF request...

Страница 303: ...for details on the setting details 2 For high level positioning control set the positioning start point No of the block to be started in Cd 4 Positioning start point No Buffer memory address Setting...

Страница 304: ...ng item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 25 Position speed switching control speed change resister Used to set a new value when speed is changed during positioning control...

Страница 305: ...nal 1 1 ON 2 Y10 Servo amplifier Control with positioning data No 1 3 When starting positioning with the scan after the completion of positioning insert X10 as an interlock so that positioning is star...

Страница 306: ...servo is ON Y1 Synchronization flag 1 ON QD75 buffer memory Accessible X1 Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7 M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7 Error detec...

Страница 307: ...a When next positioning is not to be carried out If a dwell time is set the system will wait for the set time to pass and then positioning will be completed When positioning is completed the BUSY sig...

Страница 308: ...Positioning start complete signal BUSY signal Error detection signal OFF OFF ON ON ON ON OFF OFF OFF 9001 ON 1 ON 1 OFF 0 OFF 0 Near point dog V t OPR request flag Md 31 Status b3 Cd 3 Positioning st...

Страница 309: ...No Y10 Y0 X0 X10 XC X8 OFF ON All axis servo ON Y1 Fig 6 5 Time chart for starting fast OPR 3 Time chart for starting major positioning control 1 V t Positioning data No Dwell time 2 00 Operation pat...

Страница 310: ...lag Y10 Y0 X0 X10 XC X14 X8 external All axis servo ON Y1 Fig 6 7 Time chart for starting speed position switching control 5 Time chart for starting position speed switching control Positioning start...

Страница 311: ...ion status OPR request flag Md 31 Status b3 Positioning start signal Y10 Y11 Y12 Y13 XC XD XE XF Start complete signal X10 X11 X12 X13 OPR complete flag Md 31 Status b4 Fig 6 9 Machine OPR operation t...

Страница 312: ...e signal X10 X11 X12 X13 M code ON signal AFTER mode X4 X5 X6 X7 X14 X15 X16 X17 Positioning complete signal OPR complete flag Md 31 Status b4 Fig 6 10 Position control operation timing and process ti...

Страница 313: ...ng start with the external command signal set parameter Pr 42 beforehand and validate the external command signal with the external command signal validity setting program program No 5 Buffer memory a...

Страница 314: ...en stop command turns ON Start Positioning data No 10 Positioning data No 11 Positioning data No 12 V t Stop process at continuous operation interrupt request Cd 18 is set 1 ON Stop command ON For Sto...

Страница 315: ...top process when operation cannot stop at positioning data No 10 Positioninig data No 10 Positioning data No 11 Positioning data No 12 Continuous operation interrupt request Even when the continuous o...

Страница 316: ...ed while stopped an error Stop signal ON at start error code 106 will occur and the Md 26 Axis operation status will change to error occurring Thus even if the error is reset the operation cannot be r...

Страница 317: ...tate Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON PLC CPU preparation completed Y0 QD75 READY signal ON QD75 preparation completed X0 All axis servo ON ON All axis s...

Страница 318: ...1 8 0 0 0 Positioning start signal Axis stop signal QD75 READY signal Start complete signal BUSY signal Error detection signal Cd 6 Positioning start No Positioning complete signal PLC READY signal M...

Страница 319: ...topping Machine OPR control Fast OPR control Major positioning control High level positioning control JOG Inching operation Manual pulse generator operation Forced stop Servo READY OFF Servo amplifier...

Страница 320: ...s with dynamic brake or electromagnetic brake The operation does not decelerate The QD75 immediately stops the command but the operation will coast for the droop pulses accumulated in the servo amplif...

Страница 321: ...n stop process Positioning speed Deceleration stop process Stop Sudden stop cause Sudden stop deceleration process Deceleration stop process continues Process for sudden stop Positioning speed Deceler...

Страница 322: ...s the QD75 internal data transmission process such as when the power is turned ON or when the PLC READY signal changes from OFF to ON can be easily understood This also allows the transmission process...

Страница 323: ...trol data area Positioning data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Servo parameter area Backup Buffer memory Area that can be directly accessed with sequence prog...

Страница 324: ...t the items indicated with Cd 1 to Cd 40 Cd 100 to Cd 102 Positioning data area No 1 to 600 Area where positioning data No 1 to 600 is set and stored Set the items indicated with Da 1 to Da 10 for eac...

Страница 325: ...t data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area Flash ROM Buffer memory Parameter area Positioning data area No 1 to 600 Block start data area No 7000 to 7004 Copy Da...

Страница 326: ...27050 to 27099 28050 to 28099 29050 to 29099 Block start data area No 7000 Condition data area 26100 to 26199 27100 to 27199 28100 to 28199 29100 to 29199 26200 to 26249 27200 to 27249 28200 to 28249...

Страница 327: ...o 30311 30400 to 30411 Servo adjustment parameter area 30112 to 30126 30212 to 30226 30312 to 30326 30412 to 30426 Servo expansion parameter area 30127 to 30149 30227 to 30249 30327 to 30349 30427 to...

Страница 328: ...7 7 MELSEC Q 7 MEMORY CONFIGURATION AND DATA PROCESS MEMO...

Страница 329: ...Pr 24 Pr 43 Pr 57 Pr 200 Pr 201 2 Valid upon execution of the TO instruction For PLC READY signal ON Valid Parameter area a Parameter area b Positioning data area No 1 to 600 Block start data area No...

Страница 330: ...O command it is simultaneously valid 1 Parameter area b Parameters validated simultaneously with the writing to the buffer memory with the TO command Pr 8 to Pr 10 Pr 25 to Pr 42 POINT When a value ot...

Страница 331: ...other than 0 is set to Pr 104 in the above step 2 the servo parameter data is transmitted to the servo amplifier POINT The setting values of the parameters that correspond to parameter area b are vali...

Страница 332: ...7 11 MELSEC Q 7 MEMORY CONFIGURATION AND DATA PROCESS MEMO...

Страница 333: ...data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area Buffer memory 7 Flash ROM request Write QD75 PLC CPU Servo parameter area No 30100 to...

Страница 334: ...peripheral device 1 The parameters positioning data No 1 to 600 block start data No 7000 to 7004 and servo parameter in the buffer memory area are transmitted to the flash ROM Note This transmission...

Страница 335: ...ea b Positioning data area No 1 to 600 Block start data area No 7000 to 7004 PLC CPU memo area Monitor data area Control data area Buffer memory QD75 PLC CPU Servo parameter area No 30100 to 30499 Par...

Страница 336: ...ith the monitor from the peripheral device 2 The monitor data in the buffer memory area is transmitted to the peripheral device via the PLC CPU 9 Writing data from peripheral device to buffer memory T...

Страница 337: ...ess is shown below Ex Setting the positioning data The following methods can be used to set the positioning data From peripheral device Using sequense program Set the data according to the peripheral...

Страница 338: ...le referring to Chapter 5 Data used for positioning Also refer to Chapter 6 Sequence programs used in positioning control when creating the sequence programs required in each control and consider the...

Страница 339: ...MEMO...

Страница 340: ...ams from the PLC CPU are explained in this chapter Refer to GX Configurator QP Operating Manual for details on OPR using the peripheral device 8 1 Outline of OPR control 8 2 8 1 1 Two types of OPR con...

Страница 341: ...Establish a positioning control OP Machine OPR positioning start No 9001 2 Carry out positioning toward the OP Fast OPR positioning start No 9002 The machine OPR in 1 above must always be carried out...

Страница 342: ...y function Section 12 2 1 OP shift function Section 12 2 2 Combination possible Restricted Combination not possible When an OPR is not required Control can be carried out ignoring the OPR request flag...

Страница 343: ...R is regarded as the OP to be the starting point for positioning control The method for establishing an OP by a machine OPR differs according to the method set in Pr 43 OPR method The following shows...

Страница 344: ...the near point dog and the machine moves at the Pr 47 Creep speed The machine stops once after moving the distance set in the Pr 50 Setting for the movement amount after near point dog ON from the OF...

Страница 345: ...ive unit the OPR complete flag Md 31 Status b4 turns from OFF to ON and the OPR request flag Md 31 status b3 turns from ON to OFF t OPR start ON OFF OPR speed Deceleration at the near point dog ON Cre...

Страница 346: ...al stops the OPR the error OPR restart impossible error code 209 will occur The workpiece will continue decelerating and stop if the near point dog is turned OFF before it has decelerated to the creep...

Страница 347: ...N and the OPR request flag Md 31 Status b3 turns from ON to OFF t ON OFF ON 1 OFF 0 OFF 0 ON 1 0 V ON Pr 47 Creep speed Pr 46 OPR speed Pr 50 Setting for the movement amount after near point dog ON Md...

Страница 348: ...error OPR restart impossible error code 209 will occur ON 1 5 4 3 2 Zero signal Near point dog OFF Pr 50 Setting for the movement amount after near point dog ON Operation when an OPR is started at th...

Страница 349: ...the Pr 47 Creep speed and subsequently moves at that speed 4 The command from the QD75 will stop and the OPR will be completed when the machine moves the movement amount set in Pr 50 Setting for the...

Страница 350: ...rted while the near point dog is ON 3 When the stop signal stops the OPR carry out the OPR again When restart request is turned ON after the stop signal stops the OPR the error OPR restart impossible...

Страница 351: ...sing the zero point even once the OPR restart zero point not passed error will occur When the OPR restart zero point not passed error occurs perform the JOG or similar operation so that the servomotor...

Страница 352: ...he following shows the operation during a basic fast OPR start 1 The fast OPR is started 2 Positioning control begins to the Md 21 Machine feed value following the direction and speed set in the OPR p...

Страница 353: ...lete signal Positioning operation Md 26 Axis operation status Y10 Y11 Y12 Y13 X10 X11 X12 X13 XC XD XE XF Fig 8 18 Operation timing and processing time of fast OPR Normal timing time Unit ms t1 t2 t3...

Страница 354: ...value 9 16 9 1 5 Control unit degree handling 9 18 9 1 6 Interpolation control 9 21 9 2 Setting the positioning data 9 25 9 2 1 Relation between each control and positioning data 9 25 9 2 2 1 axis lin...

Страница 355: ...axis is carried out from the start address current stop position The Md 20 Current feed value is set to 0 at the start 2 axis fixed feed control Fixed feed 2 Using a designated 2 axes linear interpola...

Страница 356: ...s can be carried out by either of the following 2 methods The machine feed value cannot be changed Current value changing using the control system Current value changing using the current value changi...

Страница 357: ...Arc address Set the sub point or center point address during circular interpolation control Da 8 Command speed Set the speed during the control execution Da 9 Dwell time Set the time the machine waits...

Страница 358: ...ich axis 1 addresses increase 1 axis linear control One motor is driven and positioning is carried out to an addresses designated in one direction Speed Positioning data No 1 0 Operation pattern 11 Co...

Страница 359: ...signated time elapses This data operation pattern 00 data becomes the end of block data when carrying out block positioning The positioning stops after this data is executed Time Start complete signal...

Страница 360: ...positioning If the operation pattern is set to positioning continue 01 or 11 the operation will continue until operation pattern 00 is found If the operation pattern 00 cannot be found the operation m...

Страница 361: ...the positioning data No 600 If the operation pattern of the positioning data No 600 is not terminated the operation will be started again from the positioning data No 1 e The speed switching patterns...

Страница 362: ...when the positioning data No is switched Refer to section 12 3 3 Near pass function 2 Deceleration stop conditions during continuous path control Deceleration stops are basically not carried out in co...

Страница 363: ...ce axis operation Interpolation axis operation Interpola tion axis Positioning data No 1 Reference axis Positioning data No 2 Positioning data No 1 Continuous path control V Positioning data No 1 t Po...

Страница 364: ...ot be started if 1 is set in the command speed of the first positioning data at start Relation between the command speed and current speed The current speed is changed even if the new speed is not rea...

Страница 365: ...n Speed switching will not be carried out if the command speeds are the same OFF ON OFF ON OFF ON OFF ON 11 11 11 01 00 V Dwell time t Da 1 Operation pattern Start complete signal BUSY signal Position...

Страница 366: ...n the speed will change over to the speed set in the positioning data to carry out the next operation at the end of the positioning data currently being executed 2 The parameters used in acceleration...

Страница 367: ...n automatic deceleration is required Ex Operation patterns 00 01 etc the machine will immediately stop at the designated positioning address and a insufficient movement distance warning warning code 5...

Страница 368: ...nt 300 C point Within the stroke limit range Address 150 Address 100 Address 100 Address 150 OP reference point Start point End point Fig 9 6 Absolute system positioning Incremental system The positio...

Страница 369: ...lue to a new value This value is updated every 3 5ms Machine feed value This is the value stored in Md 21 Machine feed value This value always has an address established with a machine OPR as a refere...

Страница 370: ...itioning address movement amount of the positioning data if the movement amount per pulse is not set to 1 Monitoring the current value The current feed value and machine feed value are stored in the f...

Страница 371: ...ate software stroke limit To validate the software stroke limit set the software stroke limit lower limit value and the upper limit value in a clockwise direction Section A Section B 315 00000 90 0000...

Страница 372: ...rried out by the Cd 40 ABS direction in degrees This function can perform only when the stroke limit is invalid When the stroke limit is to designate the movement direction in the ABS control a 1 or 2...

Страница 373: ...upper limit value is 345 POINT Positioning addresses are within a range of 0 to 359 99999 Use the incremental system to carry out positioning of one rotation or more 2 Incremental system Positioning...

Страница 374: ...the reference axis following the positioning data set in the reference axis and controls the interpolation axis corresponding to the reference axis control so that a linear or arc path is drawn The f...

Страница 375: ...and 4 Reverse run speed 2 3 and 4 not required Forward run speed 2 3 and 4 Reverse run speed 2 3 and 4 not required Da 7 Arc address Only during circular sub circular right and circular left Only dur...

Страница 376: ...tion control is set Speed during interpolation control Either the composite speed or reference axis speed can be designated as the speed during interpolation control Set in Pr 20 Interpolation speed d...

Страница 377: ...fer 3 Composite speed Linear 2 ABS INC Fixed feed 2 Reference axis speed Composite speed 2 Circular sub ABS INC Circular right ABS INC Circular left ABS INC Reference axis speed Composite speed Linear...

Страница 378: ...4 axis Speed control Speed position switching control Position speed switching control Independent positioning control Termination Continuous positioning control Da 1 Operation pattern Continuous path...

Страница 379: ...ning control Da 1 Operation pattern Continuous path control Da 2 Control system NOP instruction Current value changing JUMP instruction LOOP instruction LEND instruction Da 3 Acceleration time No Da 4...

Страница 380: ...No 1 of axis 1 Setting item Setting example Setting details Da 1 Operation pattern Termination Set Termination assuming the next positioning data will not be executed Da 2 Control system ABS linear 1...

Страница 381: ...l INC linear 1 is set in positioning data No 1 of axis 1 Setting item Setting example Setting details Da 1 Operation pattern Termination Set Termination assuming the next positioning data will not be...

Страница 382: ...is carried out from the current stop position start point address to the address end point address set in Da 6 Positioning address movement amount X1 X2 Y1 Y2 Reverse direction Forward direction X axi...

Страница 383: ...ear interpolation control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 1...

Страница 384: ...he movement direction is determined by the sign of the movement amount X1 X2 Y1 Y2 Reverse direction Forward direction X axis Reverse direction Forward direction Y axis Movement by linear interpolatio...

Страница 385: ...ystem 2 axis linear interpolation control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the v...

Страница 386: ...ddress to the address end point address set in the Da 6 Positioning address movement amount End point address X2 Y2 Z2 Positioning address Movement by linear interpolation of the X axis Y axis and Z a...

Страница 387: ...next positioning data will not be executed Da 2 Control system ABS linear 3 Set absolute system 3 axis linear interpolation control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceler...

Страница 388: ...inear interpolation control set so the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis side speed may exceed the Pr 8 Speed limit value Re...

Страница 389: ...movement amount Z axis movement amount X axis movement amount Y axis movement amount Start point address X1 Y1 Z1 current stop position Forward direction Forward direction Forward direction Movement b...

Страница 390: ...assuming the next positioning data will not be executed Da 2 Control system INC linear 3 Set incremental system 3 axis linear interpolation control Da 3 Acceleration time No 1 Designate the value set...

Страница 391: ...inear interpolation control set so the major axis side becomes the reference axis If the minor axis side is set as the reference axis the major axis side speed may exceed the Pr 8 Speed limit value Re...

Страница 392: ...ddress established by a machine OPR in the 4 axis coordinate space a linear interpolation positioning is carried out from the current stop position start point address to the address end point address...

Страница 393: ...interpolated Setting not required setting value will be ignored When axis 1 is used as a reference axis the interpolation axes are axes 2 3 and 4 Da 6 Positioning address movement amount 4000 0 m 800...

Страница 394: ...vement amount set in the Da 6 Positioning address movement amount The movement direction depends on the sign or of the movement amount Restrictions An error will occur and the positioning will not sta...

Страница 395: ...Da 5 Axis to be interpolated Setting not required setting value will be ignored When axis 1 is used as a reference axis the interpolation axes are axes 2 3 and 4 Da 6 Positioning address movement amou...

Страница 396: ...direction Forward direction Stop position Movement direction for a negative movement amount Movement direction for a positive movement amount Restrictions 1 An axis error Continuous path control not p...

Страница 397: ...Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required setting value will be ignored Da 6 Positioning address movement amount 8000 0 m Set the p...

Страница 398: ...ion is determined by the sign of the movement amount Md 20 Current feed value of each axis is set to 0 at the positioning start 0 0 0 0 0 0 X axis Y axis Designated movement amount Designated movement...

Страница 399: ...s to be interpolated 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount 8000 0 m 6000 0 m Set the positioning address A...

Страница 400: ...rpolation for the axis directions set in each axis In fixed feed control any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control...

Страница 401: ...terpolation positioning is then carried out from that position to a position at the end of the movement amount set in Da 6 Positioning address movement amount The movement direction is determined by t...

Страница 402: ...30 3 Fixed feed cannot be set in Da 2 Control system in the positioning data when continuous path control has been set in Da 1 Operation pattern of the immediately prior positioning data For example...

Страница 403: ...address movement amount 10000 0 m 5000 0 m 6000 0 m Set the positioning address Assuming mm is set in Pr 1 Unit setting Da 7 Arc address Setting not required setting value will be ignored Da 8 Comman...

Страница 404: ...ent amount set in Da 6 Positioning address movement amount The movement direction is determined by the sign of the movement amount Restrictions 1 An axis error Continuous path control not possible err...

Страница 405: ...nterpolated Setting not required setting value will be ignored When axis 1 is used as a reference axis the interpolation axes are axes 2 3 and 4 Da 6 Positioning address movement amount 4000 0 m 8000...

Страница 406: ...s established by a machine OPR on a 2 axis coordinate plane are used Positioning is carried out from the current stop position start point address to the address end point address set in Da 6 Position...

Страница 407: ...maximum radius for which circular interpolation control is possible is 536870912 2 29 An Outside radius range error error code 544 will occur at positioning start When the center point address is outs...

Страница 408: ...the deceleration time at deceleration Da 5 Axis to be interpolated 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement amount...

Страница 409: ...movement amount The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of the straight line between the start point address current stop position...

Страница 410: ...maximum radius for which circular interpolation control is possible is 536870912 2 29 An Outside radius range error error code 544 will occur at positioning start When the center point address is outs...

Страница 411: ...e 0 as the deceleration time at deceleration Da 5 Axis to be interpolated 2 Set the axis to be interpolated partner axis If the self axis is set an error will occur Da 6 Positioning address movement a...

Страница 412: ...efer to section 9 1 6 Interpolation control for details on interpolation control The following table shows the rotation directions arc center angles that can be controlled and positioning paths for th...

Страница 413: ...carried out at a command speed on the arc using the radius calculated from the start point address and center point address and the radius is compensated in proportion to the angular velocity deviate...

Страница 414: ...path having as its center the address arc address of the center point set in Da 7 Arc address Radius Movement by circular interpolation Forward direction Reverse direction End point address Start poi...

Страница 415: ...s 1 2 axis circular interpolation control cannot be set in the following cases When degree is set in Pr 1 Unit setting When the units set in Pr 1 Unit setting are different for the reference axis and...

Страница 416: ...ate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated 2 Set the axis to be interpolated partner axis If the self axis is set an error wil...

Страница 417: ...tioning address movement amount in an arc path having as its center the address arc address of the center point set in Da 7 Arc address Radius Movement by circular interpolation Forward direction Reve...

Страница 418: ...faster as end point address is reached Restrictions 1 2 axis circular interpolation control cannot be set in the following cases When degree is set in Pr 1 Unit setting When the units set in Pr 1 Uni...

Страница 419: ...te the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated 2 Set the axis to be interpolated partner axis If the self axis is set an error will...

Страница 420: ...ard run direction and Reverse run speed 1 in which control starts in the reverse run direction Operation chart The following chart shows the operation timing for 1 axis speed control with axis 1 as th...

Страница 421: ...t Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 Speed In speed control In speed control Speed Restrictions 1 Set termination in Da 1 Operation patte...

Страница 422: ...esignate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required setting value will be ignored Da 6 Positioning address mo...

Страница 423: ...on 9 1 6 Interpolation control for the combination of the reference axis with the interpolation axis Operation chart The following chart shows the operation timing for 2 axis axes 1 and 2 speed contro...

Страница 424: ...control not possible error code 516 will occur and the operation cannot start if continuous positioning control or continuous path control is set Continuous positioning control and continuous path con...

Страница 425: ...axis speed control Da 3 Acceleration time No 1 Designate the value set in Pr 25 Acceleration time 1 as the acceleration time at start Da 4 Deceleration time No 0 Designate the value set in Pr 10 Decel...

Страница 426: ...for the combination of the reference axis with the interpolation axes Operation chart The following chart shows the operation timing for 3 axis axes 1 2 and 3 speed control with axis 1 as the referenc...

Страница 427: ...art is maintained a Current feed value not updated t Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 Speed In speed control In speed control Speed Rest...

Страница 428: ...m min Da 8 Command speed 8000 00mm min 6000 00mm min 4000 00mm min With the settings shown above the operation speed in speed control is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis...

Страница 429: ...No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required setting value will be ignored When axis 1 is used...

Страница 430: ...has been set by continuously outputting pulses for the speed set in Da 8 Command speed until the input of a stop command The two types of 4 axis speed control are Forward run speed 4 in which the cont...

Страница 431: ...XC XD XE XF OFF ON Positioning start signal Y10 OFF ON Positioning complete signal X14 X15 X16 X17 OFF Axis stop signal stop command Either Y4 Y5 Y6 or Y7 OFF ON Does not turn ON even when control is...

Страница 432: ...art is maintained a Current feed value not updated t Current feed value is updated b Current feed value updated c Current feed value zero cleared t 0 Speed In speed control In speed control Speed Rest...

Страница 433: ...n 6000 00mm min 4000 00mm min 1500 00mm min With the settings shown above the operation speed in speed control is as follows Axis 1 4000 00 mm min Speed is limited by Pr 8 Axis 2 3000 00 mm min Speed...

Страница 434: ...leration time No 0 Designate the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required setting value will be ignored When ax...

Страница 435: ...uffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Pr 200 Speed position function selection 0 Speed position switching control INC mode 34 184 334 484 If the s...

Страница 436: ...INC mode t V Positioning start signal OFF ON BUSY signal OFF ON Positioning complete signal OFF ON Speed position switching signal ON Speed control Position control Dwell time In speed control flag M...

Страница 437: ...degree during execution of Da 2 Control system Forward run speed position at Pr 1 Unit setting of 2 degree and Pr 21 Current feed value during speed control setting of 1 Update current feed value The...

Страница 438: ...out until speed position switching signal turns ON Position control movement amount is from the input position of the external speed position switching signal Md 26 Axis operation status Cd 23 Speed p...

Страница 439: ...urrent feed value is updated during speed control and position control 2 Zero clear current feed value The current feed value is cleared set to 0 at control start and updated from the switching to pos...

Страница 440: ...unless issued during the speed control section of the speed position switching control INC mode 2 The new movement amount is stored in Cd 23 Speed position switching control movement amount change reg...

Страница 441: ...n the following a and b are satisfied a Pr 21 Current feed value during speed control is 1 Update current feed value If the movement amount exceeds the software stroke limit range during speed control...

Страница 442: ...he value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required Setting value is ignored Da 6 Positioning address movement amount 1...

Страница 443: ...signal Y0 turns ON Use the detailed parameter 1 Pr 200 Speed position function selection to choose speed position switching control ABS mode Buffer memory address Setting item Setting value Setting d...

Страница 444: ...trol ABS mode t V Positioning start signal OFF ON BUSY signal OFF ON Positioning complete signal OFF ON Speed position switching signal ON Speed control Position control Dwell time In speed control fl...

Страница 445: ...90 00000 degree during execution of Da 2 Control system Forward run speed position at Pr 1 Unit setting of 2 degree and Pr 21 Current feed value during speed control setting of 1 Update current feed v...

Страница 446: ...out until speed position switching signal turns ON Position control movement amount is from the input position of the external speed position switching signal Md 26 Axis operation status Cd 23 Speed p...

Страница 447: ...ol and position control Only 1 Update current value is valid for the setting of Pr 21 Current feed value during speed control in speed position switching control ABS mode An error error code 935 will...

Страница 448: ...ls Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Pr 42 External command function selection 2 Set the 2 speed position and position speed switching reques...

Страница 449: ...de the following conditions must be satisfied a Pr 1 Unit setting is 2 degree b The software stroke limit function is invalid upper limit value lower limit value c Pr 21 Current feed value during spee...

Страница 450: ...the value set in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required Setting value is ignored Da 6 Positioning address movement amount...

Страница 451: ...Forward run position speed in which the control starts in the forward run direction and Reverse run position speed in which control starts in the reverse run direction Switching over from position co...

Страница 452: ...osition speed switching enable flag Cd 26 t V Positioning start signal Y10 Y11 Y12 Y13 OFF ON Command speed BUSY signal XC XD XE XF OFF ON Positioning complete signal X14 X15 X16 X17 OFF Position spee...

Страница 453: ...X14 X15 X16 X17 In speed control Position control Speed control External position speed switching command t6 Speed control command speed is from the input position of the external position speed swit...

Страница 454: ...feed value is updated during position control and speed control 2 Zero clear current feed value The current feed value is updated from 0 at a control start and the current feed value is cleared to 0...

Страница 455: ...control 1 The speed control command speed can be changed during the position control of position speed switching control A command speed change request will be ignored unless issued during the positi...

Страница 456: ...e will carry out a deceleration stop if this type of setting is carried out 3 The software stroke limit range is only checked during speed control if the 1 Update current feed value is set in Pr 21 Cu...

Страница 457: ...in Pr 10 Deceleration time 0 as the deceleration time at deceleration Da 5 Axis to be interpolated Setting not required Setting value is ignored Da 6 Positioning address movement amount 10000 0 m Set...

Страница 458: ...rent feed value changes to the positioning address designated by the positioning data of the current value changing The above chart shows an example when the positioning address is 0 Current feed valu...

Страница 459: ...ous path control cannot be set by current value change Da 2 Control system Current value changing Set the current value changing Da 3 Acceleration time No Setting not required Setting value is ignored...

Страница 460: ...y The above chart shows an example when the positioning address is 0 Y10 Y11 Y12 Y13 Restrictions 1 An axis error Outside new current value range error code 514 will occur if the designated value is o...

Страница 461: ...Set the start No 9003 for the new current value 1500 1600 1700 1800 Cd 9 Current value changing 50000 Set the new Md 20 Current feed value 1506 1507 1606 1607 1706 1707 1806 1807 Refer to section 5 7...

Страница 462: ...program and write it to the PLC CPU Current value changing Store new current feed value in D106 and D107 Pulsate current value changing command Write current value changing to the QD75 Write the curre...

Страница 463: ...be interpolated Setting not required Setting value is ignored Da 6 Positioning address movement amount Setting not required Setting value is ignored Da 7 Arc address Setting not required Setting value...

Страница 464: ...on execution conditions When block positioning data No 7000 to 7004 is started Each block condition data is used When positioning data No 1 to 600 is started Start block 0 condition data is used When...

Страница 465: ...tting value is ignored Da 2 Control system JUMP instruction Set the JUMP instruction Da 3 Acceleration time No Setting not required Setting value is ignored Da 4 Deceleration time No Setting not requi...

Страница 466: ...to LEND repeat cycles Refer to section 5 3 List of positioning data for information on the setting details Restrictions 1 An error Control system LOOP setting error error code 545 will occur if a 0 i...

Страница 467: ...rns of the positioning data Nos 2 and 5 are ignored Positioning data setting examples The following table shows the setting examples when LEND is set in positioning data No 8 of axis 1 Setting item Se...

Страница 468: ...2 Block start data and condition data configuration 10 4 10 2 High level positioning control execution procedure 10 6 10 3 Setting the block start data 10 7 10 3 1 Relation between various controls a...

Страница 469: ...peats the program from the block start data set with the FOR loop to the block start data set in NEXT for the designated No of times Repeated start FOR condition Repeats the program from the block sta...

Страница 470: ...a stored in the QD75 Setting item Setting details Da 11 Shape Set whether to terminate the control after executing only the block start data of the shape itself or continue executing the block start d...

Страница 471: ...7 26118 26119 Low order buffer memory High order buffer memory Condition identifier 1st item 26100 b15 b0 b7 b8 b11 b12 26101 26102 26103 26104 26105 26106 26107 26108 26109 Da 16 Condition operator D...

Страница 472: ...6305 26306 26307 26308 26309 Da16 Da17 Da18 Da19 Da15 Buffer memory address Buffer memory address Buffer memory address Axis 1 block start data Buffer memory address Buffer memory address Buffer memor...

Страница 473: ...et in the Cd 3 Positioning start No Control data setting STEP 5 Refer to Chapter 6 Write the sequence program created in STEP 4 to the PLC CPU using GX Developer Same procedure as for the major positi...

Страница 474: ...tioning control Block start data setting items Block start Normal start Condition start Wait start Simulta neous start Repeated start FOR loop Repeated start FOR condition NEXT start 0 Termination Da...

Страница 475: ...1 Continue 1 0 Block start 2nd point 1 Continue 2 0 Block start 3rd point 1 Continue 5 0 Block start 4th point 1 Continue 10 0 Block start 5th point 0 Termination 15 0 Block start 2 Positioning data s...

Страница 476: ...sitioning start signal 1 00 Start complete signal BUSY signal X14 X15 X16 X17 t 2 11 3 01 4 00 5 11 6 00 15 00 Positioning according to the 1st point settings Address 10 00 OFF OFF ON ON ON ON Operati...

Страница 477: ...point 0 Termination 50 0 Block start The condition data Nos have been set in Da 14 Parameter 2 Positioning data setting example Da 1 Axis 1 position ing data No Operation pattern 1 01 Continuous posi...

Страница 478: ...point 1 Continue 10 0 Block start 3rd point 0 Termination 50 0 Block start The condition data Nos have been set in Da 14 Parameter 2 Positioning data setting example Da 1 Axis 1 position ing data No O...

Страница 479: ...01 Continuous positioning control 3 00 Termination 10 11 Continuous path control 11 11 Continuous path control 12 00 Termination 50 00 Termination 2 Control examples The following shows the control e...

Страница 480: ...13 Da 14 Axis 1 block start data Shape Start data No Special start instruction Parameter 1st point 1 Continue 1 4 FOR loop 2 2nd point 1 Continue 10 0 Block start 3rd point 0 Termination 50 6 NEXT sta...

Страница 481: ...tart data No Special start instruction Parameter 1st point 1 Continue 1 5 FOR condition 5 2nd point 1 Continue 10 0 Block start 3rd point 0 Termination 50 6 NEXT start The condition data Nos have been...

Страница 482: ...ot be carried out if there is no 6 NEXT start instruction after the 4 FOR loop or 5 FOR condition instruction Note that an error will not occur 3 Nesting is not possible between 4 FOR loop and 6 NEXT...

Страница 483: ...the condition data Da 15 Condition target corresponding to the different types of control The condition data settings in this chapter are assumed to be carried out using GX Configurator QP High level...

Страница 484: ...xis 2 designation 30H Axis 1 and axis 2 designation 40H Axis 3 designation 50H Axis 1 and axis 3 designation 60H Axis 2 and axis 3 designation 70H Axis 1 axis 2 and axis 3 designation 80H Axis 4 desig...

Страница 485: ...POSITIONING CONTROL REMARK The PLC CPU memo area can be designated as the buffer memory address to be designated in Da 17 Refer to section 7 1 1 Configuration and roles of QD75 memory Address 30000 30...

Страница 486: ...memory as a condition Condition The value stored in buffer memory addresses 800 801 Md 20 Current feed value is 1000 or larger Da 15 Da 16 Da 17 Da 18 Da 19 Condition target Condition operator Addres...

Страница 487: ...ctions 1 An error will occur and all simultaneously started axes will not start error code 501 if the simultaneously started axis start data No is not set to the axis control data on the start axis or...

Страница 488: ...ata No Set a 0 for the axis other than the simultaneously started axes 1543 1643 1743 1843 Refer to section 5 7 List of control data for information on setting details 5 Setting examples The following...

Страница 489: ...start data 2 The setting of the multiple axis simultaneous start control is easier than that of the simultaneous start using the block start data Setting items for simultaneous start using block star...

Страница 490: ...signal Servo amplifier Buffer memory Control by designated positioning data When carrying out a positioning start with the next scan after a positioning operation is completed input signal X10 as an i...

Страница 491: ...f control data for details on the setting details Start conditions The following conditions must be fulfilled when starting the control The required conditions must also be integrated into the sequenc...

Страница 492: ...ta No Operation pattern 1 11 Continuous path control 2 00 Termination2 10 11 Continuous path control 11 11 Continuous path control 12 00 Termination 3 Start time chart Y10 PLC READY signal QD75 READY...

Страница 493: ...e positioning start signal Y10 SET K1 K1 K1501 H0 TO Write the positioning start point No K1 K7000 K1500 H0 TO Write the positioning data No 7000 for block positioning X10 Set the block start data bef...

Страница 494: ...4 11 2 1 Outline of JOG operation 11 4 11 2 2 JOG operation execution procedure 11 7 11 2 3 Setting the required parameters for JOG operation 11 8 11 2 4 Creating start programs for JOG operation 11...

Страница 495: ...tion is stopped by turning the limit switch OFF to confirm the positioning system connection and obtain the positioning data address refer to section 12 7 4 Teaching function M Movement continues whil...

Страница 496: ...section 3 2 4 Combination of QD75 major functions and sub functions for details on sub functions that can be combined with manual control Also refer to Chapter 12 Control sub functions for details on...

Страница 497: ...time designated in Pr 32 JOG operation acceleration time selection At this time the BUSY signal changes from OFF to ON 2 When the workpiece being accelerated reaches the speed set in Cd 17 JOG speed t...

Страница 498: ...orkpiece will move at the Pr 31 JOG speed limit value and an Axis warning will occur in the QD75 warning code 301 5 The JOG operation can be continued even if an Axis warning has occurred 6 A JOG star...

Страница 499: ...Forward run JOG start signal Y8 YA YC YE t2 Standing by In JOG operation t1 t3 t4 Positioning operation Positioning complete signal X14 X15 X16 X17 Md 26 Axis operation status ON ON OFF OFF OFF OFF St...

Страница 500: ...sequence program in which the JOG start signal is turned ON by a JOG operation start command Using GX Developer set the control data and create a sequence program for executing the JOG operation Set t...

Страница 501: ...8 Speed limit value Unit PLS s 20000 Pr 9 Acceleration time 0 Unit PLS s 1000 Pr 10 Deceleration time 0 Unit PLS s 1000 Pr 11 Backlash compensation amount Unit PLS 0 Pr 12 Software stroke limit upper...

Страница 502: ...celeration time selection 0 acceleration time 0 Pr 33 JOG operation deceleration time selection 0 deceleration time 0 Pr 34 Acceleration deceleration process selection 0 trapezoidal acceleration decel...

Страница 503: ...ence program must be configured so the operation will not start if the conditions are not fulfilled Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON PLC CPU preparation...

Страница 504: ...start signal Forward JOG run BUSY signal Error detection signal OFF OFF OFF OFF OFF ON ON ON ON X8 XC PLC READY signal QD75 READY signal Reverse run JOG start signal Reverse JOG run Y8 Y9 X0 Y0 OFF ON...

Страница 505: ...ogram Set JOG operation speed 100 00mm min Set a 0 for inching movement amount No 12 JOG operation inching operation execution program Write JOG operation speed JOG inching operation flag ON JOG inchi...

Страница 506: ...started by turning the stop signal OFF and turning the JOG start signal from OFF to ON again OFF ON BUSY signal XC XD XE XF OFF ON A JOG start signal OFF ON while the stop signal is ON will be ignore...

Страница 507: ...when the QD75 BUSY signal is turned OFF If the forward run JOG operation is stopped due to stop or axis error by a stop signal the reverse run JOG operation will not be executed even if the reverse r...

Страница 508: ...YC YE Fig 11 9 Operation when the JOG start signal is turned ON during deceleration When the JOG start signal is turned ON during a peripheral device test mode When the JOG start signal is turned ON d...

Страница 509: ...e stop signal OFF within 100ms it will be ignored and the JOG operation will not be carried out ON Axis stop signal Y4 Y5 Y6 Y7 OFF ON OFF ON 100ms A JOG start signal OFF ON while the stop signal is O...

Страница 510: ...ion 1 When the start signal is turned ON inching operation is carried out in the direction designated by the start signal In this case BUSY signal is turned from OFF to ON 2 The workpiece is moved by...

Страница 511: ...OG speed is ignored even if it is set An error will occur in the following cases error code 301 Cd 16 Inching movement amount x A Pr 31 JOG speed limit value Where A is as follows When the unit is PLS...

Страница 512: ...n JOG start signal Y8 YA YC YE ON Standing by Inching operation Axis operation status t1 t4 Positioning operation Positioning complete signal X14 X15 X16 X17 Md 26 ON ON OFF OFF OFF OFF t3 Standing by...

Страница 513: ...OG start signal is turned ON by an inching operation start command Using GX Developer set the control data and create a sequence program for executing the inching operation Set the control data in the...

Страница 514: ...it magnification AM 1 1 times Pr 11 Backlash compensation amount Unit PLS 0 Pr 12 Software stroke limit upper limit value Unit PLS 2147483647 Pr 13 Software stroke limit lower limit value Unit PLS 214...

Страница 515: ...st be configured so the operation will not start if the conditions are not fulfilled Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 PLC READY signal ON PLC CPU preparation completed Y0 QD...

Страница 516: ...D75 READY signal X0 t Reverse run JOG start signal Y9 Reverse run inching operation Forward run inching operation BUSY signal XC Error detection signal X8 OFF OFF OFF OFF OFF ON ON ON ON ON OFF OFF ON...

Страница 517: ...g operation setting program Set inching movement amount JOG inching operation flag ON JOG inching operation termination Execute forward JOG inching operation Execute reverse JOG operation Write inchin...

Страница 518: ...n can be re started when the stop signal is turned OFF and then re turned ON PLC READY signal Y0 OFF ON BUSY signal XC XD XE XF OFF ON A JOG start signal OFF ON while the stop signal is ON will be ign...

Страница 519: ...ching operation not possible because JOG start signal does not rise Fig 11 16 Operation when JOG start signal is turned ON in test mode When JOG start signal is turned ON immediately after stop signal...

Страница 520: ...nerator operation 1 When the Cd 21 Manual pulse generator enable flag is set to 1 the BUSY signal turns ON and the manual pulse generator operation is enabled 2 The workpiece is moved corresponding to...

Страница 521: ...alculated value is input into the positioning module using the manual pulse generator the servo error 2035 data error detection of the alarm 35 command frequency error at the servo amplifier may occur...

Страница 522: ...generator operation not possible V Manual pulse generator operation Manual pulse generator operation timing and processing time The following drawing shows details of the manual pulse generator opera...

Страница 523: ...amount Pr 1 Unit setting mm inch degree PLS Manual pulse generator 1 pulse movement amount 0 1 m 0 00001inch 0 00001degree 1PLS For example when Pr 1 Unit setting is mm and Cd 20 Manual pulse generat...

Страница 524: ...input from the manual pulse generator and issue a command to disable the manual pulse Manual pulse generator operation stop STEP 6 Monitor the manual pulse generator operation Preparation Refer to Cha...

Страница 525: ...r 12 Software stroke limit upper limit value Unit PLS 2147483647 Pr 13 Software stroke limit lower limit value Unit PLS 2147483648 Pr 14 Software stroke limit selection 0 current feed value Pr 15 Soft...

Страница 526: ...led when starting The required conditions must also be assembled in the sequence program and the sequence program must be configured so the operation will not start if the conditions are not fulfilled...

Страница 527: ...ON Pulse input B phase BUSY signal QD75 READY signal PLC READY signal Start complete signal Error detection signal Y0 X0 X10 XC X8 Cd 21 Manual pulse generator enable flag Cd 20 Manual pulse generator...

Страница 528: ...ration command Set manual pulse generator input scale per pulse Write manual pulse generator operation enable Write data for manual pulse generator Turn ON manual pulse generator operating flag Pulsat...

Страница 529: ...11 36 MELSEC Q 11 MANUAL CONTROL MEMO...

Страница 530: ...12 11 12 3 1 Backlash compensation function 12 11 12 3 2 Electronic gear function 12 13 12 3 3 Near pass function 12 20 12 4 Functions to limit the control 12 23 12 4 1 Speed limit function 12 23 12...

Страница 531: ...s path control in the interpolation control Speed limit function If the command speed exceeds Pr 8 Speed limit value during control this function limits the commanded speed to within the Pr 8 Speed li...

Страница 532: ...etc according to the code No 0 to 65535 set for each positioning data Teaching function This function stores the address positioned with manual control into the positioning address Da 6 Positioning ad...

Страница 533: ...details shown below explain about the OPR retry function 1 Control details 2 Precautions during control 3 Setting the OPR retry function 1 Control details The following drawing shows the operation of...

Страница 534: ...limit switch Movement range OPR start OP Zero signal Near point dog 2 When the direction from the workpiece to the OP is the opposite direction from the Pr 44 OPR direction the operation carries out...

Страница 535: ...ecuted after the near point dog is turned OFF to stop the operation Pr 57 Dwell time during OPR is validated when the operation stops at the A and B positions in the following drawing The dwell time i...

Страница 536: ...cannot be carried out 5 The operation decelerates upon detection of the H W limit and the movement starts in the opposite direction In this case however an error 104 105 is not produced 3 Setting the...

Страница 537: ...be used without relation to Pr 43 OPR method The details shown below explain about the OP shift function 1 Control details 2 Setting range for the OP shift amount 3 Movement speed during OP shift 4 P...

Страница 538: ...during OP shift When using the OP shift function the movement speed during the OP shift is set in Pr 56 Speed designation during OP shift The movement speed during the OP shift is selected from either...

Страница 539: ...shift 5 Setting the OP shift function To use the OP shift function set the required details in the parameters shown in the following table and write them to the QD75 When the parameters are set the OP...

Страница 540: ...ion compensates the backlash amount in the mechanical system When the backlash compensation amount is set an extra amount of command equivalent to the set backlash amount is output every time the move...

Страница 541: ...at the moving direction changes 3 Setting the backlash compensation function To use the backlash compensation function set the backlash compensation amount in the parameter shown in the following tabl...

Страница 542: ...the function clears to 0 the cumulative values of less than one pulse which could not be output If the cumulative value is cleared an error will occur by a cleared amount in the feed machine value Co...

Страница 543: ...ntrol unit QD75 Machine Reduction retio The basic concept of the electronic gear is represented by the following expression Pr 2 No of pulses per rotation AP Pr 3 Movement amount per rotation AL Pr 4...

Страница 544: ...ne travel value per motor revolution Ball screw pitch Reduction ratio 10 mm 9 44 10000 0 m 9 44 Substitute this for the above expression 1 At this time make calculation with the reduction ratio 9 44 r...

Страница 545: ...ry axis When the rotary axis is used the motor is HC SF 16384PLS rev and the reduction ratio of the reduction gear is 3 11 Reduction ratio 3 11 M First find how many degrees the load machine will trav...

Страница 546: ...reduction gear is 7 53 Reduction ratio 7 53 M Belt conver Pulley ratio 1 3 135mm As the travel value of the conveyor is used to exercise control set mm as the control unit First find how many millime...

Страница 547: ...P AP 2605056 2605056 AP S AL AM 2968805 0 2968805 0 AL 1 AM Thus AP AL and AM to be set are as follows AP 2605056 Pr 2 AL 2968805 0 Pr 3 AM 1 Pr 4 This setting will produce an error for the true machi...

Страница 548: ...AL AM L L PLS Servo amplifier QD75 AP AL AM QD75 Control unit Command value PLS Servo amplifier 1 if there is no error in regular case Electronic gear taking an error into consideration Calculation ex...

Страница 549: ...unit Alignment is not carried out and thus the output speed drops are eliminated and the mechanical vibration occurring during speed changes can be suppressed Because alignment is not carried out the...

Страница 550: ...positioning data No currently being executed to the next positioning data No If the sudden output reversal affects the mechanical system carry out control with continuous positioning control Path dur...

Страница 551: ...oning address pass Positioning data No 2 Positioning data No 1 Positioning data No 2 starting point address during the near pass Path of near pass Fig 12 12 Arc error during the near pass 4 When a cir...

Страница 552: ...it function and various controls The following table shows the relation of the speed limit function and various controls Control type Speed limit function Speed limit value Machine OPR control OPR con...

Страница 553: ...the speed limit function set the speed limit value in the parameters shown in the following table and write them to the QD75 The set details are validated after they are written to the QD75 Setting i...

Страница 554: ...value Machine OPR control Pr 17 Torque limit setting value or Cd 101 Torque output setting value After the Pr 47 Creep speed is reached this value becomes the Pr 54 OPR torque limit value OPR control...

Страница 555: ...0 at the start signal Y10 rising edge Each operations PLC READY signal Y0 All axis servo ON Y1 Start signal Y10 Torque limit setting value 26 Torque output setting value 1552 New toruque value 1525 To...

Страница 556: ...to section 5 2 List of parameters for setting details Torque limit value Will be an upper limit value of the torque change value Even if a larger value has been mistakenly input for the torque change...

Страница 557: ...value The torque limit value valid at that time is stored Pr 17 Pr 54 Cd 22 or Cd 101 826 926 1026 1126 Refer to section 5 6 List of monitor data for information on the setting details REMARK Paramet...

Страница 558: ...moveable range of the workpiece are set in Pr 12 Software stroke limit upper limit value Pr 13 Software stroke limit lower limit value The details shown below explain about the software stroke limit f...

Страница 559: ...the machine feed value is set at the limit The machine feed value of 5000 current feed value 4000 becomes the upper stroke limit 4000 5000 5000 6000 Upper stroke limit 1000 2000 Moveable range Md 20...

Страница 560: ...ks 1 and 2 in the previous section 2 are carried out For speed control The axis decelerates to a stop when it exceeds the software stroke limit range For position control The axis comes to an immediat...

Страница 561: ...Arc address Da 7 End point address Da 6 Axis 1 Axis 1 stroke limit Deceleration stop not carried out Starting address The software stroke limit check is carried out for the following addresses during...

Страница 562: ...d Set whether the software stroke limit is validated or invalidated during manual control JOG operation Inching operation manual pulse generator operation 0 valid Refer to section 5 2 List of paramete...

Страница 563: ...g when the software stroke limit is to be validated When the software stroke limit is to be validated set the upper limit value in a clockwise direction from the lower limit value Section A 315 Set in...

Страница 564: ...per lower limit of the physical moveable range is reached The details shown below explain about the hardware stroke limit function 1 Control details 2 Wiring the hardware stroke limit 3 Precautions du...

Страница 565: ...on 2 When Pr 22 Input signal logic selection is set to the initial value the QD75 cannot carry out the positioning control if FLS limit switch for upper limit is separated from COM or RLS limit switch...

Страница 566: ...erride function The speed is changed for all control to be executed Note that this excludes manual pulse generator operation The new speed is set as a percent of the command speed POINT The override f...

Страница 567: ...next positioning data The next positioning data is controlled at the Cd 14 New speed value b When a speed designation is provided in the next positioning data The next positioning data is controlled...

Страница 568: ...ge 0 flag Md 31 Status b10 turns ON During interpolation control the speed change 0 flag on the reference axis side turns ON The axis stops but Md 26 Axis operation status does not change and the BUSY...

Страница 569: ...d it may become impossible to carry out commands correctly 9 When a speed change is requested simultaneously for multiple axes change the speed in the ascending axis number order 10 Speed change canno...

Страница 570: ...PLC READY signal Positioning start signal Positioning complete signal Y10 Y0 X0 X10 XC X14 X8 Md 40 All axis servo ON Y1 Fig 12 26 Time chart for changing the speed from the PLC CPU 3 Add the followi...

Страница 571: ...xis 4 Pr 42 External command function selection 1 Set 1 External speed change request 62 212 362 512 Cd 8 External command valid 1 Set 1 Validate the external command 1505 1605 1705 1805 Cd 14 New spe...

Страница 572: ...alid signal QD75 starts speed change processing Speed change processing Write the new speed K1 D108 K1514 H0 DTOP K1 K1 K1505 H0 TOP Set the external command signal input to valid K1 K1 K62 H0 TOP Inp...

Страница 573: ...1 or less When Md 22 becomes 0 the warning Less than minimum speed warning code 110 is generated and the axis is controlled in the then speed unit of 1 4 If there is not enough remaining distance to...

Страница 574: ...ttings and sequence program example for setting the override value of axis 1 to 200 1 Set the following data Use the start time chart shown in section 2 below as a reference and set using the sequence...

Страница 575: ...12 CONTROL SUB FUNCTIONS 3 Add the following sequence program to the control program and write it to the PLC CPU Example No 15 Override program Pulsate override command Set override value 200 Write o...

Страница 576: ...to change the speed when the acceleration deceleration time change is enabled the speed will be changed with the new acceleration deceleration time Cd 10 Cd 11 The details shown below explain about t...

Страница 577: ...out with the previously set acceleration deceleration time at the changeover to the next positioning data even if the acceleration deceleration time is changed to the new acceleration deceleration tim...

Страница 578: ...ta being executed The new acceleration deceleration time remains valid until the changeover to the next positioning data The automatic deceleration processing at the completion of the positioning will...

Страница 579: ...e change program Pulsate acceleration deceleration time change command Set 2000ms for acceleration time Set 0 not change for deceleration time Write acceleration deceleration time Write acceleration d...

Страница 580: ...etting value that was previously set in the parameters However by setting the new torque limit value in the axis control data Cd 22 New torque value and writing it to the QD75 the torque generated by...

Страница 581: ...e 1552 New toruque value 1525 Torque limit stored value 826 Pr 17 Cd 101 Cd 22 Md 35 1 300 250 0 100 150 0 0 200 0 350 0 75 230 0 0 300 300 200 100 75 230 150 150 1 2 2 2 3 3 4 4 4 4 4 3 6 5 1 The tor...

Страница 582: ...ON 3 If the setting value is outside the setting range an axis warning Outside new torque value range warning code 113 will occur and the torque will not be changed 4 If the time to hold the new torq...

Страница 583: ...ctor Back up Return of the present value Battery Position command Control command Servo parameter Monitor data Fig 12 32 Configuration of absolute position detection system 1 Setting for absolute posi...

Страница 584: ...01 OPR destignation Cd 3 Positioning start No Positioning start Y10 to Y13 Movement range for the machine Moved to this position by manual operation Fig 12 33 Operation of the OPR execution POINT The...

Страница 585: ...hown below explain about the step function 1 Relation between the step function and various controls 2 Step mode 3 Step start information 4 Using the step operation 5 Control details 6 Precautions dur...

Страница 586: ...e control in the step start information The step start information is set in the control data Cd 36 Step start information The following table shows the results of starts using the step start informat...

Страница 587: ...by a stop signal Take appropriate measures go to step 5 c An error occurred and the control stopped Take appropriate measures go to step 3 5 Write 1 restart to Cd 6 Restart command and check that the...

Страница 588: ...nal Y10 Y11 Y12 Y13 XC XD XE XF X14 X15 X16 X17 Fig 12 35 Operation during step execution by deceleration unit step 2 The following drawing shows a step operation during a data No unit step Cd 36 Step...

Страница 589: ...7 Step function settings To use the step function write the data shown in the following table to the QD75 using the sequence program Refer to section 4 Using the step operation for the timing of the...

Страница 590: ...gnal is input during positioning control 2 Precautions during control 1 If the skip signal is turned ON at the last of an operation a deceleration stop will occur and the operation will be terminated...

Страница 591: ...ory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 37 Skip command 1 Set 1 Skip request 1547 1647 1747 1847 Refer to section 5 7 List of control data for details on...

Страница 592: ...uence program shown below in section 2 Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Pr 42 External command function selection 3 Set 3 Skip request 62 21...

Страница 593: ...put function 1 M code ON signal output timing 2 M code OFF request 3 Precautions during control 4 Setting the M code output function 5 Reading M codes 1 M code ON signal output timing The timing for o...

Страница 594: ...gnal set 1 turn OFF the M code signal in Cd 7 M code OFF request Buffer memory address Setting item Setting value Setting details Axis 1 Axis 2 Axis 3 Axis 4 Cd 7 M code OFF request 1 Set 1 Turn OFF t...

Страница 595: ...ON 2 The M code ON signal will not turn ON if 0 is set in Da 10 M code The M code will not be output and the previously output value will be held in Md 25 Valid M code 3 If the M code ON signal is ON...

Страница 596: ...WITH mode 1 AFTER mode 27 177 327 477 Refer to section 5 2 List of parameters for setting details 5 Reading M codes M codes are stored in the following buffer memory when the M code ON signal turns O...

Страница 597: ...as the axis is not BUSY even when an error or warning has occurred 2 Addresses for which teaching is possible The addresses for which teaching is possible are current feed values Md 20 Current feed va...

Страница 598: ...may become impossible assured value is up to 100 000 times If an error error code 805 occurs when writing to the flash ROM has been completed check whether or not the program is created so as to write...

Страница 599: ...he completion of the writing Move the workpiece to the target position using a manual operation Set the positioning data No for which the teaching will be carried out Turn OFF the PLC READY signal Y0...

Страница 600: ...nd point position using a manual operation Set the current feed value in the arc sub point by teaching data selection Set the positioning data No in the buffer memory address 1549 Set 1 in the buffer...

Страница 601: ...write it when the BUSY signal is OFF 2 Program example The following example shows a program to carry out the teaching of axis 1 by the dedicated instruction TEACH 1 1 Move the workpiece to the target...

Страница 602: ...Set teaching data Set positioning data No Execute teaching Turn OFF teaching command memory POINT 1 Confirm the teaching function and teaching procedure before setting the positioning data 2 The posit...

Страница 603: ...on 1 Details of control 2 Precaution during operation 3 Method of setting target position change function from PLC CPU 1 Details of control The following charts show the details of control of the targ...

Страница 604: ...ntinuous path control 4 When a command speed is changed the current speed is also changed When the next positioning speed uses the current speed in the continuous positioning the next positioning oper...

Страница 605: ...2 Axis 3 Axis 4 Cd 27 Target position value new address 3000 Set the new address 1534 1535 1634 1635 1734 1735 1834 1835 Cd 28 Target position value new speed 1000000 Set the new speed 1536 1537 1636...

Страница 606: ...program and written to the PLC CPU Example No 22 Target position change program Pulsate target position change command Hold target position change command Set target position change value 300 0 m add...

Страница 607: ...Setting the command in position function 4 Confirming the command in position flag 1 Control details The following shows control details of the command in position function 1 When the remaining dista...

Страница 608: ...position width setting value V Execution of the command in position width check OFF OFF ON Command in position width setting value Execution of the command in position width check Fig 12 44 Command in...

Страница 609: ...ntrol 100 Refer to section 5 2 List of parameters for setting details 4 Confirming the command in position flag The command in position flag is stored in the following buffer memory Buffer memory addr...

Страница 610: ...setting In the QD75 four types each of acceleration time and deceleration time can be set By using separate acceleration deceleration times control can be carried out with different acceleration decel...

Страница 611: ...s is a method in which linear acceleration deceleration is carried out based on the acceleration time deceleration time and speed limit value set by the user Velocity Distance Fig 12 45 Automatic trap...

Страница 612: ...e set details are validated when written to the QD75 Setting item Setting value Setting details Factory set initial value Pr 34 Acceleration deceleration process selection Set the acceleration deceler...

Страница 613: ...art function is performed by turning ON the positioning start signal Y10 Y11 Y12 Y13 with the execution prohibition flag Y14 Y15 Y16 Y17 ON or by executing the dedicated instruction PSTRT1 PSTRT2 PSTR...

Страница 614: ...Cutter shaft Feed shaft Stock Fig 12 49 System example using pre reading start function Fig 12 49 shows a system example which repeats 1 Feeding a stock with a feed shaft and 2 Cutting it with a cutte...

Страница 615: ...es a start request until it servo start The system s tact time can be reduced by the shortening of this delay with the Pre reading start function In Fig 12 50 the feed shaft stands by during the stop...

Страница 616: ...ith the pre reading start function are No 1 to 600 only Performing the pre reading start function at the setting of No 7000 to 7004 or 9001 to 9004 will result in an outside start No range error Error...

Страница 617: ...ion when dedicated instruction PSTRT1 is used Turns ON execution prohibition flag Sets 1 to positioning start No Executes positioning start Turns OFF execution prohibition flag Normal termination of p...

Страница 618: ...1851 3 Turn ON all axis servo ON command Y1 Now the servo amplifier turns ON the servo servo operation enabled state The servo LED indicates d 2 Servo OFF The following shows the procedure for servo O...

Страница 619: ...oop pulses the next time the servo turns ON but positioning can be performed from the stop position 2 Execution follow up Follow up function is executed continually during the servo OFF status OFF Fol...

Страница 620: ...ters set the only DRU parameters Don t set change IFU parameters from QD75 The IFU parameters set change the unit operation section pushbutton switches of the MR J2M B interface unit or setup software...

Страница 621: ...12 92 MELSEC Q 12 CONTROL SUB FUNCTIONS MEMO...

Страница 622: ...arameter initialization and execution data backup Read the setting and execution procedures for each common function indicated in this chapter thoroughly and execute the appropriate function where req...

Страница 623: ...to the factory set initial value Execution data backup This function writes the execution data currently being used for control to the flash ROM External I O signal logic switching This function swit...

Страница 624: ...OPR basic parameters Pr 43 to Pr 48 OPR detailed parameters Pr 49 to Pr 57 Servo parameters Pr 100 to Pr 161 Positioning data No 1 to 600 Block start data No 7000 to 7004 3 Precautions during control...

Страница 625: ...ing the TO command intelligent function device The initialization of the parameter is executed at the time point the data is written to the QD75 buffer memory Buffer memory address Setting item Settin...

Страница 626: ...hows the data that can be written to the flash ROM using the execution data backup function Buffer memory Flash ROM Parameters Pr 1 to Pr 57 Pr 200 Pr 201 Parameters Pr 1 to Pr 57 Pr 200 Pr 201 Positi...

Страница 627: ...ut by the writing of the data shown in the table below to the QD75 buffer memory using the TO command intelligent function device The writing to the flash ROM is executed at the time point the data is...

Страница 628: ...ddress Setting item Setting details Factory set initial value Axis 1 Axis 2 Axis 3 Axis 4 Selection of logic of signals input from external source to QD75 b0 Lower limit b1 Upper limit 0 Negative logi...

Страница 629: ...nformation that can be monitored are the module s information same as the QD75 front RUN ERR LED indicators and the following external I O signals Set the logic of the external I O signals in Pr 22 In...

Страница 630: ...of the intelligent function module Using the dedicated instructions the programming can be carried out without being aware of the QD75 buffer memory address and interlock signal 14 1 List of dedicate...

Страница 631: ...s the buffer memory parameters positioning data and block start data to the flash ROM Section 14 6 Parameter initialization PINIT This function initializes the buffer memory and flash ROM setting data...

Страница 632: ...S D When PSTRT1 PSTRT2 PSTRT3 and PSTRT4 are common to each other they are designated as PSTRT Setting data Setting data Setting details Setting side 1 Data type Un QD75 head I O number 00 to FE High...

Страница 633: ...at abnormal completion Functions 1 The positioning start of the axes to be processed See below is carried out PSTRT1 Axis 1 PSTRT2 Axis 2 PSTRT3 Axis 3 PSTRT4 Axis 4 2 The block start OPR start curre...

Страница 634: ...is input before completion of the positioning which has been started by the PSTRT instruction the completion device D turns the 1 scan ON to complete execution of the PSTRT instruction 3 The following...

Страница 635: ...letion devices Positioning start program Positioning start command pulse Positioning start No 1 setting Positioning start command hold Positioning start execution Positioning start command storage OFF...

Страница 636: ...TEACH1 TEACH2 TEACH3 and TEACH4 are common to each other they are designated as TEACH Setting data Setting data Setting details Setting side 1 Data type Un QD75 head I O number 00 to FE High order two...

Страница 637: ...sitioning address or arc address The positioning data other than the positioning addresses and arc addresses are set by peripheral device or using a sequence program TEACH1 Axis 1 TEACH2 Axis 2 TEACH3...

Страница 638: ...dedicated instructions cannot be executed simultaneously for the same axis Can be executed simultaneously for different axes Positioning start instructions PSTRT1 to PSTRT4 Teaching instructions TEAC...

Страница 639: ...data No setting Teaching execution Teaching command storage OFF No 20 Teaching program Positioned manually to target position Program example for use when dedicated instruction is not used Teaching c...

Страница 640: ...data is stored Device D Head number of a bit device which turns ON the operation by one scan at the time of completion of the instruction If the instruction is completed abnormally D 1 will also be t...

Страница 641: ...d ON by the END processing of the scan for which PFWRT instruction is completed and turned OFF by the next END processing same ON OFF operation as complete device END processing END processing END pro...

Страница 642: ...3 After the power ON and PLC CPU reset operation writing to the flash ROM using a sequence program is limited to up to 25 times Not limited to up to 25 times when writing to the flash ROM is carried...

Страница 643: ...rite command pulse Flash ROM write command hold PLC READY output to QD75 standby Flash ROM write execution Flash ROM write command storage OFF Program example for use when dedicated instruction is not...

Страница 644: ...D Head number of a bit device which turns ON the operation by one scan at the time of completion of the instruction If the instruction is completed abnormally D 1 will also be turned ON System Bit No...

Страница 645: ...D processing b Complete state display device D 1 This device is turned ON and OFF according to the state in which PINIT instruction is completed When completed normally Kept unchanged at OFF When comp...

Страница 646: ...MELSECNET H Network System Reference Manual Remote I O Network Program example The following program initializes the parameters in buffer memory and flash ROM when X3C turns ON No 25 Parameter initia...

Страница 647: ...14 18 MELSEC Q 14 DEDICATED INSTRUCTIONS MEMO...

Страница 648: ...f errors 15 6 15 2 1 QD75 detection error 15 6 15 2 2 MR H BN detection error 15 34 15 2 3 MR J2 B detection error 15 46 15 2 4 MR J2S B detection error 15 56 15 2 5 MR J2 Jr detection error 15 66 15...

Страница 649: ...the reference axis during analysis of the positioning data set in each point of the positioning start data table a When the interpolation axis is BUSY b When the error occurred in positioning data or...

Страница 650: ...tection signal Buffer memory address 1 X8 806 2 X9 906 3 XA 1006 4 XB 1106 A new error code is stored in the buffer memory address Md 23 Axis error No for axis error storage every time an error occurs...

Страница 651: ...fier Warning storage 1 When an axis warning occurs the warning code corresponding to the warning details is stored in the following buffer memory Md 24 Axis warning No for axis warning No storage Axis...

Страница 652: ...stop during axis stop Axis sudden stop during axis stop Axis stop before axis operation Axis sudden stop before axis operation Writing to the buffer memory monitoring area 5 Confirming the error and...

Страница 653: ...e CPU unit The system stops with the setting deceleration stop sudden stop of the detailed parameter 2 Sudden stop selection stop group 2 Note that the deceleration stop only occurs during the manual...

Страница 654: ...5 2 9 Pr 133 Moving the system to a position where an upper limit signal is not input using the manual control operation refer to chapter 11 after the axis error reset Refer to section 15 1 3 Moving...

Страница 655: ...ration 206 Count method movement amount fault In the count method 1 and 2 OPR a parameter Setting of movement amount after near point dog ON is smaller than a distance necessary for deceleration stop...

Страница 656: ...near point dog ON 0 to 2147483647 74 75 224 225 374 375 524 525 OPR speed 1 to 10000000 PLS s 1 to 2000000000 mm min Calculate the movement distance using a speed limit OPR speed and deceleration time...

Страница 657: ...rtner axis for simultaneous start is BUSY 501 Error before simultaneous start When multiple axes are started and controlled simultaneously The partner axis for simultaneous start is BUSY The Simultane...

Страница 658: ...ion operators Axis designation 10H 20H 30H 40H 50H 60H 70H 80H 90H A0H B0H C0H D0H E0H Normalize the condition operators Refer to section 5 5 Da 16 1540 1640 1740 1840 Axis 1 start data No 1541 1641 1...

Страница 659: ...n where the control unit is set to degree and software stroke limit upper limit is not equal to the software stroke limit lower limit At start The system will not operate During operation The system s...

Страница 660: ...e stroke limits are valid Unit degree 35999999 to 35999999 Unit mm PLS inch 2147483648 to 2147483647 When software stroke limits are invalid 2147483648 to 2147483647 Speed position switching INC mode...

Страница 661: ...ing normal deceleration stop only of sudden stop selection stop group 3 in the detailed parameter 2 when the current feed value or machine feed value during speed control including speed control in sp...

Страница 662: ...ing the new current value into the setting range Refer to section 9 2 19 Do not designate a current value changing using the positioning data following the continuous path control Do not designate a c...

Страница 663: ...t present in the unit In 2 axis interpolation the axis to be interpolated is the self axis or an axis not present 522 Command speed setting error The command speed is outside the setting range Linear...

Страница 664: ...it setting of the axis to be interpolated Refer to section 9 1 6 Same as error codes 515 to 516 Correct the control system Refer to Section 5 3 Da 2 Correct the axis to be interpolated Refer to sectio...

Страница 665: ...2147483647 526 End point setting error Start point is equal to end point in the circular interpolation with sub points designated End point address is outside the range of 2147483648 to 2147483647 At...

Страница 666: ...ch 2147483648 to 2147483647 Unit degree cannot be set Arc address 2147483648 to 2147483647 Correct the end address positioning address Refer to section 9 2 10 Same as in error codes 525 to 526 Correct...

Страница 667: ...s in the unit of degree The operation is terminated 536 M code ON signal start The positioning start is carried out when an M code ON signal X4 to X7 is turned ON 537 PLC READY OFF start The positioni...

Страница 668: ...equest 1 M code signal is turned OFF After turning OFF the M code ON signal start the system Refer to section 12 7 3 Check the sequence program which turns ON OFF the PLC READY signal Y0 and turn ON t...

Страница 669: ...eleration stop sudden stop of the detailed parameter 2 sudden stop selection stop group 3 Note that the deceleration stop only occurs during the manual pulse generator operation 801 Flash ROM write er...

Страница 670: ...the software stroke limit lower limit value Refer to section 9 1 5 Clear the setting of the PLC CPU module parameter Output at error stop Refer to QCPU User s Manual The flash ROM is expected to be a...

Страница 671: ...tside the setting range The value obtained by the conversion of the speed limit value with respect to the frequency exceeds the maximum output frequency of the unit The speed limit value is smaller th...

Страница 672: ...0000 PLS s 1 to 2000000000 mm min or others Set a value which is not less than the OPR speed With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 12 13 162 163 3...

Страница 673: ...he detailed parameter 1 Interpolation speed designation method is outside the setting range 930 Current value update request error The set range of the detailed parameter 1 Current feed value during s...

Страница 674: ...78 328 478 0 1 29 179 329 479 0 1 30 180 330 480 0 1 2 33 0 1 2 3 With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON 34 184 334 484 0 2 Speed position switchin...

Страница 675: ...eter 2 Sudden stop deceleration time is outside the setting range 962 Stop group 1 sudden stop selection error The set range of the detailed parameter 2 Stop group 1 sudden stop selection is outside t...

Страница 676: ...000 mm min or others With the setting brought into the setting range turn the PLC READY signal Y0 from OFF to ON Bring the setting into the speed limit value or below 50 200 350 500 0 1 2 3 51 201 351...

Страница 677: ...de the setting range 990 OPR error The set range of the OPR detailed parameter OPR is outside the setting range 991 Setting for the movement amount after near point dog ON error The set range of the O...

Страница 678: ...ng the setting into the setting range Set the speed to the bias speed at start or higher Refer to section 5 2 5 76 77 226 227 376 377 526 527 1 to 10000000 PLS s 1 to 2000000000 mm min or others Bring...

Страница 679: ...ing operation is shown below Change amount of the encoder current value 3 5 ms Motor 180 Check any time both servo ON OFF after the servo amplifier is turned ON Encoder errors 1204 Encoder error 2 The...

Страница 680: ...ffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set range Setting with sequence program Remedy Execute the OPR Check the servomotor and encoder cable Take measures against noise Check the servomotor a...

Страница 681: ...Memory error 2 EEP ROM error Faulty parts in the servo amplifier The encoder connecter is disconnected Fault in the encoder Encoder cable fault Wire breakage or shot 2016 16 Encoder error 1 Communica...

Страница 682: ...A 12 to 15 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables Change the servo amplifier Connect correctly Change the servomotor Repair or ch...

Страница 683: ...ected High duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative brake option to be exceeded Power supply voltage is abnormal 260VAC or more...

Страница 684: ...e brake option The regenerative brake option has overheated abnormally The alarm occurs even after removal of the built in regenerative brake resistor or regenerative brake option Change the servo amp...

Страница 685: ...regenerative brake resistor or regenerative brake option is open or disconnected Though the regenerative brake option is used the DRU parameter Pr 102 Regenerative brake resistor setting value is 0 00...

Страница 686: ...ower cables Change the servo amplifier Correct the U V W phase wiring of the servo amplifier Take noise suppression measures Change lead Connect correctly Regenerative brake option 30102 30202 30302 3...

Страница 687: ...otor encoder signal is abnormal The motor encoder fault Air cooling fan of servo amplifier stops The power supply was turned on and off continuously by overloaded status 2045 45 Main circuit device ov...

Страница 688: ...temperature Review operation method Change the servo amplifier or cooling fan Review environment so that ambient temperature is 0 to 40 C Reduce load Review operation pattern Use servomotor that provi...

Страница 689: ...se The servo system is unstable causing hunting The bus voltage of the unit has decreased 2051 51 Overload 2 Machine collision or the like caused max output current to flow successively for several se...

Страница 690: ...e servo amplifier When the servomotor shaft is rotated with the servo off the cumulative feedback pulses should vary in proportion to the rotary angle If the indication skips or returns midway the enc...

Страница 691: ...motor terminals U V W phase 2052 52 Error excessive Droop pulse of the deviation counter reached or exceeded setting value Initial value 8 rotation of the parameter Pr 131 The bus voltage of the unit...

Страница 692: ...Torque output setting value 1552 1652 1752 1852 When torque is limited increase the limit value Reduce load Use servomotor that provides larger output Input signal logic selection 31 181 331 481 Revi...

Страница 693: ...amplifier The encoder connecter CN2 is disconnected Fault in the encoder Encoder cable fault Wire breakage or shot 2016 16 Encoder error 1 Communication error occurred between encoder and servo amplif...

Страница 694: ...vo amplifier Connect correctly Change the servomotor Repair or change the cable Use correct combination Alarm A 17 A 18 occurs if power is switched on after disconnection of the CN1A CN1B and CN3 conn...

Страница 695: ...ative brake option is exceeded Regenerative brake option faulty Regenerative transistor faulty 2030 30 Regenerative error Regenerative transistor fault Built in regenerative brake resistor or regenera...

Страница 696: ...er or regenerative brake option Load inertia ratio 30112 30212 30312 30412 Increase acceleration deceleration time constant Acceleration time 12 13 162 163 312 313 462 463 36 37 186 187 386 387 486 48...

Страница 697: ...t Noise has entered the SSCNET cable The terminal connector is disconnected 2034 34 CRC error SSCNET cable communication fault The same No exists in the servo amplifier side axis setting Command given...

Страница 698: ...brake option Add regenerative brake option or increase capacity Review the power supply Connect correctly Change the SSCNET cable Take measures against noise Connect terminal connector Set correctly R...

Страница 699: ...c of servo amplifier Load ratio 300 2 5s or more Load ratio 200 100s or more The motor encoder fault Collision with the machine Servo motor miswiring servo amplifier terminals U V W phase don t mach m...

Страница 700: ...ncoder if faulty Change servomotor Input signal logic selection 31 181 331 481 Review operation pattern Install limit switches Connect correctly Auto tuning 30108 30208 30308 30408 Servo response 3010...

Страница 701: ...force Collision with the machine The motor encoder fault 2052 52 Error excessive Droop pulse of the deviation counter reached or exceeded setting value of the parameter Pr 131 Servo motor miswiring s...

Страница 702: ...ue When torque is limited increase the limit value Use servomotor that provides larger output Positioning gain 1 30113 30113 30113 30113 Torque limit value 26 176 326 476 OPR torque limit value 86 236...

Страница 703: ...between encoder and servo amplifier Encoder cable fault Wire breakage or shot 2017 17 Board error 2 CPU or parts of the circuit fault 2019 19 Memory error 3 ROM memory error Faulty parts in the servo...

Страница 704: ...e the servo amplifier Connect correctly Change the servomotor Repair or change the cable Alarm A 17 A 19 occurs if power is switched on after disconnection of the CN1A CN1B and CN3 connector Change th...

Страница 705: ...rative brake option is exceeded Regenerative brake option faulty Regenerative transistor faulty 2030 30 Regenerative error Regenerative transistor fault Built in regenerative brake resistor or regener...

Страница 706: ...er or regenerative brake option Load inertia ratio 30112 30212 30312 30412 Increase acceleration deceleration time constant Acceleration time 12 13 162 163 312 313 462 463 36 37 186 187 386 387 486 48...

Страница 707: ...erter bus voltage exceeded 400VDC Power supply voltage high The SSCNET cable is disconnected SSCNET cable fault Noise has entered the SSCNET cable The terminal connector is disconnected 2034 34 CRC er...

Страница 708: ...rvo amplifier For wire breakage of regenerative brake option change regenerative brake option Add regenerative brake option or increase capacity Review the power supply Connect correctly Change the SS...

Страница 709: ...he continuous output current of the servo amplifier The servo system is unstable causing hunting Collision with the machine Servo motor miswiring servo amplifier terminals U V W phase do not mach moto...

Страница 710: ...justment manually Input signal logic selection 31 181 331 481 Review operation pattern Install limit switches Connect correctly When the servomotor shaft is rotated with the servo off the cumulative f...

Страница 711: ...xternal force Collision with the machine The motor encoder fault 2052 52 Error excessive Droop pulse of the deviation counter reached or exceeded setting value Initial value 8 rotation of the paramete...

Страница 712: ...86 236 386 536 Torque output setting value 1552 1652 1752 1852 Increase the torque limit value Review the power supply capacity Use servomotor which provides larger output Positioning gain 1 30113 302...

Страница 713: ...error 2013 13 Clock error Printed circuit board fault 2015 15 Memory error 2 EEP ROM error Faulty parts in the servo amplifier The encoder connecter CNP2 is disconnected Fault in the encoder 2016 16 E...

Страница 714: ...to 15 occurs if power is switched on after disconnection of CN1A CN1B CNP2 and CNP3 connector Change the servo amplifier Connect correctly Change the servo amplifier Repair or change the cable Alarm...

Страница 715: ...2031 31 Overspeed Speed has exceeded the instantaneous permissible speed Fault in the encoder Output phases U V W phase of the servo amplifier were connected with each other Transistor of the servo a...

Страница 716: ...ime 14 15 164 165 314 315 464 465 42 43 192 193 342 343 492 493 44 45 194 195 344 345 494 495 46 47 196 197 346 347 496 497 Reset servo gain to proper value If servo gain cannot be set to proper value...

Страница 717: ...me No exists in the servo amplifier side axis setting Command given is greater than the maximum speed of the servomotor Noise has entered the SSCNET cable 2035 35 Command pulse frequency error Input f...

Страница 718: ...y Change the SSCNET cable Take measures against noise Connect terminal connector Set correctly Review operation program Take measures against noise Change QD75M Connect the connector of the SSCNET cab...

Страница 719: ...cteristic of servo amplifier Load ratio 200 85s or more The motor encoder fault Collision with the machine Servo motor miswiring servo amplifier terminals U V W phase do not mach motor terminals U V W...

Страница 720: ...ty Change servomotor Input signal logic selection 31 181 331 481 Review operation pattern Install limit switches Connect correctly Auto tuning 30108 30208 30308 30408 Servo response 30109 30209 30309...

Страница 721: ...or encoder fault Servo motor miswiring servo amplifier terminals U V W phase don t mach motor terminals U V W phase 2052 52 Error excessive Droop pulse of the deviation counter reached or exceeded set...

Страница 722: ...ositioning gain 1 30113 30213 30313 30413 Increase set value and adjust to ensure proper operation Torque limit value 26 176 326 476 OPR torque limit value 86 236 386 536 Torque output setting value 1...

Страница 723: ...s of the circuit fault 2015 FA 15 Memory error 2 EEP ROM error Faulty parts in interface unit 2012 A 12 Memory error 1 ROM or RAM memory error 2013 A 13 Clock error Printed circuit board fault 2014 A...

Страница 724: ...ircuit power supply cables Change the interface unit Alarm any of A 12 to 15 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables Change the dri...

Страница 725: ...se unit after initialization Faulty parts in servo amplifier The encoder connecter is disconnected Encoder fault 2020 A 20 Encoder error 2 Communication error occurred between encoder and drive unit E...

Страница 726: ...unit properly Change the base unit Alarm A 1E occurs if power is switched on after disconnection of the U V W phase power cables Change the drive unit Connect correctly Change the servomotor Repair o...

Страница 727: ...tive brake resistor or regenerative brake option is exceeded Regenerative brake option faulty 2030 FA 30 Regenerative error Regenerative transistor fault Regenerative transistor faulty Small accelerat...

Страница 728: ...nit Load inertia ratio 30112 30212 30312 30412 Increase acceleration deceleration time constant Acceleration time 12 13 162 163 312 313 462 463 36 37 186 187 386 387 486 487 38 39 188 189 338 389 488...

Страница 729: ...CNET cable communication fault The same No exists in the interface unit side axis setting Command given is greater than the maximum speed of the servomotor Noise has entered the SSCNET cable 2035 A 35...

Страница 730: ...ge regenerative brake option Review the power supply Connect correctly Change the SSCNET cable Take measures against noise Connect terminal connector Set correctly Review operation program Take measur...

Страница 731: ...ain circuit device overheat Main circuit device overheat Drive unit faulty Servo motor ambient temperature exceeded the operating value of 40 C Servomotor overloaded 2046 A 46 Servomotor heated Servo...

Страница 732: ...rovides larger output Change the servomotor Reduce load Review operation pattern Use servomotor that provides larger output Auto tuning 30108 30208 30308 30408 Servo response 30109 30209 30309 30409 R...

Страница 733: ...2051 A 51 Overload 2 Machine collision or the like caused max output current to flow successively for several seconds Servomotor locked 0 3s The motor encoder fault Acceleration deceleration time con...

Страница 734: ...servomotor Acceleration time 12 13 162 163 312 313 482 483 36 37 186 187 336 337 486 487 38 39 188 189 338 339 488 489 40 41 190 191 340 341 490 491 Deceleration time 14 15 164 165 314 315 464 465 42...

Страница 735: ...le and power cable U V W phase coming out of one drive unit are connected to the incorrect servomotor 2054 FA 54 Drive unit alarm Alarm occurred in one or more axes of drive units installed to the bas...

Страница 736: ...rn Use a servomotor whose output is large Auto tuning 30108 30208 30308 30408 Servo response 30109 30209 30309 30409 Repeat acceleration deceleration to execute Pr 108 Auto tuning Change Pr 109 Servo...

Страница 737: ...hen the PLC READY is turned ON at the time of teaching request The warning for axis 1 is issued 112 Illegal override value A value other than 1 to 300 is set for the override value Controlled at a set...

Страница 738: ...1613 1713 1813 Positioning operation speed override 1 to 300 1525 1625 1725 1825 New torque value 1 to Torque limit set value 26 176 326 476 Torque limit set value 1 to 500 Set a value within the sett...

Страница 739: ...R to NEXT is nested 508 Speed position switching during acceleration signal ON The switching signal for speed position switching control INC mode is turned ON during acceleration The operation is cont...

Страница 740: ...OFF request 1 M code ON signal is turned OFF Normalize the ON and OFF timings of the M code OFF request Refer to section 12 7 3 Refer to section 5 3 List of positioning data Operation pattern 00 Posit...

Страница 741: ...ore A 0 is canceled by the QD75M automatically even when a 0 or 601 or more is set 517 Illegal teaching data selection The teaching data selection set value is outside the setting range Teaching is no...

Страница 742: ...hing positioning data No 1 to 600 Set the positioning data No to within the setting range 1548 1648 1748 1848 Teaching data selection 0 1 Set the teaching data selection set value to within the settin...

Страница 743: ...Regenerative power increased to 85 or more of permissible regenerative power of built in regenerative brake resistor or regenerative brake option 2141 E1 Over load warning There is a possibility that...

Страница 744: ...battery Reduce frequency of positioning Change regenerative brake option for the one with larger capacity Call the status display and check regenerative load ratio Reduce load Refer to error code 2050...

Страница 745: ...egenerative brake option 2141 E1 Over load warning There is a possibility that overload alarm 1 error code 2050 or 2 error code 2051 may occur Load increased to 85 or more of over load alarm 1 error c...

Страница 746: ...and check regenerative load ratio Reduce frequency of positioning Change regenerative brake option for the one with larger capacity Reduce load Refer to error code 2050 2051 Refer to section 15 2 3 Re...

Страница 747: ...le regenerative power of built in regenerative brake resistor or regenerative brake option 2141 E1 Over load warning There is a possibility that overload alarm 1 error code 2050 or 2 error code 2051 m...

Страница 748: ...display and check regenerative load ratio Reduce frequency of positioning Change regenerative brake option for the one with larger capacity Reduce load Refer to error code 2050 2051 Refer to section 1...

Страница 749: ...side setting range Parameter value set from QD75M controller is outside setting range 2146 E6 Servo emergency stop warning EMG1 SG is open Emergency stop was made valid EMG1 SG was opened EMG 6 pin or...

Страница 750: ...r to section 15 2 3 Refer to error code 2050 2051 Refer to section 15 2 3 Refer to section 5 2 7 to 5 2 10 Servo ON continued Set the parameter properly Servo emergency stop selection 30123 30223 3032...

Страница 751: ...ake option Regenerative power increased to 85 or more of permissible regenerative power of built in regenerative brake resistor or regenerative brake option 2141 A E1 Over load warning There is a poss...

Страница 752: ...uce frequency of positioning Change regenerative brake option for the one with larger capacity Call the status display and check regenerative load ratio Reduce load Refer to error code 2050 2051 Refer...

Страница 753: ...LED System error An operation condition setting error or installation PLC CPU type error occurs The setting and PLC CPU type are outside the specification range Set the PLC CPU type to a one containe...

Страница 754: ...ioning data No 1 to 600 List of buffer memory addresses Appendix 19 Appendix 4 Connection with servo amplifiers Appendix 43 Appendix 4 1 Connection of SSCNET cables Appendix 43 Appendix 4 2 Wiring of...

Страница 755: ...Appendix 2 MELSEC Q APPENDICES MEMO...

Страница 756: ...dix 1 1 Multiple CPU correspond function Refer to the QCPU Q Mode User s Manual Function Explanation Program Fundamentals SH 080038 Appendix 1 2 The combination of software package for QD75 and QCPU R...

Страница 757: ...Appendix 4 MELSEC Q APPENDICES Appendix 2 Format sheets Appendix 2 1 Positioning Module operation chart Axis address mm inch degree PLS Axis address mm inch degree PLS...

Страница 758: ...Appendix 5 MELSEC Q APPENDICES Axis address mm inch degree PLS Axis address mm inch degree PLS...

Страница 759: ...e 2147483648 to 2147483647 10 1 m 2147483648 to 2147483647 10 5 inch 0 to 35999999 10 5 degree 2147483648 to 2147483647 PLS Pr 14 Software stroke limit selection 0 Apply software stroke limit on curre...

Страница 760: ...Appendix 7 MELSEC Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 3 20000 20000 1 0 200000 1000 1000 0 2147483647 2147483648 0 0 100 300 0 0 0 0...

Страница 761: ...00 10 2 mm min 1 to 2000000000 10 3 inch min 1 to 2000000000 10 3 degree min 1 to 10000000 PLS Pr 32 JOG operation acceleration time selection Pr 33 JOG operation deceleration time selection 0 to 3 Pr...

Страница 762: ...Appendix 9 MELSEC Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 0 0 0 1000 1000 1000 1000 1000 1000 20000 0 0 0 100 1000 0 0 0 300 100 0 0...

Страница 763: ...000000 10 3 degree min 1 to 10000000 PLS s OPR basic parameters Pr 48 OPR retry 0 Don t retry OPR with upper lower limit switch 1 Retry OPR with upper lower limit switch Pr 49 OPR dwell time 0 to 6553...

Страница 764: ...Appendix 11 MELSEC Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 0 0 0 1 1 0 0 0 0 0 0 300 0 0...

Страница 765: ...F 80 Automatic setting Pr 103 Motor type 05 HA MH 0C HA LF 400V Class Pr 104 Motor capacity Use to select 100 times of the output capacity kW of the motor by the number of hexadecimal Round off the fi...

Страница 766: ...Appendix 13 MELSEC Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 3 0 0H 0H 80H 0000H 1 255 0 1 5H...

Страница 767: ...o 1000 Pr 122 Analog monitor output 0 to 0A0AH MR H BN MR J2 B MR J2 Jr or 0 to 0B0BH MR J2S B MR J2M B Pr 123 Optional function 1 0 to 0130H MR H BN MR H BN4 or 0 to 0101H MR J2 B MR J2S B MR J2 Jr M...

Страница 768: ...Appendix 15 MELSEC Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 70 35 177 35 817 20 0000H 0 100 0 0001H 0000H 0000H 0000H 0 0 0001H 50 80 0000H 0000H 0 980 4000...

Страница 769: ...or r min 0 to 9999 MR J2S B MR J2M B Pr 151 Gain changing time constant ms 0 to 100 MR J2S B MR J2M B Pr 152 Ratio of load inertia moment to servomotor inertia moment 2 0 1 times 0 to 3000 MR J2S B M...

Страница 770: ...Appendix 17 MELSEC Q APPENDICES Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks 0111H 20 50 0 10 1 70 100 100 100 0000H 0000H...

Страница 771: ...on pattern Da 2 Control system Da 3 Accelera tion time No Da 4 Decelera tion time No Da 5 Axis to be interpola ted Da 6 Positioning address movement amount Da 7 Arc address Da 8 Command speed Da 9 Dwe...

Страница 772: ...2217 2227 2237 2247 2208 2218 2228 2238 2248 2209 2219 2229 2239 2249 71 72 73 74 75 2700 2710 2720 2730 2740 2701 2711 2721 2731 2741 2702 2712 2722 2732 2742 2704 2714 2724 2734 2744 2705 2715 2725...

Страница 773: ...3238 3248 3209 3219 3229 3239 3249 171 172 173 174 175 3700 3710 3720 3730 3740 3701 3711 3721 3731 3741 3702 3712 3722 3732 3742 3704 3714 3724 3734 3744 3705 3715 3725 3735 3745 3706 3716 3726 3736...

Страница 774: ...4238 4248 4209 4219 4229 4239 4249 271 272 273 274 275 4700 4710 4720 4730 4740 4701 4711 4721 4731 4741 4702 4712 4722 4732 4742 4704 4714 4724 4734 4744 4705 4715 4725 4735 4745 4706 4716 4726 4736...

Страница 775: ...5238 5248 5209 5219 5229 5239 5249 371 372 373 374 375 5700 5710 5720 5730 5740 5701 5711 5721 5731 5741 5702 5712 5722 5732 5742 5704 5714 5724 5734 5744 5705 5715 5725 5735 5745 5706 5716 5726 5736...

Страница 776: ...6238 6248 6209 6219 6229 6239 6249 471 472 473 474 475 6700 6710 6720 6730 6740 6701 6711 6721 6731 6741 6702 6712 6722 6732 6742 6704 6714 6724 6734 6744 6705 6715 6725 6735 6745 6706 6716 6726 6736...

Страница 777: ...7238 7248 7209 7219 7229 7239 7249 571 572 573 574 575 7700 7710 7720 7730 7740 7701 7711 7721 7731 7741 7702 7712 7722 7732 7742 7704 7714 7724 7734 7744 7705 7715 7725 7735 7745 7706 7716 7726 7736...

Страница 778: ...8238 8248 8209 8219 8229 8239 8249 71 72 73 74 75 8700 8710 8720 8730 8740 8701 8711 8721 8731 8741 8702 8712 8722 8732 8742 8704 8714 8724 8734 8744 8705 8715 8725 8735 8745 8706 8716 8726 8736 8746...

Страница 779: ...9688 9698 9659 9669 9679 9689 9699 126 127 128 129 130 9250 9260 9270 9280 9290 9251 9261 9271 9281 9291 9252 9262 9272 9282 9292 9254 9264 9274 9284 9294 9255 9265 9275 9285 9295 9256 9266 9276 9286...

Страница 780: ...3 274 275 10700 10710 10720 10730 10740 10701 10711 10721 10731 10741 10702 10712 10722 10732 10742 10704 10714 10724 10734 10744 10705 10715 10725 10735 10745 10706 10716 10726 10736 10746 10707 1071...

Страница 781: ...3 374 375 11700 11710 11720 11730 11740 11701 11711 11721 11731 11741 11702 11712 11722 11732 11742 11704 11714 11724 11734 11744 11705 11715 11725 11735 11745 11706 11716 11726 11736 11746 11707 1171...

Страница 782: ...3 474 475 12700 12710 12720 12730 12740 12701 12711 12721 12731 12741 12702 12712 12722 12732 12742 12704 12714 12724 12734 12744 12705 12715 12725 12735 12745 12706 12716 12726 12736 12746 12707 1271...

Страница 783: ...3 574 575 13700 13710 13720 13730 13740 13701 13711 13721 13731 13741 13702 13712 13722 13732 13742 13704 13714 13724 13734 13744 13705 13715 13725 13735 13745 13706 13716 13726 13736 13746 13707 1371...

Страница 784: ...4 75 14700 14710 14720 14730 14740 14701 14711 14721 14731 14741 14702 14712 14722 14732 14742 14704 14714 14724 14734 14744 14705 14715 14725 14735 14745 14706 14716 14726 14736 14746 14707 14717 147...

Страница 785: ...3 174 175 15700 15710 15720 15730 15740 15701 15711 15721 15731 15741 15702 15712 15722 15732 15742 15704 15714 15724 15734 15744 15705 15715 15725 15735 15745 15706 15716 15726 15736 15746 15707 1571...

Страница 786: ...3 274 275 16700 16710 16720 16730 16740 16701 16711 16721 16731 16741 16702 16712 16722 16732 16742 16704 16714 16724 16734 16744 16705 16715 16725 16735 16745 16706 16716 16726 16736 16746 16707 1671...

Страница 787: ...3 374 375 17700 17710 17720 17730 17740 17701 17711 17721 17731 17741 17702 17712 17722 17732 17742 17704 17714 17724 17734 17744 17705 17715 17725 17735 17745 17706 17716 17726 17736 17746 17707 1771...

Страница 788: ...3 474 475 18700 18710 18720 18730 18740 18701 18711 18721 18731 18741 18702 18712 18722 18732 18742 18704 18714 18724 18734 18744 18705 18715 18725 18735 18745 18706 18716 18726 18736 18746 18707 1871...

Страница 789: ...3 574 575 19700 19710 19720 19730 19740 19701 19711 19721 19731 19741 19702 19712 19722 19732 19742 19704 19714 19724 19734 19744 19705 19715 19725 19735 19745 19706 19716 19726 19736 19746 19707 1971...

Страница 790: ...4 75 20700 20710 20720 20730 20740 20701 20711 20721 20731 20741 20702 20712 20722 20732 20742 20704 20714 20724 20734 20744 20705 20715 20725 20735 20745 20706 20716 20726 20736 20746 20707 20717 207...

Страница 791: ...3 174 175 21700 21710 21720 21730 21740 21701 21711 21721 21731 21741 21702 21712 21722 21732 21742 21704 21714 21724 21734 21744 21705 21715 21725 21735 21745 21706 21716 21726 21736 21746 21707 2171...

Страница 792: ...3 274 275 22700 22710 22720 22730 22740 22701 22711 22721 22731 22741 22702 22712 22722 22732 22742 22704 22714 22724 22734 22744 22705 22715 22725 22735 22745 22706 22716 22726 22736 22746 22707 2271...

Страница 793: ...3 374 375 23700 23710 23720 23730 23740 23701 23711 23721 23731 23741 23702 23712 23722 23732 23742 23704 23714 23724 23734 23744 23705 23715 23725 23735 23745 23706 23716 23726 23736 23746 23707 2371...

Страница 794: ...3 474 475 24700 24710 24720 24730 24740 24701 24711 24721 24731 24741 24702 24712 24722 24732 24742 24704 24714 24724 24734 24744 24705 24715 24725 24735 24745 24706 24716 24726 24736 24746 24707 2471...

Страница 795: ...3 574 575 25700 25710 25720 25730 25740 25701 25711 25721 25731 25741 25702 25712 25722 25732 25742 25704 25714 25724 25734 25744 25705 25715 25725 25735 25745 25706 25716 25726 25736 25746 25707 2571...

Страница 796: ...name Model name Depiction in connection example Description MR HBUS M 0 5m 1 64ft 1m 3 28ft 5m 16 4ft Connection between MR H BN MR H BN4 and MR H BN MR H BN4 MR J2HBUS M 0 5m 1 64ft 1m 3 28ft 5m 16...

Страница 797: ...tery MR BAT A6BAT Battery MR BAT A6BAT MR J2 B MR J2 B MR J2 B 3 MR J2 B MR H BN MR H BN4 configuration Battery MR BAT A6BAT Termination connector Battery MR BAT A6BAT Battery MR BAT A6BAT MR J2 B MR...

Страница 798: ...d separately MR J2HBUS M A Connection between QD75M MR J2 B MR J2S B MR J2 Jr MR J2M B and MR H BN MR H BN4 MR J2CN1 A connector set sold separately Use the following or equivalent twisted pair cables...

Страница 799: ...ed wire given on Appendix 4 2 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m 98 4ft LG LG RD RD TD TD EMG EMG SD BT LG...

Страница 800: ...ng a cable use the recommended wire given on Appendix 4 2 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m 98 4ft 10120 6...

Страница 801: ...on diagram When fabricating a cable use the recommended wire given on Appendix 4 2 and make the cable as show in the following connection diagram The overall distance of the SSCNET cables on the same...

Страница 802: ...Caribbean Drive Sunnyvale CA 94089 U S A Tel 1 408 745 4900 FUJITSU TAKAMISAWA EUROPE B V Jupiterstaat 13 15 our 2132 Hoofddorp The Netherland Tel 31 23 5560910 FUJITSU TAKAMISAWA EUROPE B V Schatzbo...

Страница 803: ...operation Manual pulse generator function Automatic trapezoidal acceleration deceleration Acceleration deceleration processing S pattern acceleration deceleration Acceleration deceleration time Accele...

Страница 804: ...emental system 214748364 8 to 214748364 7 m 21474 83648 to 21474 83647 inch 21474 83648 to 21474 83647 degree 2147483648 to 2147483647 PLS Speed position or position speed switching controls 0 to 2147...

Страница 805: ...388608ms selectable Compensation Electronic gears backlash compensation near pass 3 Electronic gears backlash compensation near pass 3 Error display Error LED 17 segment LED History data storage Start...

Страница 806: ...75M3 Added functions Remarks External I O signal logic switching function Refer to section 13 4 Inching operation Refer to section 11 3 Target position change function Refer to section 12 7 5 Multiple...

Страница 807: ...arried out only when a sub point is designated It is not carried out when a center point is designated 2 The software stroke limit check during speed control is carried out in the following cases When...

Страница 808: ...eed control for position speed switching control are added Continuous path control A1SD75 If the reference axis operates in reverse direction the control is internally changed into the continuous posi...

Страница 809: ...n Software stroke limits valid for manual operation Detailed parameters Pr 15 Software stroke limit valid invalid setting 1 Software stroke limits valid for manual operation Software stroke limits inv...

Страница 810: ...Y05 Axis 2 BUSY X05 X0D Axis 3 Stop Y1C Y06 Axis 3 BUSY X06 X0E Axis 4 Stop Y07 Axis 4 BUSY X0F All axis servo ON Y15 Y01 Axis 1 Positioning complete X07 X14 Axis 1 Forward run JOG Y16 Y08 Axis 2 Posi...

Страница 811: ...17 167 317 Pr 13 Software stroke limit upper limit value 16 17 166 167 316 317 18 19 168 169 318 319 Pr 14 Software stroke limit lower limit value 18 19 168 169 318 319 20 21 170 171 320 321 Pr 15 Sof...

Страница 812: ...209 359 59 209 359 Pr 42 Allowable circular interpolation error width 60 61 210 211 360 361 60 61 210 211 360 361 Pr 43 External start function selection QD75 Pr 42 External command function selectio...

Страница 813: ...o 112 262 412 30112 30262 30412 Pr 113 Position loop gain 1 113 263 413 30113 30263 30413 Pr 114 Speed loop gain 1 114 264 414 30114 30264 30414 Pr 115 Position loop gain 2 115 265 415 30115 30265 304...

Страница 814: ...vibration suppression control selection 2 30144 30244 30344 Pr 145 Induction voltage compensation 30145 30245 30345 Pr 146 Maker setting 30146 30246 30346 Pr 147 Maker setting 30147 30247 30347 Pr 148...

Страница 815: ...465 to 540 1215 to 1290 Md 11 Error judgment 466 to 541 1216 to 1291 Md 12 Start history pointer Start history 542 1292 Pointer number 0 to 15 Md 13 Start axis 543 to 618 Md 14 Operation type 544 to...

Страница 816: ...the warning occurred 689 to 749 1358 to 1418 Md 25 Axis warning No 690 to 750 1359 to 1419 Md 26 Axis warning occurrence Hour minute QD75 Md 16 Axis warning occurrence Hour 691 to 751 1360 to 1420 Md...

Страница 817: ...818 819 918 919 1018 1019 Md 42 Target speed 820 821 920 921 1020 1021 820 821 920 921 1020 1021 Md 43 OP absolute position 822 823 922 923 1022 1023 Md 44 Movement amount after near point dog ON 824...

Страница 818: ...op gain 1 860 960 1060 Md 105 Position loop gain 2 861 961 1061 Md 105 Speed loop gain 2 862 962 162 Md 105 Speed integral compensation 863 963 1063 Md 106 Servo amplifier S W No 864 865 866 867 868 8...

Страница 819: ...59 1209 1259 1513 1613 1713 Cd 19 JOG speed 1160 1161 1210 1211 1260 1261 1518 1519 1618 1619 1718 1719 Cd 20 Speed position switching enable flag 1163 1213 1263 1528 1628 1728 Cd 21 Speed position sw...

Страница 820: ...ta 1301 2301 3301 2001 8001 14001 Da 8 Dwell time JUMP destination positioning data No 1302 2302 3302 2002 8002 14002 Da 7 Command speed 1304 1305 2304 2305 3306 3307 2004 2005 8004 8005 14004 14005 D...

Страница 821: ...4907 26106 26107 27106 27107 28106 28107 2nd item 4410 to 4419 4660 to 4669 4910 to 4919 26110 to 26119 27110 to 27119 28110 to 28119 3rd item 4420 to 4429 4670 to 4679 4920 to 4929 26120 to 26129 27...

Страница 822: ...e logic Possible Upper limit Negative logic Not possible Negative logic Possible Lower limit Negative logic Not possible Negative logic Possible External start 2 Negative logic Not possible Negative l...

Страница 823: ...phase difference is a 90 electrical angle If the B phase were to lag behind the A phase in a forward run B phase turns ON after the A phase the A phase would lag behind the B phase in a reverse run A...

Страница 824: ...otor with an absolute position detector and a servo amplifier and positioning module compatible with an absolute position detection system ABSOLUTE SYSTEM This is one system for expressing a positioni...

Страница 825: ...ied out after a right feed of 1m 3 28feet will not be sufficient to return the machine to its original position The machine cannot be positioned to its original position without an extra feed equivale...

Страница 826: ...S SPEED AT START A large amount of torque is required when the machine starts moving but the torque may be unstable at speed 0 with stepping motors Therefore movement can be smoothly carried out by st...

Страница 827: ...evice is doing some other work It is in a positioning operation or in dwell time CCW Counterclockwise Rotation in the counterclockwise direction In the motor this is determined looking from the shaft...

Страница 828: ...p mode Refer to the section of position loop mode CURRENT VALUE This is the current address position when stopped or during positioning CW Clockwise Rotation in the clockwise direction Rotation in the...

Страница 829: ...d signal transfer such as inputting and outputting of pulse trains In general the transmission side is called the driver the reception side is called the receiver and a dedicated IC is used Command de...

Страница 830: ...ch a large brake torque can be obtained Because electromagnetic brakes have no holding power they are used in combination with mechanical brakes to prevent dropping of the vertical axis ELECTROMAGNETI...

Страница 831: ...l capacity of the regeneration system during stopping It is used when carrying out highly repetitive acceleration deceleration F In the QD75 F is a status where the module itself has a fault HOLD FAST...

Страница 832: ...b contact turns OFF non continuity status FORMATTING The initialization of a disk An operation to write rules contents etc to a disk In the above case the disk memory capacity will only decrease by t...

Страница 833: ...between 100 and 10 000 pulses per axis rotation Refer to ENCODER A B A Z B 1 4 A signal slit B signal slit Slit disk Light emitting diode Phototransistor Zero signal slit Rotating axis 1 pitch pitch...

Страница 834: ...tion are available The circular interpolation uses two motors INVERTER This refers to a device to change a direct current DC to an alternating current AC The device actually changes the motor speed by...

Страница 835: ...lay various data etc Either of two modes can be entered when the machine code turns ON AFTER or WITH The machine does not move to the next positioning when the machine code is ON M codes are turned OF...

Страница 836: ...ule The NC language consists of EIA codes EIA language ISO codes ISO standards and JIS codes JIS standards NEAR POINT DOG This is a limit switch placed before the OP When this switch turns ON the feed...

Страница 837: ...ly the speed will be automatically changed and the next data No will be executed OPR METHOD The OPR methods are shown below The method used depends on the machine structure stopping accuracy etc OPR c...

Страница 838: ...current speed can be varied between 1 and 300 The speed can also be changed by the same variable rate for continuous positioning with differing designated speeds P RATE Pulse Rate A coefficient that...

Страница 839: ...unstable If the position loop gain is lowered too far the machine will stop more smoothly but the stopping error will increase POSITION LOOP MODE This is one servo control mode used in positioning It...

Страница 840: ...random locations on the path Movement only to a given target positioning is requested Path control is not required during movement from a given point to the next value PULSE The turning ON and OFF of...

Страница 841: ...oltage analog voltage and output Movement distance for one resolver rotation Toothed gear Motor Position detection value Resolver addresses 0 to 4095 converted to digital RLS SIGNAL Reverse Limit Swit...

Страница 842: ...t to be used is designated as mm inch degree or pulse SFC Sequential Function Chart A sequential function chart is a programming method optimally structured for running a machine s automatic control i...

Страница 843: ...eration may become unstable If this happens the operation can be improved by raising this setting value The overshoot will become larger if the speed loop gain is raised too far and motor vibration no...

Страница 844: ...ted by a pulse 2 When the B phase is then excited the force works in the direction shown by the arrows 3 The nearest tooth to the B phase is attracted and the rotation stops A A C C B B N S C C A A N...

Страница 845: ...ng address is uncertain or gauging is required this function is used by the user to search for and teach the position to the machine For example complex addresses such as drawings can be taught by tra...

Страница 846: ...ection menus that appear on the screen when the QD75 is started Menu selection window Mode function selection window Sub function selection window Execution setting selection window WITH MODE This is...

Страница 847: ...ller 4 Hardware stroke limit When the machine exceeded the hardware stroke limit range positioning toward inside the range was started but the machine did not start Use a JOG operation Inching operati...

Страница 848: ...eleration deceleration process function 13 Acceleration decelerat ion time The machine starts and stops suddenly when carrying out JOG operations and positioning operations Using an MR J2S servo ampli...

Страница 849: ...ion and it will pass over the OP and continue moving 19 In the near point dog method machine OPR the stop positions are not uniform Carry out the following measures 1 Separate the near point dog signa...

Страница 850: ...ntinued This also applies for Pr 37 and Pr 38 29 Circular interpolation ABS system circular interpolation operates normally but a vertically oblong circle results when INC system circular interpolatio...

Страница 851: ...nal to check whether the current value changing has been executed 39 QD75 READY signal The QD75 READY signal does not turn ON even when the PLC READY signal Y0 is turned ON A parameter error has occur...

Страница 852: ...stop signal ON Even if the start signal is turned ON at that time the start request will be ignored and warning 100 will occur 51 Error warning Does warning 500 deceleration and stop speed change occ...

Страница 853: ...317 467 Pr 11 Backlash compensation amount 18 19 168 169 318 319 468 469 Pr 12 Software stroke limit upper limit value 20 21 170 171 320 321 470 471 Pr 13 Software stroke limit lower limit value 22 17...

Страница 854: ...9 359 509 Pr 40 Positioning complete signal output time 60 61 210 211 360 361 510 511 Pr 41 Allowable circular interpolation error width 62 212 362 512 Pr 42 External command function selection 64 65...

Страница 855: ...1325 1329 1333 1337 1341 1345 1349 1353 Md 9 Axis in which the error occurred 1294 1298 1302 1306 1310 1314 1318 1322 1326 1330 1334 1338 1342 1346 1350 1354 Md 10 Axis error No 1295 1299 1303 1307 13...

Страница 856: ...get value 820 821 920 921 1020 1021 1120 1121 Md 33 Target speed 824 825 924 925 1024 1025 1124 1125 Md 34 Movement amount after near point dog ON 826 926 1026 1126 Md 35 Torque limit stored value 827...

Страница 857: ...p gain 2 862 962 1062 1162 Md 105 Speed loop gain 2 863 963 1063 1163 Md 105 Speed integral compensation 864 865 866 867 868 869 964 965 966 967 968 969 1064 1065 1066 1067 1068 1069 1164 1165 1166 11...

Страница 858: ...1818 1819 Cd 17 JOG speed 1520 1620 1720 1820 Cd 18 Interrupt request during continuous operation 1521 1621 1721 1821 Cd 19 OPR request flag OFF request 1522 1523 1622 1623 1722 1723 1822 1823 Cd 20...

Страница 859: ...Cd 34 Step mode 1545 1645 1745 1845 Cd 35 Step valid flag 1546 1646 1746 1846 Cd 36 Step start information 1547 1647 1747 1847 Cd 37 Skip command 1548 1648 1748 1848 Cd 38 Teaching data selection 154...

Страница 860: ...0002 Da 9 Dwell time JUMP destination positioning data No 2003 8003 14003 20003 Maker setting 2004 2005 8004 8005 14004 14005 20004 20005 Da 8 Command speed 2006 2007 8006 8007 14006 14007 20006 20007...

Страница 861: ...27119 28110 to 28119 29110 to 29119 2nd item 26120 to 26129 27120 to 27129 28120 to 28129 29120 to 29129 3rd item to to to to to 26190 to 26199 27190 to 27199 28190 to 28199 29190 to 29199 10th item C...

Страница 862: ...pendix 109 MELSEC Q APPENDICES Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Item Memory area 30000 to 30099 Condition judgement target data of the condition data PLC CPU memo area Positioning dat...

Страница 863: ...resonance suppression filter 30119 30219 30319 30419 Pr 119 Feed forward gain 30120 30220 30320 30420 Pr 120 In position range 30121 30221 30321 30421 Pr 121 Electromagnetic brake sequence output 301...

Страница 864: ...0351 30451 Pr 151 Gain changing time constant 30152 30252 30352 30452 Pr 152 Ratio of load inertia moment to servo motor inertia moment 2 30153 30253 30353 30453 Pr 153 Position loop gain 2 changing r...

Страница 865: ...x 10 External dimension drawing 1 QD75M1 QD75M2 QD75M4 98 3 86 27 4 1 08 Unit mm inch QD75M1 QD75M2 AX1 AX2 AX1 RUN ERR AX2 AX1 RUN ERR AX1 QD75M1 QD75M2 QD75M4 AX1 AX2 AX3 AX4 RUN ERR AX4 AX3 AX2 AX1...

Страница 866: ...33 3 axis linear interpolation control INC linear 3 9 36 3 axis speed control 9 73 4 axis fixed feed control interpolation 9 51 4 axis linear interpolation control ABS linear 4 9 39 4 axis linear inte...

Страница 867: ...nction Explanation of positioning terms Appendix 71 Ball screw Explanation of positioning terms Appendix 71 Basic parameters 1 5 22 Basic parameters 2 5 26 BCD Explanation of positioning terms Appendi...

Страница 868: ...tioning terms Appendix 74 CW Explanation of positioning terms Appendix 74 D D A converter Explanation of positioning terms Appendix 74 Data No Explanation of positioning terms Appendix 74 Data set met...

Страница 869: ...External device connector 4 3 External dimension drawing Appendix 111 External input output signal Md 30 5 124 External I O signal logic switching function 13 7 External I O signal monitor function 1...

Страница 870: ...time chart 11 23 Inching operation timing and processing times 11 19 Inching operation 11 17 Incremental encoder Explanation of positioning terms Appendix 79 Incremental system 9 15 Incremental syste...

Страница 871: ...ode ON signal 3 13 M code ON signal output timing 12 64 M code ON signal output timing Pr 18 5 30 M code output function 12 64 Machine feed value 9 16 Machine feed value Md 21 5 120 Machine feed value...

Страница 872: ...ation of positioning terms Appendix 83 OP address Pr 45 5 50 OP shift amount Pr 53 5 56 OP shift function 12 8 OP shift function Explanation of positioning terms Appendix 83 Operating principle 1 7 Op...

Страница 873: ...ntrol Explanation of positioning terms Appendix 85 Position detection module Explanation of positioning terms Appendix 85 Position loop gain Explanation of positioning terms Appendix 85 Position loop...

Страница 874: ...rol operation timing and process time 6 63 Program details 6 53 Program examples Acceleration deceleration time change program 6 45 Continuous operation interrupt program 6 48 Error reset program 6 51...

Страница 875: ...ON Explanation of positioning terms Appendix 88 Servo ON OFF 12 89 Servo parameter Md 105 5 134 Servo response Pr 109 5 62 Servo series Pr 100 5 58 Servo status Md 108 5 136 Servomotor Explanation of...

Страница 876: ...ndix 89 Speed integral compensation changing ratio Pr 155 5 78 Speed limit function 12 23 Speed limit value Pr 8 5 26 Speed limit value Explanation of positioning terms Appendix 89 Speed loop gain 1 P...

Страница 877: ...ation of positioning terms Appendix 91 Sub functions 12 2 Sub functions specifically for machine OPR 12 4 Sudden stop 6 43 Sudden stop Explanation of positioning terms Appendix 91 Sudden stop decelera...

Страница 878: ...f control data 5 18 Types and roles of monitor data 5 14 Types of data 5 2 Types of errors 15 2 Types of stop processes 6 71 Types of warnings 15 3 U Unconditional JUMP 9 111 Unit magnification Pr 4 5...

Страница 879: ...Index 14 MEMO...

Страница 880: ...ction 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 Bull...

Страница 881: ...d Windows NT are registered trademarks of Microsoft Corporation in the United States and other countries Other company and product names herein may be either trademarks or registered trademarks of the...

Страница 882: ...IB NA 0300062 A 0212 MEE MODEL MODEL CODE QD75M U S E 1CT752 IB NA 0300062 A 0212 MEE When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry f...

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