SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. Refer to the Users manual of the CPU module to use for a description of the PLC system safety precautions.
For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks. Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF.
3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity (+ / -), as this may lead to destruction or damage. Do not touch the heat radiating fins of module or servo amplifier, regenerative resistor and servomotor, etc.
CAUTION The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed. Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system. Use wires and cables within the length of the range described in the instruction manual.
DANGER The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used. Use the interlock program specified in the intelligent function module's instruction manual for the program corresponding to the intelligent function module.
CAUTION Store and use the unit in the following environmental conditions. Environment Ambient temperature Ambient humidity Storage temperature Atmosphere Altitude Vibration Conditions Module/Servo amplifier According to each instruction manual. According to each instruction manual. According to each instruction manual. Servomotor 0°C to +40°C (With no freezing) (32°F to +104°F) 80% RH or less (With no dew condensation) -20°C to +65°C (-4°F to +149°F) Indoors (where not subject to direct sunlight).
(4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier. Correctly connect the output side (terminal U, V, W).
(6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the module, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized. Do not make any modifications to the unit.
(7) Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the module or servo amplifier, confirm the check details according to the instruction manual, and restore the operation. If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with an electromagnetic brake or install a brake mechanism externally.
CAUTION When the module or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur. 1) After writing the servo data to the Simple Motion module using programming software, switch on the power again, then perform a home position return operation. After maintenance and inspections are completed, confirm that the position detection of the absolute position detector function is correct.
CONDITIONS OF USE FOR THE PRODUCT (1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions; i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; and ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.
INTRODUCTION Thank you for purchasing the Mitsubishi MELSEC-Q series programmable controllers. This manual describes the functions and programming of the Simple Motion module. Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC-Q series programmable controller to handle the product correctly.
REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Feb., 2012 Sep., 2013 IB(NA)-0300185-A IB(NA)-0300185-B Nov., 2014 IB(NA)-0300185-C Revision First edition [Additional function] Driver communication function, Inverter FR-A700 series, Synchronous encoder via servo amplifier, Operation cycle setting for QD77MS2/QD77MS4 [Additional correction/partial correction] Safety precautions, Relevant manuals, Restrictions by the SERIAL No.
CONTENTS SAFETY PRECAUTIONS ............................................................................................................................. A- 1 CONDITIONS OF USE FOR THE PRODUCT .............................................................................................A-11 INTRODUCTION ............................................................................................................................................A-12 REVISIONS .....................................................
PLC CPU) ............................................................................ 3-19 3.3.2 Details of input signals (QD77MS QD77MS) .......................................................................... 3-21 3.3.3 Details of output signals (PLC CPU 3.4 Specifications of interfaces with external devices ................................................................................... 3-23 3.4.1 Electrical specifications of input signals ............................................................
5.6.1 System monitor data ....................................................................................................................... 5-116 5.6.2 Axis monitor data............................................................................................................................. 5-130 5.7 List of control data .................................................................................................................................. 5-158 5.7.1 System control data .................
Section 2 Control Details and Setting 8. OPR Control 8- 1 to 8-20 8.1 Outline of OPR control ............................................................................................................................. 8- 2 8.1.1 Two types of OPR control ................................................................................................................. 8- 2 8.2 Machine OPR ........................................................................................................................
9.2.22 LOOP ............................................................................................................................................. 9-130 9.2.23 LEND ............................................................................................................................................. 9-132 10. High-Level Positioning Control 10- 1 to 10-30 10.1 Outline of high-level positioning control .............................................................................................
12.1.2 Setting the required parameters for speed-torque control ........................................................... 12- 4 12.1.3 Setting the required data for speed-torque control ...................................................................... 12- 5 12.1.4 Operation of speed-torque control ................................................................................................ 12- 7 12.2 Synchronous control ..............................................................................
14.6 History monitor function ....................................................................................................................... 14-16 14.7 Amplifier-less operation function ......................................................................................................... 14-20 14.8 Virtual servo amplifier function ............................................................................................................ 14-27 14.9 Driver communication function .................
Appendix 7 External dimension drawing ..........................................................................................
COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES (1) For programmable controller system To configure a system meeting the requirements of the EMC and Low Voltage Directives when incorporating the Mitsubishi programmable controller (EMC and Low Voltage Directives compliant) into other machinery or equipment, refer to the Safety Guidelines provided with the main base unit. Also, refer to "Example of measure against noise for compliance with the EMC directive" of the Section 4.3.1 of this manual.
(3) Programming tool Manual Name Description GX Works2 Version1 Operating Manual System configuration, parameter settings, and online (Common) operations (common to Simple project and Structured project) of GX Works2 GX Works2 Version1 Operating Manual Parameter settings, monitoring, and operations of the (Intelligent Function Module) predefined protocol support function of intelligent function modules, using GX Works2 (4)
MANUAL PAGE ORGANIZATION The symbols used in this manual are shown below. The following symbols represent the buffer memories supported for each axis. (A serial No. is inserted in the "*" mark.) Symbol Description [Pr. * ] Symbol that indicates positioning parameter and OPR parameter item. Symbol that indicates positioning data, block start data and condition data item. [Da. * ] [Md. * ] Symbol that indicates monitor data item. [Cd. * ] Symbol that indicates control data item.
TERMS Unless otherwise specified, this manual uses the following terms. Term PLC CPU Description Abbreviation for the MELSEC-Q series PLC CPU module. QCPU Another term for the MELSEC-Q series PLC CPU module. Simple Motion module Abbreviation for the MELSEC-Q series Simple Motion module. QD77MS Another term for the MELSEC-Q series QD77MS Simple Motion module.
PACKING LIST The following items are included in the package of this product. Before use, check that all the items are included. (1) QD77MS2 QD77MS2 RUN AX1 AX2 ERR. AX1 AX2 QD77MS2 QD77MS2 Before Using the Product (2) QD77MS4 QD77MS4 RUN ERR. AX3 AX4 AX1 AX2 AX3 AX4 QD77MS4 AX1 AX2 QD77MS4 Before Using the Product (3) QD77MS16 QD77MS16 RUN AX ERR.
Section 1 Section 1 Product Specifications and Handling Section 1 is configured for the following purposes (1) to (5).
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Chapter 1 Product Outline 1 Chapter 1 Product Outline The purpose and outline of positioning control using the Simple Motion module are explained in this chapter. Reading this chapter will help you understand what can be done using the positioning system and which procedure to use for a specific purpose. By understanding "What can be done", and "Which procedure to use" beforehand, the positioning system can be structured smoothly. 1.1 Positioning control .................................................
Chapter 1 Product Outline 1.1 Positioning control 1.1.1 Features of QD77MS The QD77MS has the following features. (1) High-speed starting time High-speed starting time "0.88ms" (QD77MS4 use) during positioning control is achieved. (2) Wide variety of positioning control functions The main functions (such as OPR control, positioning control and manual control) which are required for any positioning system and the sub functions which limit and add functions to those controls are supported.
Chapter 1 Product Outline (d) Continuous processing of multiple positioning data Multiple positioning data can be processed continuously within one positioning operation. Continuous positioning control can be executed over multiple blocks, where each block consists of multiple positioning data. This reduces the number of executions of positioning, management of execution status, and others.
Chapter 1 Product Outline (7) Setting, monitoring, and testing through GX Works2 Parameters and positioning data for the QD77MS can be set using GX Works2 (Simple Motion Module Setting). Moreover, using the test function of GX Works2 (Simple Motion Module Setting), users can check the wiring status and the validity of the preset parameters and positioning data by performing test operation before creating a program for positioning control.
Chapter 1 Product Outline (11) Easy application to the absolute position system (a) The MR-J4-B/MR-JE-B/MR-J3-B series servo amplifiers and servo motors correspond to the absolute position system. It can be realized only at connecting the battery for absolute position system to the servo amplifier. (b) Once the OP have been established, the OPR operation is unnecessary at the system's power supply ON. (c) With the absolute position system, the data set method OPR is used to establish the OP.
Chapter 1 Product Outline 1.1.2 Purpose and applications of positioning control "Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece") at a designated speed, and accurately stopping it at the target position. The main application examples are shown below. Punch press (X, Y feed positioning) Gear and ball screw Y axis servomotor To punch insulation material or leather, etc.
Chapter 1 Product Outline Lifter During the aging process, storage onto the Unloader Loader/unloader The up/down positioning of the lifter is carried B conveyor Aging rack Lifter C conveyor A conveyor Counterweight Loader out with the 1-axis servo, and the horizontal position of the aging rack is positioned with the 2-axis servo. Servo amplifier G2 Reduction gear G1 rack is carried out by positioning with the AC servo.
Chapter 1 Product Outline 1.1.3 Mechanism of positioning control In the positioning system using the Simple Motion module, various software and devices are used for the following roles. The Simple Motion module realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the PLC CPU. Stores the created program. Creates control order and conditions as a sequence program.
Chapter 1 Product Outline 1.1.4 Overview of positioning control functions The outline of the "overview of positioning control", "overview of independent positioning control and continuous positioning control", "overview of block positioning control" and "overview of acceleration/deceleration processing control" is shown below. Positioning control An overview of positioning using positioning data is described below.
Chapter 1 Product Outline (Note-1) (b) 2-axis linear interpolation control This controls interpolation along a linear locus from the start point address (current stop position) defined by two axes. [Control using the absolute system] 1) This performs linear interpolation using two axes from the start point address to the specified address. 2) The start point address and the specified address determine the direction of travel.
Chapter 1 Product Outline (2) Circular interpolation control (Note-1) There are two types of circular interpolation controls: circular interpolation with a specified sub point and circular interpolation with the specified center point. (a) Circular interpolation with a specified sub point Circular interpolation is performed using the specified endpoint address and sub point (passing point) address. Two methods are available: absolute system and increment system.
Chapter 1 Product Outline (3) Fixed-feed control This performs positioning for the specified increment of travel.
Chapter 1 Product Outline (5) Speed-position switching control This starts positioning under speed control, and switches to position control according to the input of the Simple Motion module speed-position switching signal and perform positioning for the specified increment of travel.
Chapter 1 Product Outline Independent positioning control and continuous positioning control The Simple Motion module performs positioning according to the user-set positioning data, which is a set of information comprised of the control method (position control, speed control, speed-position switching control), positioning address, operation pattern, and so on. Up to 600 of positioning data are assigned respectively to positioning data Nos. 1 to 600 per axis and registered to the Simple Motion module.
Chapter 1 Product Outline (2) Continuous positioning control (operation pattern = 01: positioning continue) The operation stops temporarily upon the completion of positioning for the specified positioning data, and then continues with the next positioning data number. This is specified when performing positioning in which the direction changes because of multiple positioning data items having consecutive positioning data numbers.
Chapter 1 Product Outline (3) Continuous path control (operation pattern = 11: positioning continue) After executing positioning using the specified positioning data, the operation changes its speed to that of the next positioning data number and continues positioning. This is specified when continuously executing multiple positioning data items having consecutive positioning data numbers at a specified speed.
Chapter 1 Product Outline Block positioning control Block positioning is a control that continuously executes the positioning of specified blocks. One block equivalent to a series of positioning data up to the completion of positioning (operation pattern = 00) by Independent or continuous positioning control. A maximum of 50 blocks per axis can be specified. Using a one-time start command from the PLC CPU or external, complex positioning control can be performed.
Chapter 1 Product Outline Overview of acceleration/deceleration processing control Acceleration/deceleration processing for the positioning processing, manual pulsegenerator processing, OPR processing and JOG processing is performed using the user-specified method, acceleration time and deceleration time.
Chapter 1 Product Outline 1.1.5 Outline design of positioning system The outline of the positioning system operation and design using the Simple Motion module is shown below.
Chapter 1 Product Outline 1.1.6 Communicating signals between QD77MS and each module The outline of the signal communication between the Simple Motion module and PLC CPU, GX Works2 and servo amplifier, etc., is shown below. (GX Works2 communicates with the Simple Motion module via the PLC CPU to which it is connected.
Chapter 1 Product Outline (2) QD77MS16 QD77MS16 PLC CPU Y0 X0 Y1 X1 PLC READY signal SSCNET READY signal All axis servo ON signal (/H) Operating information of the servo amplifier Positioning command Control command Servo parameter External input signal of the servo amplifier Synchronization flag Servo amplifier External interface Y10 to Y1F Positioning start signal Manual pulse generator/ Incremental synchronous encoder Manual pulse A-phase generator/ X10 to X1F Manual pulse generator/ Incr
Chapter 1 Product Outline Simple Motion module PLC CPU The Simple Motion module and PLC CPU communicate the following data. Direction Communication Simple Motion module PLC CPU PLC CPU Simple Motion module Control signal Signal indicating Simple Motion module state • READY signal • BUSY signal etc. Signal related to commands • PLC READY signal • All axis servo ON signal • Positioning start signal etc.
Chapter 1 Product Outline Simple Motion module encoder Manual pulse generator/Incremental synchronous The Simple Motion module and manual pulse generator/incremental synchronous encoder communicate the following data via the external input connection connector.
Chapter 1 Product Outline 1.2 Flow of system operation 1.2.1 Flow of all processes The positioning control processes, using the Simple Motion module, are shown below. GX Works2 Design 1) PLC CPU QD77MS Servo amplifiers, etc.
Chapter 1 Product Outline The following work is carried out with the processes shown on the previous page. Details Reference 1) Understand the product functions and usage methods, the configuration devices and specifications required for positioning control, and design the system. 2) Install the Simple Motion module onto the base unit, wire the Simple Motion module and external connection devices (servo amplifier, etc.) and wire the PLC CPU and peripheral devices.
Chapter 1 Product Outline 1.2.2 Outline of starting The outline for starting each control is shown with the following flowchart. (It is assumed that each module is installed, and the required system configuration, etc., has been prepared.
Chapter 1 Product Outline Setting method : Indicates the sequence program that must be created. Expansion control Speed-torque control (Speed control) (Torque control) (Continuous operation to torque control) Set with Simple Motion Module Setting Tool Write Set the parameter and data for executing main function, and the sub functions that need to be set beforehand. Set with sequence program for setting data Write PLC CPU Create this program as necessary.
Chapter 1 Product Outline 1.2.3 Outline of stopping Each control is stopped in the following cases. (1) (2) (3) (4) (5) (6) When each control is completed normally. When the servo amplifier power supply OFF. When a PLC CPU error occurs. When the PLC READY signal is turned OFF. When an error occurs in the Simple Motion module. When control is intentionally stopped (Stop signal from PLC CPU turned ON or Stop signal of external input signal turned ON, etc.).
Chapter 1 Product Outline Stop cause Stop process Axis operation OPR control Manual control M code status Stop Major High-level Manual ON signal Machine Fast positioning positioning JOG/ after axis pulse after stop stopping OPR OPR control Inching control generator operation ([Md.
Chapter 1 Product Outline 1.2.4 Outline for restarting When a stop cause has occurred during operation with position control causing the axis to stop, positioning to the end point of the positioning data can be restarted from the stopped position by using the "[Cd.6] Restart command". If issued during a continuous positioning or continuous path control operation, the restart command will cause the positioning to be re-executed using the current position (pointed by the positioning data No.
Chapter 2 System Configuration Chapter 2 System Configuration In this chapter, the general image of the system configuration of the positioning control using Simple Motion module, 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 2.2 2.3 2.4 2.5 General image of system ........................................................................................
Chapter 2 System Configuration 2.1 General image of system The general image of the system, including such as the QD77MS, PLC CPU and peripheral devices is shown below. Main base unit Expansion cable Power supply module CPU module Expansion system QD77MS QD77MS4 RUN ERR.
Chapter 2 System Configuration REMARK (Note-1): Refer to Section "2.3 Applicable system" for the CPU modules that can be used. (Note-2): Refer to the CPU module User's Manual for the base units that can be used. (Note-3): The external input signal cannot be used depending on the connected device. Confirm the specification of the connected device.
Chapter 2 System Configuration 2.2 Component list The positioning system using the Simple Motion module is configured of the following devices. No. 1 Part name Simple Motion module Type QD77MS2 Remarks QD77MS Number of control axes QD77MS4 MS: SSCNET QD77MS16 (/H)model Personal computer which (Prepared by user) Refer to the "GX Works2 Version1 Operating Manual (Common)" for details.
Chapter 2 System Configuration [External input wiring connector] Part name Specification Applicable connector Applicable wire size A6CON1, A6CON2, A6CON3, A6CON4 (Sold separately) 0.
Chapter 2 System Configuration Serial absolute synchronous encoder specifications Item Model name Ambient temperature Resolution Transmission method Direction of increasing addresses Protective construction Permitted speed at power ON Permitted speed at power OFF Specifications (Note-1) Q171ENC-W8 -5 to 55°C (23 to 131°F) 4194304PLS/rev Serial communications (Connected to MR-J4-_B-RJ) CCW (viewed from end of shaft) Dustproof/Waterproof (IP67: Except for the shaft-through portion.
Chapter 2 System Configuration Specifications of serial absolute synchronous encoder input (CN2L) of servo amplifier Item Specifications Applicable types Q171ENC-W8 Applicable signal types Differential-output type : (SN75C1168 or equivalent) Transmission method Serial communications Synchronous method Counter-clock-wise (viewed from end of shaft) Communication speed 2.
Chapter 2 System Configuration 2.3 Applicable system (1) Number of applicable modules Pay attention to the power supply capacity before mounting modules because power supply capacity may be insufficient depending on the combination with other modules or the number of mounted modules. If the power supply capacity is insufficient, change the combination of the modules.
Chapter 2 System Configuration (b) Mounting to a MELSECNET/H remote I/O station Applicable network module QJ72LP25-25 QJ72LP25G QJ72BR15 No. of modules (Note-1) (Note-2) Base unit Main base unit of Extension base unit of remote I/O station remote I/O station Max. 64 modules : Installation possible, : Installation not possible (Note-1): Within the I/O point range of network module only. (Note-2): It can be installed in any of the I/O slots of installable base unit.
Chapter 2 System Configuration 2.4 How to check the function version and SERIAL No. The function version and the SERIAL No. of the Simple Motion module can be checked in the following methods. (1) Confirming the serial number on the rating plate The rating plate is situated on the side face of the Simple Motion module. MELSEC-Q MITSUBISHI SIMPLE MOTION UNIT MODEL QD77MS4 PASSED 24VDC 0.1A CLASS2 5VDC 0.75A SERIAL C 131210000000000 - B US LISTED 80M1 SERIAL No. Function version IND. CONT.EQ.
Chapter 2 System Configuration 2.5 Restrictions by the SERIAL No. and version There are restrictions in the function that can be used by the SERIAL No. of the Simple Motion module and the version of GX Works2. The combination of each version and function are shown below. QD77MS2/QD77MS4 Function First five digits of SERIAL No. 14062 or later (Note-1) Inverter FR-A700 series QD77MS16 GX Works2 First five digits of SERIAL No. GX Works2 1.492N or later 14062 or later 1.
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Chapter 3 Specifications and Functions Chapter 3 Specifications and Functions 3 The various specifications of the Simple Motion module are explained in this chapter. The "Performance specifications", "List of functions", "Specifications of input/output signals with PLC CPU", and "Specifications of interfaces with external devices", etc., are described as information required when designing the positioning system. Confirm each specification before designing the positioning system. 3.
Chapter 3 Specifications and Functions 3.1 Performance specifications Model Item Number of control axes Operation cycle Interpolation function Control system Control unit Positioning data Execution data backup function Positioning system Positioning range Positioning Speed command Acceleration/ deceleration process Acceleration/ deceleration time Sudden stop deceleration time QD77MS2 QD77MS4 QD77MS16 2 axes 4 axes 16 axes 0.88ms/1.
Chapter 3 Specifications and Functions Model QD77MS2 Item Starting time (ms) (Note-3) 1-axis linear control 1-axis speed control 2-axis linear interpolation control (Composite speed) 0.
Chapter 3 Specifications and Functions 3.2 List of functions 3.2.1 QD77MS control functions The Simple Motion module has several functions. In this manual, the Simple Motion module functions are categorized and explained as follows. Main functions (1) OPR control "OPR control" is a function (Fast OPR) that established the start point for carrying out positioning control (Machine OPR), and carries out positioning toward that start point.
Chapter 3 Specifications and Functions Sub functions When executing the main functions, control compensation, limits and functions can be added. (Refer to Chapter 13 "Control Sub Functions".) Common functions Common control using the Simple Motion module for "parameter initialization" or "backup of execution data" can be carried out. (Refer to Chapter 14 "Common Functions".
Chapter 3 Specifications and Functions Main functions Control registered in QD77MS OPR control [Positioning start No.
Chapter 3 Specifications and Functions 3.2.2 QD77MS main functions The outline of the main functions for positioning control with the Simple Motion module is described below. (Refer to "Section 2" for details on each function.
Expansion control Manual control High-level positioning control Chapter 3 Specifications and Functions Main functions Details Reference section Block start (Normal start) With one start, executes the positioning data in a random block with the set order. 10.3.2 Condition start Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "block start data". When the condition is established, the "block start data" is executed.
Chapter 3 Specifications and Functions 3.2.3 QD77MS sub functions The outline of the functions that assist positioning control using the Simple Motion module is described below. (Refer to "Section 2" for details on each function.
Chapter 3 Specifications and Functions Details Reference section This function restores the absolute position of designated axis. If the OPR is executed at the start of system, after that, it is unnecessary to carry out the OPR when the power is turned ON. 13.6 Sub function Absolute position system Other functions Step function This function temporarily stops the operation to confirm the positioning operation during debugging, etc.
Chapter 3 Specifications and Functions 3.2.4 QD77MS common functions The outline of the functions executed as necessary is described below. (Refer to "Section 2" for details on each function.) Common functions Details Reference section Parameter initialization function This function returns the "parameters" stored in the buffer memory/internal memory and flash ROM/internal memory (nonvolatile) of Simple Motion module to the default values. The following two methods can be used.
Chapter 3 Specifications and Functions Common functions Details Reference section Optional data monitor function This function is used to store the data selected by user up to 4 data per axis to buffer memory and monitor them. 14.11 Module error collection function This function collects errors occurred in the Simple Motion module in the PLC CPU. Holding the error contents in the PLC CPU, this function enables to check the error history even after the PLC CPU in powered off or reset. 14.
Chapter 3 Specifications and Functions MEMO 3 - 13
Chapter 3 Specifications and Functions 3.2.5 Combination of QD77MS main functions and sub functions With positioning control using the Simple Motion module, the main functions and sub functions can be combined and used as necessary. A list of the main function and sub function combinations is given below. OPR control Machine OPR control Near pass function 1 Electronic gear function Combination with operation pattern.
3 3 5 5 : Always combine, 3 - 15 5 : Combination possible, : Combination limited, 8 Operation setting for incompletion of OPR function Speed control 10 x multiplier setting for degree axis function Stop command processing for deceleration stop function Deceleration start flag function Pre-reading start function Acceleration/deceleration processing function Functions that change control details Command in-position function Teaching function M code output function Skip function Step functio
Chapter 3 Specifications and Functions 3.3 Specifications of input/output signals with PLC CPU 3.3.1 List of input/output signals with PLC CPU The Simple Motion module uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals when the head I/O number of Simple Motion module is set to "0H" are shown below. If it is set to other than "0H", change the I/O number according to setting of head I/O number.
Chapter 3 Specifications and Functions (2) QD77MS4 Signal direction: QD77MS4 PLC CPU Device No.
Chapter 3 Specifications and Functions (3) QD77MS16 Signal direction: QD77MS16 PLC CPU Device No. Signal name X0 READY X1 Synchronization flag X2 X3 X4 X5 X6 X7 X8 Use prohibited X9 XA XB XC XD XE XF X10 Axis 1 X11 Axis 2 X12 Axis 3 X13 Axis 4 X14 Axis 5 X15 Axis 6 X16 Axis 7 X17 Axis 8 BUSY X18 Axis 9 X19 Axis 10 X1A Axis 11 X1B Axis 12 X1C Axis 13 X1D Axis 14 X1E Axis 15 X1F Axis 16 Signal direction: PLC CPU QD77MS16 Device No.
Chapter 3 Specifications and Functions 3.3.2 Details of input signals (QD77MS PLC CPU) The ON/OFF timing and conditions of the input signals are shown below. (1) QD77MS2/QD77MS4 Device No. X0 READY Signal name Details • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting range ON: READY OFF: Not READY/ is checked. If no error is found, this signal turns ON. Watch dog • When the PLC READY signal [Y0] turns OFF, this signal turns OFF.
Chapter 3 Specifications and Functions Important (Note-1): The BUSY signal turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not to be detected in the sequence program. (Note-2): "Positioning complete" of the QD77MS2/QD77MS4 refers to the point when the pulse output from QD77MS2/QD77MS4 is completed. Thus, even if the QD77MS2/QD77MS4's positioning complete signal turns ON, the system may continue operation. (2) QD77MS16 Device No.
Chapter 3 Specifications and Functions 3.3.3 Details of output signals (PLC CPU QD77MS) The ON/OFF timing and conditions of the output signals are shown below. (1) QD77MS2/QD77MS4 Device No.
Chapter 3 Specifications and Functions (2) QD77MS16 Device No.
Chapter 3 Specifications and Functions 3.4 Specifications of interfaces with external devices 3.4.
Chapter 3 Specifications and Functions (3) Manual pulse generator/Incremental synchronous encoder input (a) Specifications of manual pulse generator/incremental synchronous encoder Item Signal input form Specifications Phase A/Phase B (Magnification by 4/ Magnification by 2/Magnification by 1), PLS/SIGN (Note-1) Maximum input pulse frequency 1Mpps (After magnification by 4, up to 4Mpps) Pulse width Leading edge/trailing edge time Phase difference Rated input voltage High-voltage Low-voltage Differenti
Chapter 3 Specifications and Functions 3.4.2 Signal layout for external input connection connector The specifications of the connector section, which is the input/output interface for the Simple Motion module and external device, are shown below. QD77MS2 RUN QD77MS4 AX1 AX2 ERR. RUN ERR. AX1 AX2 AX3 AX4 QD77MS16 AX1 AX2 AX3 AX4 QD77MS4 AX1 AX2 QD77MS2 3 - 25 RUN AX ERR.
Chapter 3 Specifications and Functions The signal layout for the external input connection connector of Simple Motion module is shown. Pin layout AX4 AX3 AX2 AX1 Axis 4 (External input signal 4) Axis 3 (External input signal 3) Axis 2 (External input signal 2) Axis 1 (External input signal 1) Pin No. B20 B19 B18 B17 B16 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 A20 A19 A18 A17 A16 A15 A14 A13 A12 A11 A10 A9 A8 A7 A6 A5 A4 A3 A2 A1 Signal name Pin No.
Chapter 3 Specifications and Functions 3.4.3 List of input signal details The details of each external input connection connector of Simple Motion module are shown below. Signal name Pin No. HAH (A+) 1A17 Manual pulse generator/Incremental synchronous encoder A phase/PLS HAL (A-) Signal details 1B17 (1) Phase A/Phase B • Input the pulse signal from the manual pulse generator/incremental synchronous encoder A phase and B phase.
Chapter 3 Specifications and Functions Signal name Manual pulse generator/Incremental synchronous encoder A phase/PLS Pin No.
Chapter 3 Specifications and Functions Signal name Pin No. Compatibility with the QD75MH Manual pulse generator power supply output (+ 5VDC) (5V) 1A20 1A19 Upper limit signal (FLS) 1A1 1B1 2A1 2B1 1A2 1B2 2A2 2B2 Lower limit signal (RLS) 1A3 1B3 2A3 2B3 Near-point dog signal (DOG) 1A4 1B4 2A4 2B4 Stop signal (STOP) External command/ Switching signal (DI1) 1A5 (DI2) 1B5 (DI3) 2A5 (DI4) 2B5 Signal details • Power supply for manual pulse generator MR-HDP01.
Chapter 3 Specifications and Functions 3.4.4 Interface internal circuit The outline diagrams of the internal circuits for the external device connection interface (for the Simple Motion module, axis 1) are shown below. (1) Interface between external input signals/forced stop input signals Input or Output Signal name Upper-limit signal (Note-1) Lower-limit signal (Note-1) Near-point dog signal (Note-1) Input Stop signal External command/ Switching Pin No.
Chapter 3 Specifications and Functions (2) Manual pulse generator/Incremental synchronous encoder input (a) Interface between manual pulse generator/incremental synchronous encoder (Differential-output type) Input or Output Signal name HAH Manual (A+) pulse generator, phase A/ HAL PLS (A-) Pin No.
Chapter 3 Specifications and Functions (3) Wiring example for manual pulse generator/incremental synchronous encoder Wire the manual pulse generator/incremental synchronous encoder of differential output type and voltage output type/open-collector type as follows. Switch the input type of the Simple Motion module by "[Pr.89] Manual pulse generator/Incremental synchronous encoder input type selection".
Chapter 3 Specifications and Functions (b) Manual pulse generator/Incremental synchronous encoder of voltage output type/open-collector type When using the external power supply (Recommended) When using the internal power supply Manual pulse generator/ Incremental synchronous encoder Simple Motion module Manual pulse generator/ Incremental synchronous encoder Simple Motion module HA (A) HA (A) HA (A) HA (A) HB (B) HB (B) HB (B) HB (B) 5V 5V 5V 5V SG 0V SG 0V Shield Twisted p
Chapter 3 Specifications and Functions 3.5 External circuit design Configure up the power supply circuit and main circuit which turn off the power supply after detection alarm occurrence and servo forced stop. When designing the main circuit of the power supply, make sure to use a circuit breaker (MCCB). The outline diagrams for the external device connection interface are shown below.
Chapter 3 Specifications and Functions POINT (1) (2) (3) (4) (5) (6) (7) (8) 1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on the PLC CPU. 2: It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. 3: It is also possible to perform the forced stop using forced stop terminal of the servo amplifier.
Chapter 3 Specifications and Functions (Note-1): When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that. Example) When the control power supply L11/L21 of the servo amplifier B in the figure is shut off, it is also not possible to communicate with the servo amplifier C .
Chapter 3 Specifications and Functions MEMO 3 - 37
Chapter 3 Specifications and Functions (2) Example when using the forced stop of the QD77MS (For MR-JE-B) Important The hot line forced stop function is enabled at the MR-JE-B factory-set. (Only MR-JE-B) This function is used to execute deceleration stop for all axes by outputting the hot line forced stop signal to all axes and generating "E7.1" (Controller forced stop input warning) at the alarm occurrence. This function can be disabled by the servo parameter (PA27).
Chapter 3 Specifications and Functions POINT (1) (2) (3) (4) (5) (6) (7) (8) 1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on the PLC CPU. 2: It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. 3: It is also possible to perform the forced stop using forced stop terminal of the servo amplifier.
Chapter 3 Specifications and Functions (Note-1): When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that. Example) When the control power supply L11/L21 of the servo amplifier B in the figure is shut off, it is also not possible to communicate with the servo amplifier C .
Chapter 3 Specifications and Functions MEMO 3 - 41
Chapter 3 Specifications and Functions (3) Example when using the forced stop of the QD77MS and MR-J4-B 3-phase 200 to 230VAC MCCB1 R S T CP1 Power Supply PLC CPU Q61P QnCPU Simple Motion Output module module QY41P QD77MS Forced stop 5 EMI.
Chapter 3 Specifications and Functions POINT (1) (2) (3) (4) (5) (6) (7) 1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on the PLC CPU. 2: It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. 3: Set the axis selection rotary switch of servo amplifier as follows to set the axis No. of servo amplifier.
Chapter 3 Specifications and Functions (Note-1): When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that. Example) When the control power supply L11/L21 of the servo amplifier B in the figure is shut off, it is also not possible to communicate with the servo amplifier C .
Chapter 3 Specifications and Functions MEMO 3 - 45
Chapter 3 Specifications and Functions (4) Example when using the forced stop of the QD77MS and MR-JE-B Important The hot line forced stop function is enabled at the MR-JE-B factory-set. (Only MR-JE-B) This function is used to execute deceleration stop for all axes by outputting the hot line forced stop signal to all axes and generating "E7.1" (Controller forced stop input warning) at the alarm occurrence. This function can be disabled by the servo parameter (PA27).
Chapter 3 Specifications and Functions POINT (1) (2) (3) (4) (5) (6) (7) 1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on the PLC CPU. 2: It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. 3: Set the axis selection rotary switch of servo amplifier as follows to set the axis No. of servo amplifier.
Chapter 3 Specifications and Functions (Note-1): When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that. Example) When the control power supply L11/L21 of the servo amplifier B in the figure is shut off, it is also not possible to communicate with the servo amplifier C .
Chapter 4 Installation, Wiring and Maintenance of the Product Chapter 4 Installation, Wiring and Maintenance of the Product 4 The installation, wiring and maintenance of the Simple Motion module are explained in this chapter. Important information such as precautions to prevent malfunctioning of the Simple Motion module, accidents and injuries as well as the proper work methods are described.
Chapter 4 Installation, Wiring and Maintenance of the Product 4.1 Outline of installation, wiring and maintenance 4.1.1 Installation, wiring and maintenance procedures The outline and procedures for Simple Motion module installation, wiring and maintenance are shown below. Start Module mounting Mount the QD77MS to the base unit. Refer to Section 4.2 "Installation". Wiring Connect external devices to the QD77MS. Refer to Section 4.3 "Wiring". Checking wiring Check wiring with GX Works2.
Chapter 4 Installation, Wiring and Maintenance of the Product 4.1.2 Names of each part (1) The part names of the Simple Motion module are shown below. QD77MS2 QD77MS4 QD77MS2 RUN 1) QD77MS16 QD77MS4 AX1 AX2 2) RUN 1) ERR. ERR. AX1 AX2 AX3 AX4 QD77MS16 AX1 AX2 AX3 AX4 AX 1) 4) ERR. QD77MS4 AX1 AX2 5) 6) RUN 3) AX3 AX4 QD77MS16 AX1 AX2 5) 6) 5) 6) QD77MS2 7) No.
Chapter 4 Installation, Wiring and Maintenance of the Product (2) The LED display indicates the following operation statuses of the Simple Motion module and axes. QD77MS2 QD77MS4 QD77MS2 RUN QD77MS16 QD77MS4 AX1 AX2 QD77MS16 RUN ERR. AX1 AX2 AX3 AX4 ERR. RUN ERR. LED Display QD77MS2 QD77MS4 RUN RUN AX1 AX1 AX2 AX2 RUN LED is OFF. AX3 AX4 ERR. ERR. RUN RUN AX1 AX1 RUN LED is ON. AX2 AX2 AX3 ERR. LED is OFF. AX4 ERR. ERR. RUN RUN AX1 AX1 AX2 AX2 ERR. LED is ON. AX3 AX4 ERR. ERR.
Chapter 4 Installation, Wiring and Maintenance of the Product 4.1.3 Handling precautions Handle the Simple Motion module and cable while observing the following precautions. [1] Handling precautions CAUTION Use the programmable controller in an environment that meets the general specifications in the manual "Safety Guidelines", the manual supplied with the main base unit.
Chapter 4 Installation, Wiring and Maintenance of the Product [2] Other precautions (1) Main body The main body case is made of plastic. Take care not to drop or apply strong impacts onto the case. Do not remove the PCB of Simple Motion module from the case. Failure to observe this could lead to faults. Before touching the module, always touch grounded metal, etc. to discharge static electricity from human body. Failure to do so may cause the module to fail or malfunction.
Chapter 4 Installation, Wiring and Maintenance of the Product 4.2 Installation 4.2.1 Precautions for installation The precautions for installing the Simple Motion module are given below. Refer to this section as well as Section 4.1.3 "Handling precautions" when carrying out the work. Precautions for installation DANGER Completely turn off the externally supplied power used in the system before installing or removing the module.
Chapter 4 Installation, Wiring and Maintenance of the Product 4.3 Wiring The precautions for wiring the Simple Motion module are given below. Refer to this section as well as Section 4.1.3 "Handling precautions" when carrying out the work. 4.3.1 Precautions for wiring DANGER Completely turn off the externally supplied power used in the system before installation or wiring. Not doing so could result in electric shock or damage to the product.
Chapter 4 Installation, Wiring and Maintenance of the Product CAUTION Forcibly removal the SSCNET cable from the Simple Motion module will damage the Simple Motion module and SSCNET cables. After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector. Otherwise, adhesion of dirt deteriorates in characteristic and it may cause malfunctions. Do not remove the SSCNET cable while turning on the power supply of Simple Motion module and servo amplifier.
Chapter 4 Installation, Wiring and Maintenance of the Product CAUTION If the adhesion of solvent and oil to the cord part of SSCNET cable may lower the optical characteristic and machine characteristic. If it is used such an environment, be sure to do the protection measures to the cord part. When keeping the Simple Motion module or servo amplifier, be sure to put on a cap to connector part so that a dirt should not adhere to the end of SSCNET connector.
Chapter 4 Installation, Wiring and Maintenance of the Product [1] Precautions for wiring (1) Use separate cables for connecting to the Simple Motion module and for the power cable that create surge and inductance. (2) The cable for connecting the Simple Motion module can be placed in the duct or secured in place by clamps.
Chapter 4 Installation, Wiring and Maintenance of the Product Grounding of FG wire Base unit Panel Ground the FG wire securely to the panel.
Chapter 4 Installation, Wiring and Maintenance of the Product [Processing example of shielded cables] Connections of FG wire and each shielded cable Remove the covering from all shielded cables and bind the appeared shield with a conductive tape. Coat the wire with insulating tape. Solder the shield of any one of the shielded cables to the FG wire. Assembling of connector (A6CON1) Wrap the coated parts with a heat contractile tube.
Chapter 4 Installation, Wiring and Maintenance of the Product (6) To make this product conform to the EMC directive instruction and Low Voltage Directives, be sure to use an AD75CK type cable clamp (manufactured by Mitsubishi Electric) for grounding connected to the control box and the shielded cable. Inside control box QD77MS Within 30cm (11.
Chapter 4 Installation, Wiring and Maintenance of the Product [2] Precautions for SSCNET cable wiring SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for MR-J3BUS_M, MR-J3BUS_M-A is made of synthetic resin, it melts down if being left near the fire or high temperature.
Chapter 4 Installation, Wiring and Maintenance of the Product (4) Twisting If the SSCNET cable is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of SSCNET cable may occur at worst. (5) Disposal When incinerating optical cable (cord) used for SSCNET cable, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated.
Chapter 4 Installation, Wiring and Maintenance of the Product • Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. When laying cable, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material. Base unit QD77MS Panel Optical cord Loose slack Bundle material Recommended product NK clamp SP type (NIX, INC.
Chapter 4 Installation, Wiring and Maintenance of the Product [3] Example of measure against noise for compliance with the EMC directive. PLC CPU Power QD77MS supply Control panel: EC-SCF25-78 (Nitto Kogyo Corporation) Power supply wiring Q62P POWER INPUT 100-240VAC 1) 5) 3) 50/60Hz 105VA OUTPUT 5VDC 3A/24VDC 0.6A +24V SSCNET cable 24G ERR. L + 24VDC 0.
Chapter 4 Installation, Wiring and Maintenance of the Product 4.4 Confirming the installation and wiring 4.4.1 Items to confirm when installation and wiring are completed Check the following points when completed with the installation of Simple Motion module and wiring. Is the module correctly wired? The following four points are confirmed using the positioning test function of GX Works2.
Chapter 4 Installation, Wiring and Maintenance of the Product 4.5 Maintenance 4.5.1 Precautions for maintenance The precautions for servicing the Simple Motion module are given below. Refer to this section as well as Section 4.1.3 "Handling precautions" when carrying out the work. DANGER Completely turn off the externally supplied power used in the system before clearing or tightening the connector screws. Not doing so could result in electric shocks.
Chapter 5 Data Used for Positioning Control Chapter 5 Data Used for Positioning Control The parameters and data used to carry out positioning control with the Simple Motion module are explained in this chapter. With the positioning system using the Simple Motion module, the various parameters and data explained in this chapter are used for control.
Chapter 5 Data Used for Positioning Control 5.1 Types of data 5.1.1 Parameters and data required for control The parameters and data required to carry out control with the Simple Motion module include the "setting data", "monitor data" and "control data" shown below. Setting data (Data set beforehand according to the machine and application, and stored in the flash ROM or internal memory (nonvolatile).
Chapter 5 Data Used for Positioning Control The following methods are available for data setting: • Set using GX Works2. • Create the sequence program for data setting using GX Works2 and execute it. In this manual, the method using the GX Works2 will be explained. (Refer to "POINT" on the next page.) The basic parameters 1, detailed parameters 1, OPR parameters, "[Pr.83] Speed control 10 x multiplier setting for degree axis", "[Pr.
Chapter 5 Data Used for Positioning Control Monitor data (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.) System monitor data Monitors the specifications and the operation history of Simple Motion module. Axis monitor data Monitors the data related to the operating axis, such as the current position and speed. Synchronous control data Monitors the data for synchronous control.
Chapter 5 Data Used for Positioning Control 5.1.2 Setting items for positioning parameters The table below lists items set to the positioning parameters. The "positioning parameters" are set for each axis for all controls achieved by the Simple Motion module. For details of controls, refer to "Section 2". For details of setting items, refer to Section 5.2 "List of parameters". Detailed parameters 1 Basic parameters 2 Basic parameters 1 : : : : – : Manual control Expansion control [Pr.
Chapter 5 Data Used for Positioning Control Manual control Expansion control Inching operation – – – [Pr.27] Acceleration time 3 – – – – – [Pr.28] Deceleration time 1 – – – – – [Pr.
Chapter 5 Data Used for Positioning Control 5.1.3 Setting items for OPR parameters When carrying out "OPR control", the "OPR parameters" must be set. The setting items for the "OPR parameters" are shown below. The "OPR parameters" are set for each axis. Refer to Chapter 8 "OPR control" for details on the "OPR control", and refer to Section 5.2 "List of parameters" for details on each setting item.
Chapter 5 Data Used for Positioning Control 5.1.4 Setting items for expansion parameters The setting items for the "expansion parameters" are shown below. The "expansion parameters" are set for each axis. Refer to "Section 2" for details on the each control, and refer to Section 5.2 "List of parameters" for details on each setting item. Expansion parameter Related sub function [Pr.91] Optional data monitor: Data type setting 1 [Pr.92] Optional data monitor: Data type setting 2 [Pr.
Chapter 5 Data Used for Positioning Control 5.1.6 Setting items for positioning data Positioning data must be set for carrying out any "major positioning control". The table below lists the items to be set for producing the positioning data. One to 600 positioning data items can be set for each axis. For details of the major positioning controls, refer to Chapter 9 "Major Positioning Control". For details of the individual setting items, refer to Section 5.3 "List of positioning data".
Chapter 5 Data Used for Positioning Control JUMP instruction LOOP LEND : 2 axes, 3 axes, 4 axes –: 1 axis – – – – – – – Axis to be interpolated 2 QD77MS16 Axis to be interpolated 3 : 3 axes, 4 axes –: 1 axis, 2 axes – – – – – – – QD77MS16 : 4 axes –: 1 axis, 2 axes, 3 axes – – – – – – – 1 to 4 axis speed control Current value changing QD77MS16 2-axis circular interpolation control NOP instruction [Da.22] Position-speed switching control [Da.
Chapter 5 Data Used for Positioning Control 5.1.7 Setting items for block start data The "block start data" must be set when carrying out "high-level positioning control". The setting items for the "block start data" are shown below. Up to 50 points of "block start data" can be set for each axis. Refer to Chapter 10 "High-Level Positioning Control" for details on the "high-level positioning control", and to Section 5.4 "List of block start data" for details on each setting item.
Chapter 5 Data Used for Positioning Control 5.1.8 Setting items for condition data When carrying out "high-level positioning control" or using the JUMP instruction in the "major positioning control", the "condition data" must be set as required. The setting items for the "condition data" are shown below. Up to 10 "condition data" items can be set for each axis. Refer to Chapter 10 "High-Level Positioning Control" for details on the "high-level positioning control", and to Section 5.
Chapter 5 Data Used for Positioning Control 5.1.9 Types and roles of monitor data The monitor data area in the buffer memory stores data relating to the operating state of the positioning system, which are monitored as required while the positioning system is operating. The following data are available for monitoring. System monitoring: Monitoring of the specification and operation history of Simple Motion module (system monitor data [Md.1] to [Md.19], [Md.50] to [Md.59], [Md.61], [Md.130] to [Md.
Chapter 5 Data Used for Positioning Control Monitoring details History of all warnings Corresponding item Axis in which the warning occurred [Md.14] Axis warning No. [Md.15] Axis warning No. Servo warning [Md.58] Servo warning Year: month [Md.56] Axis warning occurrence (Year: month) Day: hour [Md.16] Axis warning occurrence (Day: hour) Minute: second [Md.17] Axis warning occurrence (Minute: second) Axis warning occurrence Pointer No. next to the pointer No. where [Md.
Chapter 5 Data Used for Positioning Control [2] Monitoring the axis operation state Monitoring the position Monitor details Corresponding item Monitor the current machine feed value [Md.21] Machine feed value Monitor the current "current feed value" [Md.20] Current feed value Monitor the current target value [Md.
Chapter 5 Data Used for Positioning Control Monitoring the status of servo amplifier Monitor details Corresponding item Monitor the real current value (current feed value - deviation counter). [Md.101] Real current value Monitor the difference between current feed value and real current value. [Md.102] Deviation counter value Monitor the motor speed of servo motor. [Md.103] Motor rotation speed Monitor the current value of servo motor. [Md.104] Motor current value Monitor the software No.
Chapter 5 Data Used for Positioning Control Monitor details Corresponding item Monitor the block No. Monitor the current torque limit value [Md.45] Block No. being executed [Md.35] Torque limit stored value/forward torque limit stored value [Md.120] Reverse torque limit stored value Monitor the command torque at torque control mode or continuous operation to torque control mode in the speed-torque control. [Md.123] Torque during command Monitor the switching status of control mode. [Md.
Chapter 5 Data Used for Positioning Control 5.1.10 Types and roles of control data Operation of the positioning system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the sequence program.) Items that can be controlled are described below. Controlling the system data : Setting and resetting "setting data" of Simple Motion module (system control data [Cd.1], [Cd.
Chapter 5 Data Used for Positioning Control [2] Controlling the operation Controlling the operation Control details Corresponding item Set which positioning to execute (start No.). [Cd.3] Positioning start No. Clear (reset) the axis error ([Md.23]) and warning ([Md.24]). [Cd.5] Axis error reset Issue instruction to restart (When axis operation is stopped). [Cd.6] Restart command Stop axis in control. [Cd.180] Axis stop Execute start request of JOG operation or inching operation.
Chapter 5 Data Used for Positioning Control Controlling the speed Control details Corresponding item Set new speed when changing speed during operation. [Cd.14] New speed value Issue instruction to change speed in operation to [Cd.14] value. (Only during positioning operation and JOG operation). [Cd.15] Speed change request Change positioning operation speed between 1 and 300% range. [Cd.13] Positioning operation speed override Set inching movement amount. [Cd.
Chapter 5 Data Used for Positioning Control Control details Corresponding item Set "same setting/individual setting" of the forward torque limit value [Cd.112] Torque change function switching request or reverse torque limit value in the torque change function. Change "[Md.35] Torque limit stored value/forward torque limit stored value". [Cd.22] Change "[Md.120] Reverse torque limit stored value". [Cd.113] Reverse new torque value Set whether "[Md.
Chapter 5 Data Used for Positioning Control 5.2 List of parameters The setting items of the positioning parameter, OPR parameter or servo parameter are explained in this section. • Guide to buffer memory address In the buffer memory address, "n" in "1+150n", etc. indicates a value corresponding to axis No. such as the following table. Axis No. n Axis No. n Axis No. n Axis No.
Chapter 5 Data Used for Positioning Control [Pr.1] Unit setting Set the unit used for defining positioning operations. Choose from the following units depending on the type of the control target: mm, inch, degree, or PLS. Different units can be defined for different axes. (Example) Different units (mm, inch, degree, and PLS) are applicable to different systems: • mm or inch...... X-Y table, conveyor (Select mm or inch depending on the machine specifications.) • degree ............
Chapter 5 Data Used for Positioning Control POINT (1) Set the electronic gear within the following range. If the value outside the setting range is set, the error "Outside electronic gear setting range" (error code: 907) will occur. • Product information is before 150410000000000. 0.001 Electronic gear AP AL AM 20000 • Product information is 150410000000000 or later. 0.
Chapter 5 Data Used for Positioning Control [Pr.2] Number of pulses per rotation (AP) Set the number of pulses required for a complete rotation of the motor shaft. If you are using the Mitsubishi servo amplifier MR-J4(W)-B/MR-JE-B/MR-J3(W)-B, set the value given as the "resolution per servomotor rotation" in the speed/position detector specifications. Number of pulses per rotation (AP) = Resolution per servomotor rotation [Pr.3] Movement amount per rotation (AL), [Pr.
Chapter 5 Data Used for Positioning Control [Pr.7] Bias speed at start Set the bias speed (minimum speed) upon starting. When using a stepping motor, etc., set it to start the motor smoothly. (If the motor speed at start is low, the stepping motor does not start smoothly.) The specified "bias speed at start" will be valid during the following operations: • Positioning operation • OPR operation • JOG operation Set the value that the bias speed should not exceed "[Pr.8] Speed limit value". [Pr.
Chapter 5 Data Used for Positioning Control POINT For the 2-axis or more interpolation control, the bias speed at start is applied by the setting of "[Pr.20] Interpolation speed designation method". "0: Composite speed" : Bias speed at start set to the reference axis is applied to the composite command speed. "1: Reference axis speed": Bias speed at start is applied to the reference axis. (1) Precautionary notes (a) "[Pr.7] Bias speed at start" is valid regardless of motor type.
Chapter 5 Data Used for Positioning Control 5.2.2 Basic parameters 2 Item [Pr.8] Speed limit value [Pr.9] Acceleration time 0 [Pr.10] Deceleration time 0 Setting value, setting range Value set with sequence Value set with GX Works2 program Default value The setting range differs depending on the "[Pr.1] Unit setting".
Chapter 5 Data Used for Positioning Control 5.2.3 Detailed parameters 1 Item Setting value, setting range Value set with sequence Value set with GX Works2 program [Pr.11] Backlash compensation amount [Pr.12] The setting value range differs according to the "[Pr.1] Unit Software stroke limit setting". upper limit value [Pr.13] Software stroke limit lower limit value 0: Apply software stroke limit on 0 [Pr.
Chapter 5 Data Used for Positioning Control Item b0 b1 b2 b3 b4 [Pr.22] Input signal logic selection b5 b6 b7 b8 Setting value, setting range Value set with sequence Value set with GX Works2 program Lower limit Upper limit Not used Stop signal External command/ switching 151413121110 9 8 7 6 5 4 3 2 1 b0 signal 0: Negative Not used logic Near-point dog 1: Positive Always "0" is set to signal logic the part not used. Not used Manual pulse generator input (Note-1): (Note-1) [Pr.
Chapter 5 Data Used for Positioning Control [Pr.11] Backlash compensation amount The error that occurs due to backlash when moving the machine via gears can be compensated. (When the backlash compensation amount is set, commands equivalent to the compensation amount will be output each time the direction changes during positioning.) Pr.44 OPR direction Workpiece (moving body) Worm gear Backlash (compensation amount) 1) The backlash compensation is valid after machine OPR.
Chapter 5 Data Used for Positioning Control Value set with GX Works2 (unit) [Pr.1] setting value Value set with sequence program (unit) 0 : mm 0 to 6553.5 (m) 0 to 65535 ( 10-1m) 1 : inch 0 to 0.65535 (inch) 0 to 65535 ( 10-5inch) 2 : degree 0 to 0.65535 (degree) 0 to 65535 ( 10-5degree) 3 : PLS 0 to 65535 (PLS) 0 to 65535 (PLS) 0 to 32767 : Set as a decimal 32768 to 65535 : Convert into hexadecimal and set [Pr.
Chapter 5 Data Used for Positioning Control [Pr.14] Software stroke limit selection Set whether to apply the software stroke limit on the "current feed value" or the "machine feed value". The software stroke limit will be validated according to the set value. To invalidate the software stroke limit, set the setting value to "current feed value". When "2: degree" is set in "[Pr.1] Unit setting", set the setting value of software stroke limit to "current feed value".
Chapter 5 Data Used for Positioning Control [Pr.18] M code ON signal output timing This parameter sets the M code ON signal output timing. Choose either WITH mode or AFTER mode as the M code ON signal output timing. [QD77MS4 operation example] WITH mode ............ An M code is output and the M code ON signal is turned ON when a positioning operation starts. AFTER mode ..........An M code is output and the M code ON signal is turned ON when a positioning operation completes.
Chapter 5 Data Used for Positioning Control [Pr.19] Speed switching mode Set whether to switch the speed switching mode with the standard switching or front-loading switching mode. 0 : Standard switching .............. Switch the speed when executing the next positioning data. 1 : Front-loading switching ........ The speed switches at the end of the positioning data currently being executed.
Chapter 5 Data Used for Positioning Control [Pr.21] Current feed value during speed control Specify whether you wish to enable or disable the update of "[Md.20] Current feed value" while operations are performed under the speed control (including the speed control in speed-position and position-speed switching control). 0: The update of the current feed value is disabled The current feed value will not change. (The value at the beginning of the speed control will be kept.
Chapter 5 Data Used for Positioning Control [Pr.80] External input signal selection Set whether to use "external input signal of QD77MS", "external input signal of servo amplifier", or "buffer memory of QD77MS" as an external input signal (upper/lower limit signal, near-point dog signal, or stop signal).
Chapter 5 Data Used for Positioning Control [Pr.24] Manual pulse generator/Incremental synchronous encoder input selection Set the manual pulse generator/incremental synchronous encoder input pulse mode. (Only the value specified against the axis 1 is valid.) 0: A-phase/B-phase multiplied by 4 1: A-phase/B-phase multiplied by 2 2: A-phase/B-phase multiplied by 1 3: PLS/SIGN Set the positive logic or negative logic in "[Pr.22] Input signal logic selection".
Chapter 5 Data Used for Positioning Control (2) PLS/SIGN [Pr.22] Input signal logic selection Positive logic Negative logic Forward run and reverse run are controlled with the ON/OFF of the direction sign (SIGN). • The motor will forward run when the direction sign is HIGH. • The motor will reverse run when the direction sign is LOW. Forward run and reverse run are controlled with the ON/OFF of the direction sign (SIGN). • The motor will forward run when the direction sign is LOW.
Chapter 5 Data Used for Positioning Control 5.2.4 Detailed parameters 2 Item Setting value, setting range Value set with sequence Value set with GX Works2 program Default value [Pr.25] Acceleration time 1 [Pr.26] Acceleration time 2 [Pr.27] Acceleration time 3 1 to 8388608 (ms) 1 to 8388608 (ms) 1000 [Pr.28] Deceleration time 1 [Pr.29] Deceleration time 2 [Pr.30] Deceleration time 3 [Pr.31] JOG speed limit value The setting range differs depending on the "[Pr.1] Unit setting". 0: [Pr.
Chapter 5 Data Used for Positioning Control Item [Pr.41] Allowable circular interpolation error width Setting value, setting range Value set with sequence Value set with GX Works2 program The setting value range differs depending on the "[Pr.1] Unit setting". 0: External positioning start 1: External speed change request [Pr.
Chapter 5 Data Used for Positioning Control [Pr.28] Deceleration time 1 to [Pr.30] Deceleration time 3 These parameters set the time for the speed to decrease from the "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control) to zero during a positioning operation. [Pr.31] JOG speed limit value Set the maximum speed for JOG operation. Note) Set the "JOG speed limit value" to a value less than "[Pr.8] Speed limit value".
Chapter 5 Data Used for Positioning Control [Pr.34] Acceleration/deceleration process selection Set whether to use trapezoid acceleration/deceleration or S-curve acceleration/ deceleration for the acceleration/deceleration process. Note) Refer to Section 13.7.6 "Acceleration/deceleration processing function" for details. Velocity The acceleration and deceleration are linear. Velocity The acceleration and deceleration follow a Sin curve.
Chapter 5 Data Used for Positioning Control [Pr.36] Sudden stop deceleration time Set the time to reach speed 0 from "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control) during the sudden stop. The illustration below shows the relationships with other parameters. 1) Positioning start When positioning is started, the acceleration starts following the "acceleration time".
Chapter 5 Data Used for Positioning Control [Pr.40] Positioning complete signal output time Set the output time of the positioning complete signal output from the Simple Motion module. A positioning completes when the specified dwell time has passed after the Simple Motion module had terminated the command output. For the interpolation control, the positioning completed signal of interpolation axis is output only during the time set to the reference axis.
Chapter 5 Data Used for Positioning Control [Pr.41] Allowable circular interpolation error width The allowable error range of the calculated arc path and end point address is set. 1 If the error of the calculated arc path and end point address is within the set range, circular interpolation will be 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.
Chapter 5 Data Used for Positioning Control [Pr.42] External command function selection Select a command with which the external command signal should be associated. 0: External positioning start The external command signal input is used to start a positioning operation. 1: External speed change request The external command signal input is used to change the speed in the current positioning operation. The new speed should be set in the "[Cd.
Chapter 5 Data Used for Positioning Control [Pr.84] Restart allowable range when servo OFF to ON (1) Restart function at switching servo OFF to ON The restart function at switching servo OFF to ON performs continuous positioning operation (positioning start, restart) when switching servo OFF to ON while the Simple Motion module is stopped (including forced stop, servo forced stop).
Chapter 5 Data Used for Positioning Control (2) Setting method For performing restart at switching servo OFF to ON, set the restart allowable range in the following buffer memory. Buffer memory address QD77MS2 QD77MS16 QD77MS4 64+150n 65+150n Item Setting range [Pr.84] Restart allowable range when servo OFF to ON Default value 0, 1 to 327680 (PLS) 0: restart not allowed 0 [Setting example] A program to set the restart allowable range for axis 1 to 10000 PLS is shown below.
Chapter 5 Data Used for Positioning Control (g) Restart can also be executed while the positioning start signal is ON. However, do not set the positioning start signal from OFF to ON during a stop. If the positioning start signal is switched from OFF to ON, positioning is performed from the positioning data number set in "[Cd.3] Positioning start No." or from the positioning data number of the specified point.
Chapter 5 Data Used for Positioning Control [Pr.90] Operation setting for speed-torque control mode Operation setting of the speed control mode, torque control mode or continuous operation to torque control mode at the speed-torque control is executed. (1) Torque initial value selection Set the torque initial value at switching to torque control mode or to continuous operation to torque control mode. 0: Command torque ......... Command torque value at switching.
Chapter 5 Data Used for Positioning Control [Pr.95] External command signal selection QD77MS16 Set the external command signal. 0: Not used ........ External command signal is not used. 1: DI1 ................. DI1 is used as external command signal. 2: DI2 ................. DI2 is used as external command signal. 3: DI3 ................. DI3 is used as external command signal. 4: DI4 ................. DI4 is used as external command signal.
Chapter 5 Data Used for Positioning Control [Pr.43] OPR method Set the "OPR method" for carrying out machine OPR. 0: Near-point dog method ......... After decelerating at the near-point dog ON, stop at the zero signal and complete the machine OPR. 4: Count method 1) ................... After decelerating at the near-point dog ON, move the designated distance, and complete the machine OPR with the zero signal. 5: Count method 2) ...................
Chapter 5 Data Used for Positioning Control 0 : Near-point dog method (1) Start machine OPR. (Start movement at the "[Pr.46] OPR speed" in the "[Pr.44] OPR direction".) (2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to "[Pr.47] Creep speed", and move with the creep speed. (At this time, the near-point dog must be ON. If the nearpoint dog is OFF, the axis will decelerate to a stop.) (4) At the first zero signal after the near-point dog turned OFF, machine OPR is completed.
Chapter 5 Data Used for Positioning Control 5 : Count method 2) (1) Start machine OPR. (Start movement at the "[Pr.46] OPR speed" in the "[Pr.44] OPR direction".) (2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to "[Pr.47] Creep speed", and move with the creep speed. (4) After the near-point dog turns ON and the movement amount set in "[Pr.50] Setting for the movement amount after near-point dog ON" has passed, machine OPR is completed. V Pr.46 OPR speed Pr.
Chapter 5 Data Used for Positioning Control [Pr.44] OPR direction Set the direction to start movement when starting machine OPR. 0: Positive direction (address increment direction) Moves in the direction that the address increments. (Arrow 2)) 1: Negative direction (address decrement direction) Moves in the direction that the address decrements. (Arrow 1)) Normally, the OP is set near the lower limit or the upper limit, so "[Pr.44] OPR direction" is set as shown below.
Chapter 5 Data Used for Positioning Control [Pr.45] OP address Set the address used as the reference point for positioning control (ABS system). (When the machine OPR is completed, the stop position address is changed to the address set in "[Pr.45] OP address". At the same time, the "[Pr.45] OP address" is stored in "[Md.20] Current feed value" and "[Md.21] Machine feed value".) [Pr.1] setting value Value set with GX Works2 (unit) Value set with sequence program (unit) 0 : mm -214748364.8 to 214748364.
Chapter 5 Data Used for Positioning Control [Pr.47] Creep speed Set the creep speed after near-point dog ON (the low speed just before stopping after decelerating from the OPR speed). The creep speed is set within the following range. ([Pr.46] OPR speed) ([Pr.47] Creep speed) ([Pr.7] Bias speed at start) V Pr.46 OPR speed Machine OPR start Pr.47 Creep speed ON Near-point dog signal OFF Zero signal [Pr.
Chapter 5 Data Used for Positioning Control [Pr.48] OPR retry Set whether to carry out OPR retry. When the OPR retry function is validated and the machine OPR is started, first the axis will move in the OPR direction (1)). If the upper/lower limit signal turns OFF before the near-point dog signal ON is detected (2)), the axis will decelerate to a stop, and then will move in the direction opposite the OPR direction (3)).
Chapter 5 Data Used for Positioning Control 5.2.6 OPR detailed parameters Item Setting value, setting range Value set with sequence Value set with GX Works2 program [Pr.50] The setting value range differs depending on the "[Pr.1] Unit Setting for the movement amount after near-point dog setting". ON 0 : [Pr.9] Acceleration time 0 0 [Pr.51] 1 : [Pr.25] Acceleration time 1 1 OPR acceleration time 2 : [Pr.26] Acceleration time 2 2 selection 3 : [Pr.27] Acceleration time 3 3 0 : [Pr.
Chapter 5 Data Used for Positioning Control [Pr.50] Setting for the movement amount after near-point dog ON When using the count method 1) or 2), set the movement amount to the OP after the near-point dog signal turns ON. (The movement amount after near-point dog ON should be equal to or greater than the sum of the "distance covered by the deceleration from the OPR speed to the creep speed" and "distance of movement in 10 ms at the OPR speed".) Example of setting for " Pr.
Chapter 5 Data Used for Positioning Control [Pr.52] OPR deceleration time selection Set which of "deceleration time 0 to 3" to use for the deceleration time during OPR. 0 : Use the value set in "[Pr.10] Deceleration time 0". 1 : Use the value set in "[Pr.28] Deceleration time 1". 2 : Use the value set in "[Pr.29] Deceleration time 2". 3 : Use the value set in "[Pr.30] Deceleration time 3". [Pr.53] OP shift amount Set the amount to shift (move) from the position stopped at with machine OPR.
Chapter 5 Data Used for Positioning Control [Pr.54] OPR torque limit value Set the value to limit the servomotor torque after reaching the creep speed during machine OPR. Refer to Section 13.4.2 "Torque limit function" for details on the torque limits. [Pr.55] Operation setting for incompletion of OPR Set whether the positioning control is executed or not (When the OPR request flag is ON.). 0: Positioning control is not executed. 1: Positioning control is executed.
Chapter 5 Data Used for Positioning Control [Pr.56] Speed designation during OP shift Set the operation speed for when a value other than "0" is set for "[Pr.53] OP shift amount". Select the setting from "[Pr.46] OPR speed" or "[Pr.47] Creep speed". 0 : Designate "[Pr.46] OPR speed" as the setting value. 1 : Designate "[Pr.47] Creep speed" as the setting value. [Pr.57] Dwell time during OPR retry When OPR retry is validated (when "1" is set for [Pr.
Chapter 5 Data Used for Positioning Control 5.2.7 Expansion parameters Item [Pr.91] Optional data monitor: Data type setting 1 [Pr.92] Optional data monitor: Data type setting 2 [Pr.
Chapter 5 Data Used for Positioning Control [Pr.91] Optional data monitor: Data type setting 1 to [Pr.94] Optional data monitor: Data type setting 4 Set the data type monitored in optional data monitor function.
Chapter 5 Data Used for Positioning Control POINT (1) The monitor address of optional data monitor is registered to servo amplifier with initialized communication after power supply ON or PLC CPU reset. (2) Set the data type of "used point: 2 words" in "[Pr.91] Optional data monitor: Data type setting 1" or "[Pr.93] Optional data monitor: Data type setting 3". If it is set in "[Pr.92] Optional data monitor: Data type setting 2" or "[Pr.
Chapter 5 Data Used for Positioning Control [Pr.96] Operation cycle setting Set the operation cycle. (Only the value specified against the axis 1 is valid.) 0: 0.88ms 1: 1.77ms POINT (1) In this parameter, the value set in flash ROM of Simple Motion module is valid at power supply ON or PLC CPU reset. Fetch by PLC READY signal OFF to ON is not executed. Execute flash ROM writing to change after setting a value to buffer memory. Confirm the current operation cycle in "[Md.132] Operation cycle setting".
Chapter 5 Data Used for Positioning Control POINT In this parameter, the value set in flash ROM of Simple Motion module is valid at power supply ON or PLC CPU reset. Fetch by PLC READY signal OFF to ON is not executed. Execute flash ROM writing to change after setting a value to buffer memory. [Pr.114] External command signal compensation valid/invalid setting Set the input compensation of external command input signal valid/invalid. (Only the value specified against the axis 1 is valid.
Chapter 5 Data Used for Positioning Control 5.2.8 Servo parameters (1) Servo series Item Setting details Setting range 0: Servo series is not set 1: MR-J3-_B MR-J3W-_B (2-axis type) 3: MR-J3-_B-RJ006 (For fully closed loop control) Used to select the servo amplifier series MR-J3-_BS (For safety servo) to connect to the Simple Motion module. 4: MR-J3-_B-RJ004 (For linear servo) [POINT] 6: MR-J3-_B-RJ080W • Be sure to set up servo series.
Chapter 5 Data Used for Positioning Control (a) Basic setting parameters Buffer memory address QD77MS2 QD77MS4 QD77MS16 Servo amplifier Parameter No. PA01 30101+200n 28401+100n PA02 30102+200n 28402+100n PA03 30103+200n 28403+100n PA04 30104+200n PA05 30105+200n PA06 Servo amplifier Parameter No.
Chapter 5 Data Used for Positioning Control (b) Gain/filter setting parameters Buffer memory address QD77MS2 QD77MS4 QD77MS16 Servo amplifier Parameter No. PB01 30119+200n 28419+100n PB02 30120+200n PB03 30121+200n PB04 Servo amplifier Parameter No.
Chapter 5 Data Used for Positioning Control (c) Extension setting parameters Buffer memory address QD77MS2 QD77MS4 QD77MS16 Servo amplifier Parameter No. PC01 30164+200n 28464+100n PC02 30165+200n PC03 30166+200n PC04 Servo amplifier Parameter No.
Chapter 5 Data Used for Positioning Control (d) I/O setting parameters Servo amplifier Parameter No. Buffer memory address QD77MS2 QD77MS4 QD77MS16 Servo amplifier Parameter No.
Chapter 5 Data Used for Positioning Control (e) Extension setting 2 parameters Servo amplifier Parameter No. Buffer memory address QD77MS2 QD77MS4 QD77MS16 Servo amplifier Parameter No.
Chapter 5 Data Used for Positioning Control (f) Special setting parameters Servo amplifier Parameter No. Buffer memory address QD77MS2 QD77MS4 QD77MS16 Servo amplifier Parameter No.
Chapter 5 Data Used for Positioning Control (h) Option setting parameters Servo amplifier Parameter No. Buffer memory address QD77MS2 QD77MS4 QD77MS16 Servo amplifier Parameter No.
Chapter 5 Data Used for Positioning Control (3) Parameters of MR-J3(W)-_B The parameter list for MR-J3(W)-_B is shown below. Refer to each servo amplifier instruction manual for details of setting items. Do not change other than the buffer memory addresses of the parameters described in each servo amplifier instruction manual.
Chapter 5 Data Used for Positioning Control (a) Basic setting parameters Buffer memory address QD77MS2 QD77MS4 QD77MS16 Servo amplifier Parameter No. PA01 30101+200n 28401+100n PA02 30102+200n PA03 30103+200n PA04 Servo amplifier Parameter No.
Chapter 5 Data Used for Positioning Control (c) Expansion setting parameters Buffer memory address QD77MS2 QD77MS4 QD77MS16 Servo amplifier Parameter No. PC01 30164+200n 28464+100n PC02 30165+200n PC03 30166+200n PC04 Servo amplifier Parameter No.
Chapter 5 Data Used for Positioning Control (e) Extension control parameters Servo amplifier Parameter No. Buffer memory address QD77MS2 QD77MS4 QD77MS16 Servo amplifier Parameter No.
Chapter 5 Data Used for Positioning Control (g) Other setting parameters Servo amplifier Parameter No. Buffer memory address QD77MS2 QD77MS4 QD77MS16 Servo amplifier Parameter No.
Chapter 5 Data Used for Positioning Control 5.3 List of positioning data Before explaining the positioning data setting items [Da.1] to [Da.10], [Da.20] to [Da.22] the configuration of the positioning data will be shown below. The positioning data stored in the buffer memory of Simple Motion module has the following type of configuration. • QD77MS2/QD77MS4 Positioning Positioning data No. 599data No. 600 Positioning Positioning data No. 1 data No. Positioning identifier Da.1 to Da.5 Da.
Chapter 5 Data Used for Positioning Control The descriptions that follow relate to the positioning data set items [Da.1] to [Da.10], [Da.20] to [Da.22]. (The buffer memory addresses shown are those of the "positioning data No. 1".) • Guide to buffer memory address In the buffer memory address, "n" in "6001+1000n", etc. indicates a value corresponding to axis No. such as the following table. Axis No. n Axis No. n Axis No. n Axis No.
Chapter 5 Data Used for Positioning Control Setting value Item [Da.1] Operation pattern Positioning identifier [Da.
Chapter 5 Data Used for Positioning Control Setting value, setting range Value set with sequence Value set with GX Works2 program Item [Da.6] Positioning address/ movement amount [Da.7] Arc address The setting value range differs according to the "[Da.2] Control system". [Da.8] Command speed The setting value range differs depending on the "[Pr.1] Unit setting". -1: Current speed (Speed set for previous -1 positioning data No.) [Da.9] Dwell time/ JUMP destination positioning data No.
Chapter 5 Data Used for Positioning Control [Da.1] Operation pattern The operation pattern designates whether positioning of a certain data No. is to be ended with just that data, or whether the positioning for the next data No. is to be carried out in succession. [Operation pattern] Positioning complete ...................................................................... Independent positioning control (Positioning complete) Continuous positioning with one start signal ..........
Chapter 5 Data Used for Positioning Control [Da.4] Deceleration time No. Set which of "deceleration time 0 to 3" to use for the deceleration time during positioning. 0: Use the value set in "[Pr.10] Deceleration time 0". 1: Use the value set in "[Pr.28] Deceleration time 1". 2: Use the value set in "[Pr.29] Deceleration time 2". 3: Use the value set in "[Pr.30] Deceleration time 3". [Da.
Chapter 5 Data Used for Positioning Control (2) Incremental (INC) system, fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4 The setting value (movement amount) for the INC system is set as a movement amount with sign.
Chapter 5 Data Used for Positioning Control When "[Pr.1] Unit setting" is "mm" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with GX Works2 (m) [Da.
Chapter 5 Data Used for Positioning Control When "[Pr.1] Unit setting" is "degree" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with GX Works2 (degree) [Da.
Chapter 5 Data Used for Positioning Control When "[Pr.1] Unit setting" is "PLS" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with GX Works2 (PLS) [Da.
Chapter 5 Data Used for Positioning Control When "[Pr.1] Unit setting" is "inch" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with sequence program ( 10-5 inch) Value set with GX Works2 (inch) [Da.
Chapter 5 Data Used for Positioning Control When "[Pr.1] Unit setting" is "mm" The table below lists the control systems that require the setting of the arc address and shows the setting range. (With any control system excluded from the table below, the arc address does not need to be set.) ABS circular sub ABS circular right ABS circular left INC circular sub INC circular right INC circular left Value set with sequence program ( 10-1m) Value set with GX Works2 (m) [Da.
Chapter 5 Data Used for Positioning Control When "[Pr.1] Unit setting" is "inch" The table below lists the control systems that require the setting of the arc address and shows the setting range. (With any control system excluded from the table below, the arc address does not need to be set.) ABS circular sub ABS circular right ABS circular left INC circular sub INC circular right INC circular left Value set with sequence program ( 10-5 inch) Value set with GX Works2 (inch) [Da.
Chapter 5 Data Used for Positioning Control [Da.9] Dwell time/JUMP designation positioning data No. Set the "dwell time" or "positioning data No." corresponding to the "[Da.2] Control system". When a method other than "JUMP instruction" is set for "[Da.2] Control system" ..... Set the "dwell time". When "JUMP instruction" is set for "[Da.2] Control system" ..... Set the "positioning data No." for the JUMP destination.
Chapter 5 Data Used for Positioning Control [Da.10] M code/Condition data No./Number of LOOP to LEND repetitions Set an "M code", a "condition data No.", or the "Number of LOOP to LEND 1 repetitions" depending on how the "[Da.2] Control system" is set. If a method other than "JUMP instruction" and "LOOP" is selected as the "[Da.2] Control system" ............... Set an "M code". If no "M code" needs to be output, set "0" (default value). If "JUMP instruction" or "LOOP" is selected as the "[Da.
Chapter 5 Data Used for Positioning Control [Da.20] Axis to be interpolated No.1 to [Da.22] Axis to be interpolated No.3 QD77MS16 Set the axis to be interpolated to execute the 2 to 4-axis interpolation operation. • 2-axis interpolation ......... Set the target axis number in "[Da.20] Axis to be interpolated No.1". • 3-axis interpolation ......... Set the target axis number in "[Da.20] Axis to be interpolated No.1" and "[Da.21] Axis to be interpolated No.2". • 4-axis interpolation .........
Chapter 5 Data Used for Positioning Control 5.4 List of block start data The illustrations below show the organization of the block start data stored in the buffer memory of Simple Motion module. The block start data setting items [Da.11] to [Da.14] are explained in the pages that follow. • QD77MS2/QD77MS4 50th point Buffer memory address Setting item Up to 50 block start data points can be set (stored) for each axis in the buffer memory addresses shown on the left.
Chapter 5 Data Used for Positioning Control The following pages explain the block start data setting items [Da.11] to [Da.14]. (The buffer memory addresses shown are those of the "1st point block start data (block No. 7000)".) • Guide to buffer memory address In the buffer memory address, "n" in "22000+400n", etc. indicates a value corresponding to axis No. such as the following table. Axis No. n Axis No. n Axis No. n Axis No.
Chapter 5 Data Used for Positioning Control REMARK To perform a high-level positioning control using block start data, set a number between 7000 and 7004 to the "[Cd.3] Positioning start No." and use the "[Cd.4] Positioning starting point No." to specify a point number between 1 and 50, a position counted from the beginning of the block. The number between 7000 and 7004 specified here is called the "block No.".
Chapter 5 Data Used for Positioning Control • QD77MS4 Block No.
Chapter 5 Data Used for Positioning Control Setting value Item Value set with GX Works2 Default value Value set with sequence program 0 : End 0 1 : Continue 1 Buffer memory address QD77MS2 QD77MS16 QD77MS4 [Da.11] Shape b15 b11 0 0 0 b7 b3 b0 0000H 26000+1000n 22000+400n Shape [Da.12] Start data No. Positioning data No.
Chapter 5 Data Used for Positioning Control [Da.11] Shape Set whether to carry out only the local "block start data" and then end control, or to execute the "block start data" set in the next point. Setting value Setting details 0 : End Execute the designated point's "block start data", and then complete the control. 1 : Continue Execute the designated point's "block start data", and after completing control, execute the next point's "block start data". [Da.12] Start data No.
Chapter 5 Data Used for Positioning Control 5.5 List of condition data The illustrations below show the organization of the condition data stored in the buffer memory of Simple Motion module. The condition data setting items [Da.15] to [Da.19] and [Da.23] to [Da.26] are explained in the pages that follow. • QD77MS2/QD77MS4 d Con itio ata nd No.10 No. Buffer memory address Setting item No.2 No.
Chapter 5 Data Used for Positioning Control The following pages explain the condition data setting items [Da.15] to [Da.19] and [Da.23] to [Da.26]. (The buffer memory addresses shown are those of the "condition data No. 1 (block No. 7000)".) • Guide to buffer memory address In the buffer memory address, "n" in "22100+400n", etc. indicates a value corresponding to axis No. such as the following table. Axis No. n Axis No. n Axis No. n Axis No.
Chapter 5 Data Used for Positioning Control REMARK To perform a high-level positioning control using block start data, set a number between 7000 and 7004 to the "[Cd.3] Positioning start No." and use the "[Cd.4] Positioning starting point No." to specify a point number between 1 and 50, a position counted from the beginning of the block. The number between 7000 and 7004 specified here is called the "block No.".
Chapter 5 Data Used for Positioning Control • QD77MS4 Block No.
Chapter 5 Data Used for Positioning Control Setting value Item Value set with GX Works2 01 : Device X Condition identifier [Da.15] Condition target [Da.16] Condition operator Default value Value set with sequence program Buffer memory address QD77MS2 QD77MS16 QD77MS4 01H 02 : Device Y 02H 03 : Buffer memory (1-word) 03H 04 : Buffer memory (2-word) 04H 05 : Positioning data No.
Chapter 5 Data Used for Positioning Control Setting value Item [Da.23] Number of simultaneously starting axes Simultaneously starting axis QD77MS16 Value set with GX Works2 Value set with sequence program 2: 2 axes 2H 3: 3 axes 3H 4: 4 axes 4H [Da.24] 0: Axis 1 selected Simultaneously 1: Axis 2 selected starting axis No.1 2: Axis 3 selected QD77MS16 3: Axis 4 selected 4: Axis 5 selected [Da.25] 5: Axis 6 selected Simultaneously starting axis No.
Chapter 5 Data Used for Positioning Control [Da.15] Condition target Set the condition target as required for each control. Setting value Setting details 01H : Device X Set the input/output signal ON/OFF as the conditions. 02H : Device Y 03H : Buffer memory (1-word) Set the value stored in the buffer memory as the condition. 03H: The target buffer memory is "1-word (16 bits)" 04H : Buffer memory (2-word) 04H: The target buffer memory is "2-word (32 bits)" 05H : Positioning data No.
Chapter 5 Data Used for Positioning Control [Da.18] Parameter 1 • QD77MS2/QD77MS4 Set the parameters as required for the "[Da.16] Condition operator". [Da.16] Condition operator Setting value 01H : =P1 02H : P1 03H : P1 04H : P1 05H : P1 P2 06H : P1, P2 07H : DEV=ON 08H : DEV=OFF Value Value (bit No.) Setting details The value of P1 should be equal to or smaller than the value of P2.
Chapter 5 Data Used for Positioning Control [Da.19] Parameter 2 • QD77MS2/QD77MS4 Set the parameters as required for the "[Da.16] Condition operator". [Da.16] Condition operator Setting value 01H : =P1 02H : P1 03H : P1 04H : P1 — 05H : P1 P2 Value 06H : P1, P2 Setting details Not used. (No need to be set.) The value of P2 should be equal to or greater than the value of P1.
Chapter 5 Data Used for Positioning Control [Da.23] Number of simultaneously starting axes QD77MS16 Set the number of simultaneously starting axes to execute the simultaneous start. 2: Simultaneous start by 2 axes of the starting axis and axis set in "[Da.24] Simultaneously starting axis No.1". 3: Simultaneous start by 3 axes of the starting axis and axis set in "[Da.24] Simultaneously starting axis No.1" and "[Da.25] Simultaneously starting axis No.2".
Chapter 5 Data Used for Positioning Control MEMO 5 - 115
Chapter 5 Data Used for Positioning Control 5.6 List of monitor data The setting items of the monitor data are explained in this section. • Guide to buffer memory address In the buffer memory address, "n" in "2406+100n", etc. indicates a value corresponding to axis No. such as the following table. Axis No. n Axis No. n Axis No. n Axis No.
Chapter 5 Data Used for Positioning Control Reading the monitor value Default value Buffer memory address (common for all axes) QD77MS2 QD77MS16 QD77MS4 Monitoring is carried out with a decimal. Monitor value Storage value 0: Not in test mode 1: In test mode 0 1200 4000 (Unless noted in particular, the monitor value is saved as binary data.
Chapter 5 Data Used for Positioning Control Storage item Storage details Reading the monitor value [Storage details] This area stores the start information (restart flag, start origin, and start axis): Restart flag: Indicates whether the operation has or has not been halted and restarted. Start origin : Indicates the source of the start signal. Start axis : Indicates the started axis. Refresh cycle: At start Monitoring is carried out with a hexadecimal display. [Reading the monitor value] [Md.
Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) QD77MS2/QD77MS4 QD77MS16 Default value QD77MS2/QD77MS4 Md.8 Start history pointer 1292 Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing starting history records. Pointer No. Item 0000H 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Md.3 Start information 1212 1217 1222 1227 1232 1237 1242 1247 1252 1257 1262 1267 1272 1277 1282 1287 Md.4 Start No.
Chapter 5 Data Used for Positioning Control Storage item [Md.54] Start Year: month Storage details Reading the monitor value Monitoring is carried out with a hexadecimal display. The starting time (Year: month) is stored. Buffer memory (stored with BCD code) 0 0 8 Monitor value 6 b15 b12 b8 b4 b0 0 0 0 0 1 0 0 0 0 0 0 0 0 1 1 0 Refresh cycle: At start 0 to 9 0 to 9 0 to 1 0 8 0 6 0 to 9 00 to 99 (year) 01 to 12 (month) [Md.
Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) QD77MS2/QD77MS4 QD77MS16 Default value 0000H QD77MS2/QD77MS4 Md.8 Start history pointer 1292 Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing starting history records. Pointer No. Item 0000H 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Md.3 Start information 1212 1217 1222 1227 1232 1237 1242 1247 1252 1257 1262 1267 1272 1277 1282 1287 Md.4 Start No.
Chapter 5 Data Used for Positioning Control Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal display. Stores an axis No. in which an [Md.9] Axis in which error occurred. the error occurred Refresh cycle: Immediate [Md.10] Axis error No. Stores an axis error No.
Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) QD77MS2/QD77MS4 QD77MS16 Default value Each history record is assigned a pointer No. in the range between 0 and 15. If the pointer No. 15 has been assigned to a new record, the next record will be assigned the pointer number 0. (A new record replaces an older record when a pointer No. is reassigned.) 0 QD77MS2/QD77MS4 Md.13 Error history pointer 1357 Indicates a pointer No. that is next to the pointer No.
Chapter 5 Data Used for Positioning Control Storage item Storage details Reading the monitor value Monitoring is carried out with a decimal display. Stores an axis No. in which a [Md.14] Axis in which warning occurred. the warning occurred Refresh cycle: Immediate [Md.15] Axis warning No. Stores an axis warning No.
Chapter 5 Data Used for Positioning Control Buffer memory address (common for all axes) QD77MS2/QD77MS4 QD77MS16 Default value QD77MS2/QD77MS4 0 Md.18 Warning history pointer 1422 Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing warning history records. Pointer No. Item 0 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Md.14 Axis in which the warning occurred 1358 1362 1366 1370 1374 1378 1382 1386 1390 1394 1398 1402 1406 1410 1414 1418 Md.
Chapter 5 Data Used for Positioning Control Storage item Storage details Stores the number of write accesses to the flash ROM after the power is switched ON. The count is cleared to "0" [Md.19] Number of write when the number of write accesses to flash accesses reaches 26 and an error reset operation is ROM performed. Reading the monitor value Monitoring is carried out with a decimal display.
Chapter 5 Data Used for Positioning Control Default value Buffer memory address (common for all axes) QD77MS2/QD77MS4 QD77MS16 0 1424 1425 4224 4225 0 1431 4231 0 1432 4232 0 1434 4234 0 1433 4233 QD77MS2: 1000H QD77MS4: 1001H QD77MS16: 1002H 31332 (Monitors this buffer memory address too.
Chapter 5 Data Used for Positioning Control Storage item [Md.132] Operation cycle setting Storage details Stores the current operation cycle. Reading the monitor value Monitoring is carried out with a decimal display. Monitor value Refresh cycle: At power supply ON Storage value 0: 0.88ms 1: 1.77ms Monitoring is carried out with a decimal display. [Md.133] Operation cycle over flag This flag turns ON when the operation cycle time exceeds operation cycle. Refresh cycle: Immediate [Md.
Chapter 5 Data Used for Positioning Control Default value Buffer memory address (common for all axes) QD77MS2/QD77MS4 QD77MS16 0 1438 4238 0 1439 4239 0 1208 4008 0 1209 4009 5 - 129
Chapter 5 Data Used for Positioning Control 5.6.2 Axis monitor data Storage item [Md.20] Current feed value Storage details The currently commanded address is stored. (Different from the actual motor position during operation) The current position address is stored. If "degree" is selected as the unit, the addresses will have a ring structure for values between 0 and 359.99999 degrees. The OP address is stored when the machine OPR is completed.
Chapter 5 Data Used for Positioning Control Default value Reading the monitor value Monitoring is carried out with a hexadecimal.
Chapter 5 Data Used for Positioning Control Storage item [Md.24] Axis warning No. Storage details Whenever an axis warning is reported, a related warning code is stored. This area stores the latest warning code always. (Whenever an axis warning is reported, a new warning code replaces the stored warning code.) When the "[Cd.5] Axis error reset" (axis control data) is set to ON, the axis warning No. is cleared to "0". Refresh cycle: Immediate This area stores an M code that is currently active (i.e.
Chapter 5 Data Used for Positioning Control Default value Reading the monitor value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 807+100n 2407+100n 0 808+100n 2408+100n 0 809+100n 2409+100n 0 810+100n 811+100n 2410+100n 2411+100n Monitoring is carried out with a decimal display. Monitor value Axis warning For details of warning codes, refer to Section 16.5 "List of warnings". Monitoring is carried out with a decimal display. Monitor value M code No.
Chapter 5 Data Used for Positioning Control Storage item Storage details The speed which is actually output as a command at that time in each axis is stored. (May be different from the actual motor speed) "0" is stored when the axis is at a stop. [Md.28] Axis feedrate Refresh cycle: Operation cycle [POINT] Refer to "[Md.22] Feedrate" The movement amount for the position control to end after changing to position [Md.
Chapter 5 Data Used for Positioning Control Default value Reading the monitor value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0000H 812+100n 813+100n 2412+100n 2413+100n 0000H 814+100n 815+100n 2414+100n 2415+100n 0000H 816+100n 2416+100n Monitoring is carried out with a hexadecimal.
Chapter 5 Data Used for Positioning Control Storage item [Md.31] Status Storage details This area stores the states (ON/OFF) of various flags. Information on the following flags is stored. In speed control flag This signal that comes ON under the speed control can be used to judge whether the operation is performed under the speed control or position control. The signal goes OFF when the power is switched ON, under the position control, and during JOG operation or manual pulse generator operation.
Chapter 5 Data Used for Positioning Control Default value Reading the monitor value Buffer memory address QD77MS2 QD77MS4 QD77MS16 817+100n 2417+100n Monitoring is carried out with a hexadecimal display.
Chapter 5 Data Used for Positioning Control Storage item Storage details This area stores the target value ([Da.6] Positioning address/movement amount) for a positioning operation. At the beginning of positioning control and current value changing: Stores the value of "[Da.6] Positioning address/movement amount". [Md.32] Target value At the OP shift operation of OPR control : Stores the value of OP shift amount. At other times : Stores "0".
Chapter 5 Data Used for Positioning Control Default value Reading the monitor value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 818+100n 819+100n 2418+100n 2419+100n 0000H 820+100n 821+100n 2420+100n 2421+100n 0000H 824+100n 825+100n 2424+100n 2425+100n Monitoring is carried out with a decimal display. R Decimal integer value Unit conversion table Md.32 ) ) Monitor value Unit conversion Actual value m 10m R Unit -1 m -5 inch -5 degree 0 PLS Md.
Chapter 5 Data Used for Positioning Control Storage item [Md.35] Torque limit stored value/ forward torque limit stored value Storage details "[Pr.17] Torque limit setting value", "[Cd.101] Torque output setting value", "[Cd.22] New torque value/forward new torque value" or "[Pr.54] OPR torque limit value" is stored. During positioning start, JOG operation start, manual pulse generator operation : "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value" is stored.
Chapter 5 Data Used for Positioning Control Default value Reading the monitor value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 826+100n 2426+100n 0 827+100n 2427+100n 0 828+100n 2428+100n 0 829+100n 2429+100n Monitoring is carried out with a decimal display. Monitor value Storage value 1 to 1000 (%) Monitoring is carried out with a decimal display.
Chapter 5 Data Used for Positioning Control Storage item Storage details If the speed exceeds the "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit [Md.39] In speed limit flag value" at JOG operation control) due to a speed change or override, the speed limit functions, and the in speed limit flag turns ON. When the speed drops to less than "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control), or when the axis stops, the in speed limit flag turns OFF.
Chapter 5 Data Used for Positioning Control Default value Reading the monitor value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 830+100n 2430+100n 0 831+100n 2431+100n 0 832+100n 2432+100n 0000H 833+100n 2433+100n 0 834+100n 2434+100n Storage value 1 to 600, 9001 to 9003 0 835+100n 2435+100n Storage value 7000 to 7004 0 836+100n 2436+100n Monitoring is carried out with a decimal display.
Chapter 5 Data Used for Positioning Control Storage item Storage details This area stores the positioning data No. attached to the positioning data that was executed last time. [Md.46] Last executed positioning data No. The value is retained until a new positioning operation is executed. This area stores "0" when the JOG/inching operation is executed. Refresh cycle: Immediate The addresses shown to the right store details of the positioning data currently [Md.
Chapter 5 Data Used for Positioning Control Default value Reading the monitor value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 837+100n 2437+100n 0 838+100n to 847+100n 2438+100n to 2447+100n 0 899+100n 2499+100n Monitoring is carried out with a decimal display.
Chapter 5 Data Used for Positioning Control Storage item Storage details This area stores the travel distance during the OPR travel to the zero point that was executed last time. "0" is stored at machine OPR start. For setting units [Md.100] OPR re-travel value Example) mm (Buffer memory 0.1) µm Refresh cycle: Immediate This area stores the current value (feed current value – deviation counter droop pulses). [Md.101] Real current value Example) mm (Buffer memory 0.
Chapter 5 Data Used for Positioning Control Default value Reading the monitor value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0000H 848+100n 849+100n 2448+100n 2449+100n 0000H 850+100n 851+100n 2450+100n 2451+100n 0000H 852+100n 853+100n 2452+100n 2453+100n 0000H 854+100n 855+100n 2454+100n 2455+100n 0 856+100n 2456+100n 0 864+100n to 869+100n 2464+100n to 2469+100n Monitoring is carried out with a hexadecimal display.
Chapter 5 Data Used for Positioning Control Storage item Storage details When a servo parameter error occurs, the area that corresponds to the parameter number affected by the error comes ON. [Md.107] Parameter error No. When the "[Cd.5] Axis error reset" (axis control data) is set to ON after remove the error factor of servo amplifier side, the servo alarm is cleared (set to 0). Refresh cycle: Immediate [Md.108] Servo status This area stores the servo status.
Chapter 5 Data Used for Positioning Control Default value Reading the monitor value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 870+100n 2470+100n 0000H 876+100n 2476+100n 0000H 877+100n 2477+100n Monitoring is carried out with a decimal display. Monitor value Storage value When SSCNET setting is SSCNET Storage value Parameter No. /H When SSCNET setting is SSCNET Storage value Parameter No.
Chapter 5 Data Used for Positioning Control Storage item Storage details The rate of regenerative power to the allowable regenerative power is indicated as a percentage. When the regenerative option is used, the rate to the allowable regenerative power of the option is indicated. [Md.109] Regenerative load ratio/ Optional data monitor output (Buffer memory) % This area stores the content set in "[Pr.91] Optional data monitor: Data type 1 setting 1" at optional data monitor data type setting.
Chapter 5 Data Used for Positioning Control Default value Reading the monitor value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 878+100n 2478+100n 0 879+100n 2479+100n 0 880+100n 2480+100n 0 881+100n 2481+100n 0 887+100n 2487+100n 0000H 888+100n 2488+100n Monitoring is carried out with a decimal display. Monitor value Regenerative load ratio/ Optional data monitor output 1 Monitoring is carried out with a decimal display.
Chapter 5 Data Used for Positioning Control Storage item Storage details The option information of encoder is indicated. [Md.116] Encoder option information Refresh cycle: Servo amplifier's power supply ON "[Pr.17] Torque limit setting value", "[Cd.101] Torque output setting value", "[Cd.113] Reverse new torque value", or "[Pr.54] OPR torque limit value" is stored. At the positioning start/JOG operation start/ manual pulse generator operation : "[Pr.17] Torque limit setting value" or "[Cd.
Chapter 5 Data Used for Positioning Control Default value Reading the monitor value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0000H 890+100n 2490+100n 0 891+100n 2491+100n Monitoring is carried out with a hexadecimal display.
Chapter 5 Data Used for Positioning Control Storage item Storage details This area stores the command speed during speed control mode. This area stores the command speed during continuous operation to torque control mode. [Md.122] Speed during command "0" is stored other than during speed control mode or continuous operation to torque control mode.
Chapter 5 Data Used for Positioning Control Default value Reading the monitor value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 892+100n 893+100n 2492+100n 2493+100n 0 894+100n 2494+100n 0 895+100n 2495+100n 0000H 858+100n 2458+100n Monitoring is carried out with a decimal display. Monitor value R Unit conversion table ( Md.122 ) Unit conversion R Actual value 10m Md.122 Speed during command Md.
Chapter 5 Data Used for Positioning Control Storage item [Md.502] Driver operation alarm number Storage details This area stores the driver operation alarm number.
Chapter 5 Data Used for Positioning Control Default value Reading the monitor value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Monitoring is carried out with a hexadecimal display. Monitor value Driver operation alarm 0000H Detailed number Example) When the driver operation alarm is "10H" and the detailed number is "23H", "1023H" is displayed.
Chapter 5 Data Used for Positioning Control 5.7 List of control data The setting items of the control data are explained in this section. • Guide to buffer memory address In the buffer memory address, "n" in "4303+100n", etc. indicates a value corresponding to axis No. such as the following table. Axis No. n Axis No. n Axis No. n Axis No.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address (common for all axes) QD77MS2 QD77MS4 QD77MS16 0 1900 5900 0 1901 5901 Set with a decimal. Setting value K 1 Flash ROM write request 1: Requests write access to flash ROM. The Simple Motion module resets the value to "0" automatically when the write access completes. (This indicates the completion of write operation.) Set with a decimal.
Chapter 5 Data Used for Positioning Control Setting item Setting details Set whether "[Md.48] Deceleration start flag" is made valid or invalid. Fetch cycle: At PLC READY ON [Cd.41] Deceleration start flag valid [POINT] The "[Cd.41] Deceleration start flag valid" become valid when the PLC READY signal [Y0] turns from OFF to ON. Set the stop command processing for deceleration stop function (deceleration [Cd.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address (common for all axes) QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value K 0 1905 5905 0 1907 5907 Deceleration start flag valid 0: Deceleration start flag invalid 1: Deceleration start flag valid Set with a decimal.
Chapter 5 Data Used for Positioning Control Setting item Setting details Operate the external input signal status (Upper/lower limit signal, near-point dog [Cd.44] External input signal operation device signal, stop signal) of QD77MS when "2" is set in "[Pr.80] External input signal selection".
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address (common for all axes) QD77MS2 QD77MS16 QD77MS4 Set with a hexadecimal.
Chapter 5 Data Used for Positioning Control Setting item Setting details Request to set the initial value of QD75MH in setting data. Refer to Section 14.14 for initialized setting data. [Cd.47] QD75MH initial value setting request Fetch cycle: 103[ms] Note: After completing the initialization of setting data, switch the power ON or reset the PLC CPU. Set the connect/disconnect command of SSCNET communication. [Cd.102] SSCNET control command Fetch cycle: 3.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address (common for all axes) QD77MS2 QD77MS16 QD77MS4 Set with a decimal. Setting value K 1 QD75MH initial value setting request 1: Requests QD75MH initial value setting. 0 1909 5909 0 1932 5932 0000H 1926 5926 The Simple Motion module resets the value to "0" automatically after the initial value setting is completed. (Indicates that the initial value setting is completed.) Set with a decimal.
Chapter 5 Data Used for Positioning Control 5.7.2 Axis control data Setting item Setting details Set the positioning start No. [Cd.3] Positioning start No. (Only 1 to 600 for the Pre-reading start function. For details, refer to Section 13.7.7 "Pre-reading start function".) Fetch cycle: At start Set a "starting point No." (1 to 50) if block start data is used for positioning. [Cd.4] Positioning starting point No. (Handled as "1" if the value of other than 1 to 50 is set.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 1500+100n 4300+100n 0 1501+100n 4301+100n 0 1502+100n 4302+100n 0 1503+100n 4303+100n Set with a decimal. Setting value K Positioning data No. : Positioning data No. 1 to 600 : Block start designation 7000 to7004 : Machine OPR 9001 : Fast-OPR 9002 : Current value changing 9003 : Simultaneous starting of multiple axes 9004 Set with a decimal.
Chapter 5 Data Used for Positioning Control Setting item Setting details The M code ON signal turns OFF. [Cd.7] M code OFF request Fetch cycle: Operation cycle Validates or invalidates external command signals. [Cd.8] External command valid Fetch cycle: At request by external command signal 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: [Cd.9] New current value [Pr.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 1504+100n 4304+100n 0 1505+100n 4305+100n 0 1506+100n 1507+100n 4306+100n 4307+100n 0 1508+100n 1509+100n 4308+100n 4309+100n 0 1510+100n 1511+100n 4310+100n 4311+100n Set with a decimal. Setting value 1 K M code OFF request 1: M code ON signal turns OFF After the M code ON signal turns OFF, "0" is stored by the Simple Motion module automatically.
Chapter 5 Data Used for Positioning Control Setting item [Cd.12] Acceleration/deceleration time change during speed change, enable/disable selection Setting details Enables or disables modifications to the acceleration/deceleration time during a speed change. Fetch cycle: At change request To use the positioning operation speed override function, use this data item to specify an "override" value. : For details of the override function, refer to Section 13.5.2 "Override function". [Cd.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 1512+100n 4312+100n 100 1513+100n 4313+100n 0 1514+100n 1515+100n 4314+100n 4315+100n 0 1516+100n 4316+100n Set with a decimal.
Chapter 5 Data Used for Positioning Control Setting item Setting details Use this data item to set the amount of movement by inching. The machine performs a JOG operation if "0" is set. Set a value within the following range: [Cd.16] Inching movement amount [Pr.1] Unit setting mm ( 10-1 µm) inch ( 10-5 inch) degree ( 10-5 degree) PLS (PLS) Setting range 0 to 65535 0 to 65535 0 to 65535 0 to 65535 Fetch cycle: At start Use this data item to set the JOG speed.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 1517+100n 4317+100n 0 1518+100n 1519+100n 4318+100n 4319+100n 0 1520+100n 4320+100n Set with a decimal. Actual value Cd.16 Inching movement amount Conversion into an integer value 10m Setting value (Decimal) R Unit conversion table ( Cd.16 ) m Unit 1 m 5 inch 5 degree 0 PLS Example: When the " Cd. 16 Inching movement amount" is set as "1.
Chapter 5 Data Used for Positioning Control Setting item Setting details The sequence program can use this data item to forcibly turn the OPR request flag from ON to OFF. [Cd.19] OPR request flag OFF request Fetch cycle: 14.2[ms] [POINT] This parameter is made valid when the increment system is valid. This data item determines the factor by which the number of pulses from the manual pulse generator is magnified. [Cd.20] Manual pulse generator 1 pulse input magnification Value "0" : read as "1".
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 1521+100n 4321+100n 1 1522+100n 1523+100n 4322+100n 4323+100n 0 1524+100n 4324+100n 0 1525+100n 4325+100n Set with a decimal. Setting value K 1 OPR request flag OFF request 1: Turns the "OPR request flag" from ON to OFF. The Simple Motion module resets the value to "0" automatically when the OPR request flag is turned OFF.
Chapter 5 Data Used for Positioning Control Setting item Setting details During the speed control stage of the speed-position switching control (INC [Cd.23] Speed-position switching control movement amount change register mode), it is possible to change the specification of the movement amount during the position control stage. For that, use this data item to specify a new movement amount.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 1526+100n 1527+100n 4326+100n 4327+100n 0 1528+100n 4328+100n 0 1530+100n 1531+100n 4330+100n 4331+100n Set with a decimal. Actual value Cd.23 Speed-position switching control movement amount change register Conversion into an integer value Unit conversion table ( Cd.23 ) 10m Setting value (Decimal) R m Unit 1 5 m inch 5 degree 0 PLS Example: If " Cd.
Chapter 5 Data Used for Positioning Control Setting item Setting details Set whether the switching signal set in "[Cd.45] Speed-position switching device [Cd.26] Position-speed switching enable flag selection" is enabled or not. Fetch cycle: At switching request When changing the target position during a positioning operation, use this data item to specify a new positioning address. Set a value within the following range: [Pr.1] Unit setting [Cd.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 1532+100n 4332+100n 0 1534+100n 1535+100n 4334+100n 4335+100n 0 1536+100n 1537+100n 4336+100n 4337+100n 0 1538+100n 4338+100n Set with a decimal. Setting value K Position-speed switching enable flag 0: Position control will not be taken over by speed control even when the signal set in " Cd.45 Speed-position switching device selection" comes ON.
Chapter 5 Data Used for Positioning Control Setting item Simultaneous starting axis start data No. (axis 1 start data No.) [Cd.30] QD77MS2 QD77MS4 Simultaneous starting own axis start data No. QD77MS16 Simultaneous starting axis start data No. (axis 2 start data No.) [Cd.31] QD77MS2 QD77MS4 Simultaneous starting axis start data No.1 QD77MS16 Simultaneous starting axis start data No. (axis 3 start data No.) QD77MS4 Setting details Use these data items to specify an axis 1 start data No.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 1540+100n 0 4340+100n Set with a decimal. Setting value 1541+100n K 0 4341+100n QD77MS2 use Cd.30 , Cd.31 Simultaneous starting axis start data No. 1 to 600 1542+100n QD77MS4 use Cd.30 to Cd.33 Simultaneous starting axis start data No. 1 to 600 0 QD77MS16 use 4342+100n Cd.30 Simultaneous starting own axis start data No. Cd.31 to Cd.
Chapter 5 Data Used for Positioning Control Setting item Setting details This data item validates or invalidates step operations. [Cd.35] Step valid flag Fetch cycle: At start To continue the step operation when the step function is used, set "1" in the data [Cd.36] Step start information item. Fetch cycle: 14.2[ms] To skip the current positioning operation, set "1" in this data item. [Cd.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 1545+100n 4345+100n 0 1546+100n 4346+100n 0 1547+100n 4347+100n 0 1548+100n 4348+100n 0 1549+100n 4349+100n Set with a decimal. Setting value K Step valid flag 0: Invalidates step operations 1: Validates step operations Set with a decimal.
Chapter 5 Data Used for Positioning Control Setting item Setting details This data item specifies the ABS moving direction carrying out the position control [Cd.40] ABS direction in degrees when "degree" is selected as the unit. Fetch cycle: At start Set the number of simultaneous starting axes and target axis. [Cd.43] Simultaneous starting axis QD77MS16 When "2" is set to the number of simultaneous starting axes, set the target axis No. to the simultaneous starting axis No. 1.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 1550+100n 4350+100n Set with a decimal. Setting value K ABS direction in degrees 0: Takes a shortcut. (Specified direction ignored.) 1: ABS circular right 2: ABS circular left 0 Set with a hexadecimal. Setting value H Simultaneous starting axis No.1 0 to F: Axis 1 to Axis 16 Simultaneous starting axis No.2 0 to F: Axis 1 to Axis 16 Simultaneous starting axis No.
Chapter 5 Data Used for Positioning Control Setting item Setting details Executes servo OFF for each axis. Fetch cycle: Operation cycle [Cd.100] Servo OFF command [POINT] To execute servo ON for axes other than axis 1 being servo OFF, write "1" to storage buffer memory address of axis 1 and then turn ON all axis servo ON [Y1] signal. Sets the torque output value. Set a ratio against the rated torque in percentage unit. Fetch cycle: At start [Cd.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 1551+100n 4351+100n 0 1552+100n 4352+100n 0 1559+100n 4359+100n 0 1563+100n 4363+100n Set with a decimal. Setting value K Servo OFF command 0: Servo ON 1: Servo OFF Valid only during servo ON for all axes. Set with a decimal. Setting value K Torque output setting 0 to 1000 (%) Set with a decimal.
Chapter 5 Data Used for Positioning Control Setting item Setting details "1" is set in "[Cd.112] Torque change function switching request", a new reverse torque limit value is set. (when "0" is set in "[Cd.112] Torque change function switching request", the setting value is invalid.) Set a value within "0" to "[Pr.17] Torque limit setting value". Set a ratio against the [Cd.113] Reverse new torque value rated torque in percentage unit. (The new torque value is invalid when "0" is set, and "[Pr.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 1564+100n 4364+100n 0 1554+100n 4354+100n 0000H 1555+100n 4355+100n Set with a decimal. Setting value K Reverse new torque value 0 to Pr.17 Torque limit setting value (%) Set with a decimal. Set "1" for MR-J4(W)-B/MR-JE-B/MR-J3(W)-B, and set "2" for VCII series. Writing failure occurs when a value except "1" or "2" is set.
Chapter 5 Data Used for Positioning Control Setting item Setting details Set the change value of servo parameter set in "[Cd.131] Parameter No.". [Cd.132] Change data Fetch cycle: At change request [Cd.133] Semi/Fully closed loop switching request Set the switching of semi closed control and fully closed control.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 1556+100n 1557+100n 4356+100n 4357+100n 0 1558+100n 4358+100n Set with a decimal or hexadecimal. [1 word write request] When "1" is set in "[Cd.130] Parameter write request", set the change value to low-order buffer memory. The value set to high-order buffer memory is invalid. [2 words write request] When "2" is set in "[Cd.
Chapter 5 Data Used for Positioning Control Setting item Setting details Set the PI-PID switching to servo amplifier. [Cd.136] PI-PID switching request Fetch cycle: Operation cycle Request the control mode switching. [Cd.138] Control mode switching request Set "1" after setting "[Cd.139] Control mode setting". The Simple Motion module sets "0" at completion of control mode switching. Fetch cycle: Operation cycle Set the control mode to be changed in the speed-torque control. [Cd.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 1565+100n 4365+100n 0 1574+100n 4374+100n 0 1575+100n 4375+100n 0 1576+100n 1577+100n 4376+100n 4377+100n 1000 1578+100n 4378+100n Set with a decimal. Setting value K PI-PID switching request 1 : PID control switching request Other than 1: Not request Set with a decimal.
Chapter 5 Data Used for Positioning Control Setting item Setting details Set the deceleration time at speed control mode. [Cd.142] Deceleration time at speed control mode (Set the time for the speed to decrease from "[Pr.8] Speed limit value" to "0".) 0 to 65535 (ms) Fetch cycle: At control mode switching Set the command torque at torque control mode. Set a ratio against the rated [Cd.143] Command torque at torque control mode torque in 0.1% unit. -10000 to 10000 ( 0.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 1000 1579+100n 4379+100n 0 1580+100n 4380+100n 1000 1581+100n 4381+100n 1000 1582+100n 4382+100n 1 1584+100n 1585+100n 4384+100n 4385+100n Set with a decimal. Setting value K Deceleration time at speed control mode (ms) 0 to 65535 Set with a decimal. Setting value K Command torque at torque control mode( 0.1%) -10000 to 10000 Set with a decimal.
Chapter 5 Data Used for Positioning Control Setting item Setting details Set the speed limit value at continuous operation to torque control mode. Set a value within the following range: [Pr.1] Unit setting [Cd.147] Speed limit value at continuous operation to torque control mode Setting range mm inch degree ( 10-2 mm/min) ( 10-3 inch/min) ( 10-3 degree/min) -2000000000 to -2000000000 to 2000000000 2000000000 -2000000000 to 2000000000 PLS (PLS/s) -1000000000 to 1000000000 : When "[Pr.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 0 1586+100n 1587+100n 4386+100n 4387+100n 1000 1588+100n 4388+100n 1000 1589+100n 4389+100n 0 1590+100n 4390+100n 1000 1591+100n 4391+100n Set with a decimal. Actual value Cd.147 Speed limit value at continuous operation to torque control mode Conversion into an integer value Unit conversion table ( Cd.
Chapter 5 Data Used for Positioning Control Setting item Setting details Set the time constant at regeneration during continuous operation to torque [Cd.152] Torque time constant at continuous operation to torque control mode (Negative direction) control mode. (Set the time for the torque to decrease from "[Pr.17] Torque limit setting value" to "0".) 0 to 65535 (ms) Fetch cycle: At control mode switching Set the switching condition when switching to continuous operation to torque [Cd.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 1000 1592+100n 4392+100n 0 1593+100n 4393+100n 0 1594+100n 1595+100n 4394+100n 4395+100n Set with a decimal. Setting value K Torque time constant at continuous operation torque control mode (Negative direction) (ms) 0 to 65535 Set with a decimal.
Chapter 5 Data Used for Positioning Control 5.7.3 Expansion axis control data Setting item Setting details When the axis stop signal turns ON, the OPR control, positioning control, JOG [Cd.180] Axis stop QD77MS16 operation, inching operation, manual pulse generator operation, speed-torque control, etc. will stop. By turning the axis stop signal ON during positioning operation, the positioning operation will be "stopped". Whether to decelerate stop or suddenly stop can be selected with "[Pr.
Chapter 5 Data Used for Positioning Control Default value Setting value Buffer memory address QD77MS2 QD77MS4 QD77MS16 Set with a decimal. Setting value K 0 30100+10n 0 30101+10n 0 30102+10n 0 30103+10n Axis stop 1 : Axis stop requested Other than 1: Axis stop not requested Set with a decimal. Setting value K Forward run JOG start/Reverse run JOG start 1 : JOG started Other than 1: JOG not started Set with a decimal.
Chapter 5 Data Used for Positioning Control MEMO 5 - 202
Chapter 6 Sequence Program Used for Positioning Control Chapter 6 Sequence Program Used for Positioning Control 6 The programs required to carry out positioning control with the Simple Motion module are explained in this chapter. The sequence program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, block start data and condition data, etc.
Chapter 6 Sequence Program Used for Positioning Control 6.1 Precautions for creating program The common precautions to be taken when writing data from the PLC CPU to the buffer memory of Simple Motion module are described below. When diverting any of the program examples introduced in this manual to the actual system, fully verify that there are no problems in the controllability of the target system.
Chapter 6 Sequence Program Used for Positioning Control (4) System configuration Unless particularly designated, the sequence program for the following system using QD77MS4 is shown in this chapter and subsequent. Refer to Section 6.2 for the application of the devices to be used.
Chapter 6 Sequence Program Used for Positioning Control (b) When the circuit uses the "intelligent function device" on the source(s) side and the destination (D) side of a MOV command, change the command to a FROM command and a TO command. 0 X15 X0C MOVP U0\ G826 U6\ G1 Set the same device. 0 X15 X0C FROMP H0 K826 D100 K1 TOP K1 D100 K1 H6 (c) When the circuit uses the "intelligent function device" for a COMPARISON command, change the command to a FROM command and a COMPARISON command.
Chapter 6 Sequence Program Used for Positioning Control (7) Conversion of sequence program from QD77MS2/QD77MS4 to QD77MS16 When the sequence program is changed from QD77MS2/QD77MS4 to QD77MS16, change the I/O signals with different arrangement as follows. (a) When not using index modification M29 X0C 0 SET Stop com BUSY sig mand pul nal (QD7 7MS4 axi se s 1) M29 X10 0 SET Stop com BUSY sig mand pul nal (QD7 se 7MS16 ax is 1) Y4 Axis sto p signal (QD77MS4 axis 1) U0\ G30100.
Chapter 6 Sequence Program Used for Positioning Control 6.2 List of devices used In the sequence programs using QD77MS4 shown in this chapter and subsequent, the application of the devices used are as follows. The I/O numbers for Simple Motion module indicate those when the head I/O number is set to "0H". If it is set to other than "0H", change the I/O number according to setting of head I/O number.
Chapter 6 Sequence Program Used for Positioning Control Device name Device Axis 1 Axis 2 Axis 3 Axis 4 Details when ON X2C M code OFF command Commanding M code OFF X2D JOG operation speed setting command Commanding JOG operation speed setting X2E Forward run JOG/inching command Commanding forward run JOG/inching operation X2F Reverse run JOG/inching command Manual pulse generator operation enable command Manual pulse generator operation disable command Commanding reverse run JOG/inching opera
Chapter 6 Sequence Program Used for Positioning Control Device name Device Application Axis 1 Axis 2 Axis 3 Axis 4 Details when ON M0 OPR request OFF command Commanding OPR request OFF M1 OPR request OFF command pulse OPR request OFF commanded M2 OPR request OFF command storage OPR request OFF command held M3 Fast OPR command Commanding fast OPR M4 Fast OPR command storage Fast OPR command held M5 Positioning start command pulse Positioning start commanded M6 Positioning start comma
Chapter 6 Sequence Program Used for Positioning Control Device name Internal relay Device Application Axis 1 Axis 2 Axis 3 Axis 4 Details when ON M34 ZP.TEACH1 instruction complete device ZP.TEACH1 instruction completed M35 ZP.TEACH1 instruction error complete device ZP.TEACH1 instruction error completed M36 ZP.PINIT instruction complete device ZP.PINIT instruction completed M37 ZP.PINIT instruction error complete device ZP.PINIT instruction error completed — M38 ZP.
Chapter 6 Sequence Program Used for Positioning Control Device name Device Application Axis 1 Axis 2 Axis 3 Axis 4 Details of storage D15 Acceleration time setting (low-order 16 bits) D16 Acceleration time setting (high-order 16 bits) D17 Deceleration time setting (low-order 16 bits) D18 Deceleration time setting (high-order 16 bits) D19 Acceleration/deceleration time change enable [Cd.
Chapter 6 Sequence Program Used for Positioning Control Device D52 Number of pulses per rotation (low-order 16 bits) D53 Number of pulses per rotation (high-order 16 bits) D54 Movement amount per rotation (low-order 16 bits) D55 Movement amount per rotation (high-order 16 bits) D56 Bias speed at start (low-order 16 bits) D57 Bias speed at start (high-order 16 bits) D68 Point 1 (shape, start No.) D69 Point 2 (shape, start No.
Chapter 6 Sequence Program Used for Positioning Control Device name Device D110 Details of storage Positioning identifier D119 Data No.2 [Da.1] Operation pattern [Da.2] Control system Dwell time [Da.3] Acceleration time No. [Da.4] Deceleration time No. Dummy [Da.5] Axis to be interpolated [Da.6] Positioning address/ Command speed (low-order 16 bits) movement amount Command speed (high-order 16 bits) [Da.7] Arc address [Da.8] Command speed Positioning address (low-order 16 bits) [Da.
Chapter 6 Sequence Program Used for Positioning Control Device name Device Details of storage D148 Data No.5 [Da.1] Operation pattern [Da.2] Control system M code [Da.3] Acceleration time No. Dwell time [Da.4] Deceleration time No. [Da.5] Axis to be interpolated Dummy [Da.6] Positioning address/ movement amount Command speed (low-order 16 bits) [Da.7] Arc address Command speed (high-order 16 bits) [Da.8] Command speed [Da.
Chapter 6 Sequence Program Used for Positioning Control Device name Device D200 D203 D204 D205 D206 D207 D208 D240 — M code D242 D243 D244 D245 D246 D247 D248 D249 T0 T1 Positioning identifier Data No.15 [Da.1] Operation pattern [Da.2] Control system Dwell time [Da.3] Acceleration time No. [Da.4] Deceleration time No. Dummy [Da.5] Axis to be interpolated [Da.6] Positioning address/ Command speed (low-order 16 bits) movement amount Command speed (high-order 16 bits) [Da.7] Arc address [Da.
Chapter 6 Sequence Program Used for Positioning Control Device name Device U0\G806 Code Application Details of storage Error code [Md.23] Axis error No. U0\G809 Axis operation status [Md.26] Axis operation status U0\G817 Status [Md.31] Status U0\G1500 Positioning start No. [Cd.3] Positioning start No. U0\G1501 Positioning starting point No. [Cd.4] Positioning starting point No. U0\G1502 Error reset [Cd.5] Axis error reset U0\G1503 Restart command [Cd.
Chapter 6 Sequence Program Used for Positioning Control 6.3 Creating a program The "positioning control operation program" actually used is explained in this chapter. The functions and programs explained in "Section 2" are assembled into the "positioning control operation program" explained here. (To monitor the control, add the required monitor program that matches the system. Refer to Section 5.6 "List of monitor data" for details on the monitor items.) 6.3.
Chapter 6 Sequence Program Used for Positioning Control 6.3.2 Positioning control operation program The various programs that configure the "positioning control operation program" are shown below. When creating the program, refer to the explanation of each program and Section 6.4 "Positioning program examples", and create an operation program that matches the positioning system. (Numbers are assigned to the following programs. Configuring the program in the order of these numbers is recommended.
Chapter 6 Sequence Program Used for Positioning Control Continued from previous page Initialization program Not carried out OPR is... No.5 OPR request OFF program Carried out No.6 No.7 No.8 External command function valid setting program Refer to Section 6.5.1 PLC READY signal [Y0] ON program : Required All axis servo ON signal [Y1] ON program : Required Absolute system ? No Yes OPR uncompleted ? No Yes No.28 Error reset program Continued on next page 6 - 18 Refer to Section 6.5.
Chapter 6 Sequence Program Used for Positioning Control Continued from previous page Start details setting program Program required to carry out • "OPR control" • "Major positioning control" No.9 • "High-level positioning control" Cd.3 Positioning start No. setting program Refer to Section 6.5.2 • "Expansion control" Start program No.10 Positioning start program Refer to Section 6.5.3 M code OFF program Program to turn the M code ON signal OFF No.11 JOG operation program No.
Chapter 6 Sequence Program Used for Positioning Control Continued from previous page Sub program No.16 No.17 No.18 No.19 No.20 No.21 No.22 No.23 No.24 No.25 No.26 No.27 No.28 Speed change program Override program Program added according to control details. (Create as required.) Refer to Section 13.5.1 Refer to Section 13.5.2 Acceleration/deceleration time change program Refer to Section 13.5.3 Torque change program Refer to Section 13.5.4 Step operation program Refer to Section 13.7.
Chapter 6 Sequence Program Used for Positioning Control 6.4 Positioning program examples An example of the "Axis 1" positioning program using QD77MS4 is given in this section. [No. 1] to [No. 4] parameter and data setting program When setting the parameters or data with the sequence program, set them in the Simple Motion module using the TO command from the PLC CPU. (Carry out the settings while the PLC READY signal [Y0] is OFF.) When setting the parameters or data with GX Works2, the [No. 1] to [No.
Chapter 6 Sequence Program Used for Positioning Control * K1 * M50 Paramete r settin g comple te devic * Unit "Degree" setting program * operation interrupt program * Speed-position change control (ABS mode) execution and etc.
Chapter 6 Sequence Program Used for Positioning Control * * No.2-1 Positioning data setting program * (For positioning data No.1 ) * Operation pattern: Positioning terminated * * Control system: 1 axis linear control (ABS) * Acceleration time No. : 1, deceleration time No.
Chapter 6 Sequence Program Used for Positioning Control * D108 Arc addr ess * ) * * Operation pattern: Positioning terminated * Control system: Speed-position switching control (Forward) * Acceleration time No. : 0, deceleration time No.
Chapter 6 Sequence Program Used for Positioning Control * > DMOVP K9000000 D116 Position ing addr ess For Unit (degree ) * D118 Arc addr ess *
Chapter 6 Sequence Program Used for Positioning Control * D124 Command speed > DMOVP K3600000 D124 Command speed For Unit (degree ) * DMOVP K200000 D126 Position ing addr ess * D126 Position ing addr ess * D128 Arc addr ess *
Chapter 6 Sequence Program Used for Positioning Control * D132 Dwell ti me * < (Dummy data) MOVP K0 > D133 (Dummy) * > DMOVP K1800000 D134 Command speed For Unit (degree ) * D136 Position ing addr ess * D138 Arc addr ess *
Chapter 6 Sequence Program Used for Positioning Control * * No.2-5 Positioning data setting program * (For positioning data No.5 ) * * Operation pattern: Positioning terminated * Control system: 1-axis liner control (INC) * Acceleration time No. : 0, deceleration time No.
Chapter 6 Sequence Program Used for Positioning Control * D148 Arc addr ess * ) * * Operation pattern: Positioning terminated * Control system: 1-axis liner control (INC) * Acceleration time No. : 0, deceleration time No.
Chapter 6 Sequence Program Used for Positioning Control * D156 Position ing addr ess * D158 Arc addr ess *
Chapter 6 Sequence Program Used for Positioning Control * D194 Command speed * DMOVP K3600000 D194 Command speed For Unit (degree ) * D196 Position ing addr ess * D196 Position ing addr ess * D198 Arc addr ess *
Chapter 6 Sequence Program Used for Positioning Control * D202 Dwell ti me * < (Dummy data) MOVP K0 > D203 (Dummy) * > DMOVP K3600000 D204 Command speed For Unit (degree ) * DMOVP K-100000 D206 Position ing addr ess * D206 Position ing addr ess *
Chapter 6 Sequence Program Used for Positioning Control * * No.2-9 Positioning data setting program * (For positioning data No.15 ) * * Operation pattern: Positioning terminated * Control system: 1-axis liner control (INC) * Acceleration time No. : 0, deceleration time No.
Chapter 6 Sequence Program Used for Positioning Control * D248 Arc addr ess * * * * *
Chapter 6 Sequence Program Used for Positioning Control * K5 > * SM402 MOVP 651 H0 ON for 1 scan onl y after RUN D73 Point 1 * D74 Point 2 * D75 Point 3 * D76 Point 4 * D77 Point 5 *
Chapter 6 Sequence Program Used for Positioning Control *No.4 Servo parameter * SM402 TOP 682 H0 K30103 H1 K1 ON for 1 scan onl y after RUN * K1 * *No.
Chapter 6 Sequence Program Used for Positioning Control * *No.6 External command function valid setting program * * U0\ MOVP K1 G1505 External command valid X21 737 External command valid c ommand * U0\ MOVP K0 G1505 External command valid X22 746 External command invalid command * *No.
Chapter 6 Sequence Program Used for Positioning Control * M3 Fast OPR signal * K9002 D32 Start No . * M4 Fast OPR command hold * X25 MOVP 803 K1 Position ing star t comman d D32 Start No . * * (4) Speed-position switching operation (Positioning data No.
Chapter 6 Sequence Program Used for Positioning Control * * (5) Position-speed switching operation (Positioning data No.3) * *
Chapter 6 Sequence Program Used for Positioning Control X26 Speed-po sition s witching operati X40 Position -speed s witching operati X2A High-lev el posit ioning c ontrol c M6 Position ing star t comman d storag * * No.10 Positioning start program * * (1) When dedicated instruction (ZP.
Chapter 6 Sequence Program Used for Positioning Control * RST M6 Position ing star t comman d storag * *(2) When positioning start signal [Y10] is used * (When fast OPR is not made, contacts of M3 and M4 are not * needed) * (When M code is not used, contact of X04 is not needed) * (When JOG operation/inching operation is not performed, * contact of M7 is not needed) * (When manual pulse generator is not performed, contacts of * M9 is not needed) * *
Chapter 6 Sequence Program Used for Positioning Control * ** No.11 M code OFF program Fast OPR command and fast command storage OFF ** (7)(Not required when M code is notOPR used) * U0\ G1504 M code O FF reque st M code O M code O FF comma N comman d nd * * No.
Chapter 6 Sequence Program Used for Positioning Control *No.
Chapter 6 Sequence Program Used for Positioning Control * M10 Manual p ulse gen erator o peration * U0\ G1524 MOVP K0 Manual p ulse gen erator o peration X0C 1072 Manual p ulse gen erator o peration M9 Manual p ulse gen erator o peration * Manual p BUSY sig ulse gen nal (Axi erator o s1) peration *
Chapter 6 Sequence Program Used for Positioning Control * D11 K3 Speed ch ange val ue * = U0\ G1516 Speed ch ange req uest K0 RST M12 Speed ch ange com mand sto rage * * No.
Chapter 6 Sequence Program Used for Positioning Control * * No.18 Acceleration/deceleration time change program * * X34 X35 PLS 1151 Accel./d ecel. ti me chang e comman Accel./d ecel. ti me chang e disabl M14 Accel./d ecel. ti me chang e comman * X0C 1159 DMOV K2000 Accel./d BUSY sig ecel. ti nal (Axi me chang s 1) e comman D15 Accel. t ime sett ing (low -order * D17 Decel.
Chapter 6 Sequence Program Used for Positioning Control M15 X0C 1195 Torque c BUSY sig hange co nal (Axi mmand s 1) * * * * No.20 Step operation program * X37 PLS 1202 Step ope ration c ommand M16 Step ope ration c ommand p ulse * D32 Start No .
Chapter 6 Sequence Program Used for Positioning Control * * No.21 Skip operation program * * M17 Skip com mand pul se *
Chapter 6 Sequence Program Used for Positioning Control * > "U0" D33 M34 TEACH1 i TEACH1 i nstructi nstructi on contr on compl ol data ete devi * RST M20 Teaching command storage * * No.21 No.
Chapter 6 Sequence Program Used for Positioning Control * X4D DMOVP K30000000 For Unit (degree ) D23 target p osition (low-ord er 16bi * D25 Target s peed (lo w-order 16bits) * > K5 * = U0\ K0 G1538 Target p osition change r equest f RS
Chapter 6 Sequence Program Used for Positioning Control * *No.
Chapter 6 Sequence Program Used for Positioning Control * T1 ZP.PFWRT 1434 PLC READ Y signal OFF con firmatio "U0" D39 PFWRT in structio n contro l data M38 PFWRT in structio n comple te devic * M38 M39 PFWRT in structio n comple te devic PFWRT in structio n error complete RST M27 Flash RO M write command storage * *No.
Chapter 6 Sequence Program Used for Positioning Control 6.5 Program details 6.5.1 Initialization program [1] OPR request OFF program This program forcibly turns OFF the "OPR request flag" ([Md.31] Status: b3) which is ON. When using a system that does not require OPR, assemble the program to cancel the "OPR request" made by the Simple Motion module when the power is turned ON, etc. Data requiring setting Set the following data to use the OPR request flag OFF request. [Cd.
Chapter 6 Sequence Program Used for Positioning Control 6.5.2 Start details setting program This program sets which control, out of "OPR", "major positioning control", "high-level positioning control" or "expansion control" to execute. For "high-level positioning control", "fast OPR", "speed-position switching control" and "position-speed switching control", add the respectively required sequence program.
Chapter 6 Sequence Program Used for Positioning Control (4) For "position-speed switching control", set the control data shown below. (As required, set the "[Cd.25] Position-speed switching control speed change register".) Setting item Setting value Position-speed switching [Cd.25] control speed change register [Cd.26] Position-speed switching enable flag 1 Buffer memory address Setting details QD77MS2 QD77MS4 QD77MS16 Used to set a new value when speed is changed during positioning control.
Chapter 6 Sequence Program Used for Positioning Control 6.5.3 Start program This program is used to start the control with start commands. The control can be started with the following two methods. [1] [2] Starting by inputting positioning start signal Starting by inputting external command signal [QD77MS4 operation example] QD77MS Buffer memory Servo amplifier 3) 1) 1 Control with positioning data No.
Chapter 6 Sequence Program Used for Positioning Control Servo ON conditions Setting of servo parameter PLC READY signal [Y0] ON All axis servo ON [Y1] ON Starting conditions To start the control, the following conditions must be satisfied. The necessary start conditions must be incorporated in the sequence program so that the control is not started when the conditions are not satisfied. (1) Operation state Buffer memory address Monitor item Operation state [Md.
Chapter 6 Sequence Program Used for Positioning Control [1] Starting by inputting positioning start signal Operation when starting (1) When the positioning start signal turns ON, the start complete signal and BUSY signal turn ON, and the positioning operation starts. It can be seen that the axis is operating when the BUSY signal is ON. (2) When the positioning start signal turns OFF, the start complete signal also turns OFF.
Chapter 6 Sequence Program Used for Positioning Control POINT The BUSY signal turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the sequence program. (The ON status of the start complete signal, positioning complete signal and M code ON signal can be detected in the sequence program.) Starting time chart The time chart for starting each control is shown below.
Chapter 6 Sequence Program Used for Positioning Control (2) Time chart for starting "fast OPR" [QD77MS4 operation example] V t ON Positioning start signal [Y10] OFF ON All axis servo ON [Y1] Md. 26 Axis operation status OFF Servo OFF Standby ON PLC READY signal [Y0] OFF ON READY signal [X0] OFF ON Start complete signal [X10] OFF ON BUSY signal [XC] OFF Error detection signal [X8] OFF Cd. 3 Positioning start No. 9002 (Note): Refer to Section 3.3 for input/output signal of QD77MS16.
Chapter 6 Sequence Program Used for Positioning Control (3) Time chart for starting "major positioning control" [QD77MS4 operation example] V Operation pattern Positioning data No. 1(11) Dwell time 2(00) t Positioning start signal [Y10] All axis servo ON [Y1] Md. 26 Axis operation status Servo OFF PLC READY signal [Y0] READY signal [X0] Start complete signal [X10] BUSY signal [XC] Positioning complete signal Error detection signal Standby [X14] [X8] Cd. 3 Positioning start No.
Chapter 6 Sequence Program Used for Positioning Control (4) Time chart for starting "speed-position switching control" [QD77MS4 operation example] V Operation pattern(00) Positioning data No.(1) Speed control Position control Dwell time t Positioning start signal All axis servo ON [Y10] [Y1] Servo OFF Md.
Chapter 6 Sequence Program Used for Positioning Control (5) Time chart for starting "position-speed switching control" [QD77MS4 operation example] V Operation pattern (00) Position control Positioning data No. (1) Speed control t Positioning start signal All axis servo ON [Y10] [Y1] Md.
Chapter 6 Sequence Program Used for Positioning Control Machine OPR operation timing and process time [QD77MS4 operation example] Positioning start [Y10, Y11, Y12, Y13] signal BUSY signal [XC, XD, XE, XF] t1 Start complete signal [X10, X11, X12, X13] Md. 26 Axis operation status t4 Standby OPR Standby t2 Positioning operation OPR request flag ( Md. 31 Status: b3) t3 OPR complete flag ( Md. 31 Status: b4) (Note): Refer to Section 3.3 for input/output signal of QD77MS16. Fig. 6.
Chapter 6 Sequence Program Used for Positioning Control Position control operation timing and process time [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] t1 M code ON signal (WITH mode) [X4, X5, X6, X7] t2 Cd. 7 M code OFF request Start complete signal [X10, X11, X12, X13] Md.
Chapter 6 Sequence Program Used for Positioning Control [2] Starting by inputting external command signal When starting positioning control by inputting the external command signal, the start command can be directly input into the Simple Motion module. This allows the variation time equivalent to one scan time of the PLC CPU to be eliminated. This is an effective procedure when operation is to be started as quickly as possible with the start command or when the starting variation time is to be suppressed.
Chapter 6 Sequence Program Used for Positioning Control Starting time chart [QD77MS4 operation example] V Operation pattern Dwell time Positioning data No. 1(00) t Positioning start signal [Y10] All axis servo ON [Y1] Servo OFF Md. 26 Axis operation status PLC READY signal [Y0] READY signal [X0] Start complete signal Standby [X10] BUSY signal [XC] Positioning complete signal Error detection signal [X14] [X8] External command signal Pr. 42 External command function selection 0 Cd.
Chapter 6 Sequence Program Used for Positioning Control 6.5.4 Continuous operation interrupt program During positioning control, the control can be interrupted during continuous positioning control and continuous path control (continuous operation interrupt function). When "continuous operation interruption" is execution, the control will stop when the operation of the positioning data being executed ends.
Chapter 6 Sequence Program Used for Positioning Control (2) Even if the stop command is turned ON after executing the "continuous operation interrupt request", the "continuous operation interrupt request" cannot be canceled. Thus, if "restart" is executed after stopping by turning the stop command ON, the operation will stop when the positioning data No. where "continuous operation interrupt request" was executed is completed.
Chapter 6 Sequence Program Used for Positioning Control 6.5.5 Restart program When a stop factor occurs during position control and the operation stops, the positioning can be restarted from the stopped position to the position control end point by using the "restart command" ([Cd.6] Restart command). ("Restarting" is not possible when "continuous operation is interrupted.
Chapter 6 Sequence Program Used for Positioning Control (6) When stopped with interpolation operation, write "1: Restarts" into "[Cd.6] Restart command" for the reference axis, and then restart. (7) If the PLC READY signal is changed from OFF to ON while stopped, restarting is not possible. If restart is requested, the warning "Restart not possible" (warning code: 104) will occur.
Chapter 6 Sequence Program Used for Positioning Control (2) Signal state Device Signal name Signal state PLC READY signal QD77MS2 QD77MS4 QD77MS16 ON PLC CPU preparation completed Y0 READY signal ON QD77MS preparation completed X0 All axis servo ON ON All axis servo ON Y1 Synchronization flag ON Interface Axis stop signal signal M code ON signal QD77MS buffer memory Accessible X1 OFF Axis stop signal is OFF Y4 to Y7 [Cd.180] Axis stop OFF M code ON signal is OFF X4 to X7 [Md.
Chapter 6 Sequence Program Used for Positioning Control 6.5.6 Stop program The axis stop signal or stop signal from external input signal is used to stop the control. Create a program to turn ON the axis stop signal as the stop program. Signal QD77MS2 QD77MS4 QD77MS16 Y4, Y5 Y4, Y5, Y6, Y7 [Cd.180] Axis stop Axis stop signal Each control is stopped in the following cases.
Chapter 6 Sequence Program Used for Positioning Control [2] Types of stop processes The operation can be stopped with deceleration stop, sudden stop or immediate stop. (1) Deceleration stop 1 The operation stops with "deceleration time 0 to 3" ([Pr.10], [Pr.28], [Pr.29], [Pr.30]). Which time from "deceleration time 0 to 3" to use for control is set in positioning data ([Da.40]). (2) Sudden stop The operation stops with "[Pr.36] Sudden stop deceleration time".
Chapter 6 Sequence Program Used for Positioning Control [3] Order of priority for stop process The order of priority for the Simple Motion module stop process is as follows. Deceleration stop < Sudden stop < Servo OFF (1) If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0 (including automatic deceleration), operation changes depending on the setting of "[Cd.42] Stop command processing for deceleration stop selection".
Chapter 6 Sequence Program Used for Positioning Control [4] Inputting the stop signal during deceleration (1) Even if stop is input during deceleration (including automatic deceleration), the operation will stop at that deceleration speed. (2) If stop is input during deceleration for OPR, the operation will stop at that deceleration speed. If input at the creep speed, the operation will stop immediately.
Chapter 7 Memory Configuration and Data Process Chapter 7 Memory Configuration and Data Process 7 The memory configuration and data transmission of Simple Motion module are explained in this chapter. The Simple Motion module is configured of four memories. By understanding the configuration and roles of two memories, the internal data transmission process of Simple Motion module, such as "when the power is turned ON" or "when the PLC READY signal changes from OFF to ON", can be easily understood.
Chapter 7 Memory Configuration and Data Process 7.1 Configuration and roles of QD77MS memory 7.1.1 Configuration and roles of QD77MS memory The Simple Motion module is configured of the following four memories. Buffer memory QD77MS2 QD77MS4 Internal memory Flash ROM QD77MS16 Internal memory Flash ROM Backup Servo parameter area Block start data area Area that can be set only with GX Works2. – – – – – – – – – – – Area that can be set only using buffer memory.
Chapter 7 Memory Configuration and Data Process Details of areas Parameter area Area where parameters, such as positioning parameters and OPR parameters, required for positioning control are set and stored. Monitor data area Area where the operation status of positioning system is stored. Control data area Area where data for operating and controlling positioning system is set and stored. Positioning data area (No.1 to 600) Area where positioning data No.1 to 600 is set and stored.
Chapter 7 Memory Configuration and Data Process User accesses here. Data is backed up here. Flash ROM Buffer memory/Internal memory Parameter area Parameter area Positioning data area (No.1 to 600) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Block start data area (No.
Chapter 7 Memory Configuration and Data Process 7.1.2 Buffer memory area configuration The buffer memory of Simple Motion module is configured of the following types of areas.
Chapter 7 Memory Configuration and Data Process Buffer memory area configuration Servo series PA01 to PA18 PA group PA19 PA20 to PA32 PB group PC group QD77MS16 30100+200n 28400+100n 30101+200n to 30118+200n 28401+100n to 28418+100n 30932+50n Set with GX Works2 64400+250n to 64412+250n 64400+70n to 64412+70n 30119+200n to 30163+200n 28419+100n to 28463+100n 64413+250n to 64431+250n 64413+70n to 64431+70n 30164+200n to 30195+200n 28464+100n to 28495+100n 64432+250n to 64463+250n 64432+70n
Chapter 7 Memory Configuration and Data Process 7.2 Data transmission process The data is transmitted between the memories of Simple Motion module with steps (1) to (10) shown below. : The data transmission patterns correspond to the numbers (1) to (10) in the following drawings.
Chapter 7 Memory Configuration and Data Process (1) Transmitting data when power is turned ON or PLC CPU is reset ( ) When the power is turned ON or the PLC CPU is reset, the "parameters area 1 (c) ", "positioning data", "block start data" and "servo parameter" stored (backed up) in the flash ROM/internal memory (nonvolatile) are transmitted to the buffer memory and internal memory. The value stored in the flash ROM is valid for "[Pr.96] Operation cycle setting". 1: Parameter area (c)......
Chapter 7 Memory Configuration and Data Process POINT The setting values of the parameters that correspond to parameter area (b) are valid when written into the buffer memory with the TO command. However, the setting values of the parameters that correspond to parameter area (a) are not validated until the PLC READY signal [Y0] changes from OFF to ON. (4) Accessing with FROM command from PLC CPU ( ) The data is read from the buffer memory to the PLC CPU using the FROM 5 command .
Chapter 7 Memory Configuration and Data Process GX Works2 (7) Flash ROM write request PLC CPU (6) Flash ROM write (Set "1" in Cd.1 with TO command) (7) Flash ROM write request QD77MS Buffer memory/Internal memory Parameter area (a) Pr.1 to Pr.7 Pr.11 to Pr.24 Parameter area (b) Pr.43 to Pr.57 Parameter area (c) Pr.80 to Pr.83 Positioning data area (No.1 to 600) (6) Flash ROM write Parameter area (a) Block start data area (No.7000 to 7004) Servo parameter area Pr.89 to Pr.
Chapter 7 Memory Configuration and Data Process (6) Writing the flash ROM by a PLC CPU request ( ) The following transmission process is carried out by setting "1" in "[Cd.1] Flash ROM write request". 1) The "parameters", "positioning data (No. 1 to 600)", "block start data (No. 7000 to 7004)" and "servo parameter" in the buffer memory/internal memory area are transmitted to the flash ROM/internal memory (nonvolatile).
Chapter 7 Memory Configuration and Data Process GX Works2 (9) Data write (8) Data read PLC CPU (9) Data write (8) Data read QD77MS Buffer memory/Internal memory Parameter area (a) Parameter area (a) Pr.1 to Pr.7 Pr.11 to Pr.24 Parameter area (b) Pr.43 to Pr.57 Parameter area (c) Pr.80 to Pr.83 Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area Pr.89 to Pr.95 Parameter area (b) Pr.8 to Pr.10 Pr.25 to Pr.42 Pr.
Chapter 7 Memory Configuration and Data Process (8) Reading data from buffer memory/internal memory to GX Works2 ) ( The following transmission processes are carried out with the [Read from module (Read from QD77MS)] from the GX Works2. 1) The "parameters", "positioning data (No. 1 to 600)", "block start data (No. 7000 to 7004)" and "servo parameter" in the buffer memory/internal memory area are transmitted to the GX Works2 via the PLC CPU.
Chapter 7 Memory Configuration and Data Process QD77MS Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area Monitor data area Flash ROM Control data area Parameter area (a) PLC CPU memo area Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.
Chapter 7 Memory Configuration and Data Process (10) Transmitting servo parameter from the buffer memory/internal ) memory area to servo amplifier ( The servo parameter in the buffer memory/internal memory area is transmitted to the servo amplifier by the following timing. 1) The servo parameter is transmitted to the servo amplifier when communications with servo amplifier start. The "expansion parameter" and "servo parameter" in the buffer memory area is transmitted to the servo amplifier.
Chapter 7 Memory Configuration and Data Process How to transfer the servo parameter setup from sequence program/GX Works2 to the servo amplifier The servo series of servo parameter "[Pr.100] Servo series" inside the internal memory (nonvolatile) set to "0". (Initial value: "0") The setting value of the parameters that correspond to the servo parameter "[Pr.
Chapter 7 Memory Configuration and Data Process (1) When the servo amplifier's power supply is turned ON before the system's power supply ON. (a) When the servo parameter "[Pr.100] Servo series" "0" is stored in the internal memory (nonvolatile). Communication start timing to the servo amplifier: Initialization completion (Fig. 7.1 (A)) Transfer the servo parameter : The data stored (backed up) in the internal memory (nonvolatile).
Chapter 7 Memory Configuration and Data Process Servo parameter setting from sequence program/GX Works2 (A) Buffer memory/ Initialization QD77MS internal memory completion of QD77MS power ON data setting PLC CPU RUN PLC READY signal [Y0] OFF ON (B) Axis connection completion PLC READY [Y0] READY [X0] Servo parameter of buffer memory/internal Indefinite value Value of internal memory (nonvolatile) memory Communication operation status with Communication invalid Communication start valid servo amplifier
Chapter 7 Memory Configuration and Data Process How to change individually the servo parameter after transfer of servo parameter The servo parameters can be individually changed from Simple Motion module with the following axis control data. Buffer memory address Setting item [Cd.130] Parameter write request Setting details Set the write request of servo parameter. Set "1" or "2" after setting "[Cd.131] Parameter No." and "[Cd.132] Change data".
Chapter 7 Memory Configuration and Data Process MEMO 7 - 20
Section 2 Control Details and Setting Section 2 is configured for the following purposes shown in (1) to (3). (1) Understanding of the operation and restrictions of each control. (2) Carrying out the required settings in each control (3) Dealing with errors Chapter 8 Chapter 9 Chapter 10 Chapter 11 Chapter 12 Chapter 13 Chapter 14 Chapter 15 Chapter 16 OPR Control ............................................................................................. 8- 1 to 8- 20 Major Positioning Control.........
MEMO
Chapter 8 OPR Control Chapter 8 OPR Control The details and usage of "OPR control" are explained in this chapter. OPR control includes "machine OPR" that establish a machine OP without using address data, and "fast OPR" that store the coordinates established by the machine OPR, and carry out positioning to that position. OPR carried out by sequence programs from the PLC CPU are explained in this chapter.
Chapter 8 OPR Control 8.1 Outline of OPR control 8.1.1 Two types of OPR control In "OPR control", a position is established as the starting point (or "OP") when carrying out positioning control, and positioning is carried out toward that starting point. It is used to return a machine system at any position other than the OP to the OP when (Note-1) with the power turned ON or the Simple Motion module issues an "OPR request" others, or after a positioning stop.
Chapter 8 OPR Control REMARK (Note-1) OPR request The "OPR request flag" ([Md.31] Status: b3) must be turned ON in the Simple Motion module, and a machine OPR must be executed in the following cases. (1) When not using an absolute position system (a) This flag turns on in the following cases: • System's power supply on or reset • Servo amplifier power supply on • Machine OPR start (Unless a machine OPR is completed normally, the OPR request flag does not turn off.
Chapter 8 OPR Control Wiring the near-point dog The "external input signal of QD77MS", "external input signal of the servo amplifier" or "buffer memory of QD77MS" can be selected by "[Pr.80] External input signal selection" as the near-point dog. When the "buffer memory of QD77MS" is selected, the wiring differs according to the Input module used. As for the 24VDC power supply, the direction of current can be switched. : When "external input signal of the servo amplifier" is set in "[Pr.
Chapter 8 OPR Control 8.2 Machine OPR 8.2.1 Outline of the machine OPR operation Important Use the OPR retry function when the OP position is not always in the same direction from the workpiece operation area (when the OP is not set near the upper or lower limit of the machine). The machine OPR may not complete unless the OPR retry function is used. Machine OPR operation In a machine OPR, OP is established.
Chapter 8 OPR Control 8.2.2 Machine OPR method The method by which the machine OP is established (method for judging the OP position and machine OPR completion) is designated in the machine OPR according to the configuration and application of the positioning method. The following table shows the methods that can be used for this OPR method. (The OPR method is one of the items set in the OPR parameters. It is set in "[Pr.43] OPR method" of the basic parameters for OPR.) [Pr.
Chapter 8 OPR Control 8.2.3 OPR method (1): Near-point dog method The following shows an operation outline of the OPR method "near-point dog method". Operation chart The machine OPR is started. 1) (The machine begins the acceleration designated in "[Pr.51] OPR acceleration time selection", in the direction designated in "[Pr.44] OPR direction". It then moves at the "[Pr.46] OPR speed" when the acceleration is completed.) 2) The machine begins decelerating when the near-point dog ON is detected.
Chapter 8 OPR Control Precautions during operation (1) The error "Start at OP" (error code: 201) will occur if another machine OPR is attempted after a machine OPR completion when the OPR retry function is not set ("0" is set in "[Pr.48] OPR retry"). (2) Machine OPR carried out from the near-point dog ON position will start at the "[Pr.47] Creep speed". (3) The near-point dog must be ON during deceleration from the OPR speed "[Pr.47] Creep speed".
Chapter 8 OPR Control 8.2.4 OPR method (2): Count method 1) The following shows an operation outline of the OPR method "count method 1)". In the "count method 1)", the machine OPR can be performed in the following cases: Where the near-point dog is on After the machine OPR is completed Operation chart The machine OPR is started. 1) (The machine begins the acceleration designated in "[Pr.51] OPR acceleration time selection", in the direction designated in "[Pr.44] OPR direction".
Chapter 8 OPR Control Precautions during operation (1) The error "Count method movement amount fault "(error code: 206) will occur if the "[Pr.50] Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance from the "[Pr.46] OPR speed" to "[Pr.47] Creep speed". (2) If the speed is changed to a speed faster than "[Pr.46] OPR speed" by the speed change function (refer to "13.5.1 Speed change function".) during a machine OPR, the distance to decelerate to "[Pr.
Chapter 8 OPR Control 8.2.5 OPR method (3): Count method 2) The following shows an operation outline of the OPR method "count method 2)". The "count method 2)" method is effective when a "zero signal" cannot be received. (Note that compared to the "count method 1)" method, using this method will result in more deviation in the stop position during machine OPR.) Operation chart 1) The machine OPR is started. (The machine begins the acceleration designated in "[Pr.
Chapter 8 OPR Control Restrictions When this method is used, a deviation will occur in the stop position (OP) compared to other OPR methods because an error of about 1 ms occurs in taking in the near-point dog ON. Precautions during operation (1) The error "Count method movement amount fault" (error code: 206) will occur and the operation will not start if the "[Pr.50] Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance from the "[Pr.46] OPR speed" to "[Pr.
Chapter 8 OPR Control 8.2.6 OPR method (4): Data set method The following shows an operation outline of the OPR method "data set method". The "Data set method" method is effective when a "Near-point dog" is not used. It can be used with absolute position system. With the data set method OPR, the position where the machine OPR has been carried out, is registered into the Simple Motion module as the OP, and the current feed value and feed machine value is overwritten to an OP address.
Chapter 8 OPR Control 8.2.7 OPR method (5): Scale origin signal detection method The following shows an operation outline of the OPR method "scale origin signal detection method". POINT Set "0: Need to pass servo motor Z-phase after power on" in "Function selection C4 (PC17)". If "1: Not need to pass servo motor Z-phase after power on" is set, the error "Z-phase passing parameter invalid" (error code: 231) will occur at the start of scale origin signal detection method OPR.
Chapter 8 OPR Control Precautions during operation (1) The error "Start at OP" (error code: 201) will occur if another machine OPR is attempted immediately after a machine OPR completion when the OP is in the near-point dog ON position. (2) The following shows the operation when a machine OPR is started from the near-point dog ON position. [Operation when a machine OPR is started from the near-point dog ON position] V Pr.
Chapter 8 OPR Control (6) When the zero signal is detected again during deceleration ( 4) of Fig. 8.12) with detection of zero signal, the operation stops at the zero signal detected lastly to complete the OPR. V Pr.44 OPR direction Pr.46 OPR speed 2) Pr.47 Creep speed 6) 1) 5) 3) 4) ON Near-point dog OFF Zero signal Fig. 8.
Chapter 8 OPR Control 8.3 Fast OPR 8.3.1 Outline of the fast OPR operation Fast OPR operation After establishing OP position by a machine OPR, positioning control to the OP position is executed without using a near-point dog or a zero signal. The following shows the operation during a basic fast OPR start. 1) The fast OPR is started. 2) Positioning control to the OP position established by a machine OPR begins at speed set in the OPR parameters ([Pr.43] to [Pr.57]). 3) The fast OPR is completed. Pr.
Chapter 8 OPR Control Operation timing and processing time of fast OPR The following shows details about the operation timing and time during fast OPR. [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] t1 Start complete signal [X10, X11, X12, X13] t3 Md.26 Axis operation status Standby Standby Position control t2 Positioning operation (Note): Refer to Section 3.3 for input/output signal of QD77MS16. Fig. 8.
Chapter 8 OPR Control 8.4 Selection of the OPR setting condition 8.4.1 Outline of the OPR setting condition If executing the home position return (OPR) when selecting "0: Need to pass servo motor Z-phase after power on" with "Function selection C-4 (PC17)", it is necessary that the servomotor has been rotated more than one revolution and passed the Z phase (Motor reference position signal) and that the zero point pass signal ([Md.108] Servo status (low-order buffer memory address): b0) has turned ON.
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Chapter 9 Major Positioning Control 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.
Chapter 9 Major Positioning Control 9.1 Outline of major positioning controls "Major positioning controls" are carried out using the "positioning data" stored in the Simple Motion module. The basic controls such as position control and speed control are executed by setting the required items in this "positioning data", and then starting that positioning data. The control system for the "major positioning controls" is set in setting item "[Da.2] Control system" of the positioning data.
Chapter 9 Major Positioning Control Major positioning control Speed control 1-axis speed control 2-axis speed (Note-1) control 3-axis speed (Note-1) control 4-axis speed (Note-1) control [Da.2] Control system Forward run speed 1 Reverse run speed 1 Forward run speed 2 Reverse run speed 2 Forward run speed 3 Reverse run speed 3 Forward run speed 4 Reverse run speed 4 Details The speed control of the designated 1 axis is carried out. The speed control of the designated 2 axes is carried out.
Chapter 9 Major Positioning Control 9.1.1 Data required for major positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "major positioning controls". Setting item Setting details [Da.1] Operation pattern Set the method by which the continuous positioning data (Ex: positioning data No.1, No.2, No.3) will be controlled. (Refer to Section 9.1.2.) [Da.
Chapter 9 Major Positioning Control 9.1.2 Operation patterns of major positioning controls In "major positioning control" (high-level positioning control), "[Da.1] Operation pattern" can be set to designate whether to continue executing positioning data after the started positioning data. The "operation pattern" includes the following 3 types.
Chapter 9 Major Positioning Control POINT (1) When the operation pattern is continuous positioning control or continuous path control, the same address as the last value is specified in absolute system or the movement amount 0 is specified in incremental system, positioning control of movement amount 0 is executed. (2) The BUSY signal turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the PLC program.
Chapter 9 Major Positioning Control [2] Continuous positioning control (1) The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the Simple Motion module command speed reaches 0 to carry out the next positioning data operation. If a dwell time is designated, the acceleration is carried out after the designated time elapses. (2) In operation by continuous positioning control (operation pattern "01"), the next positioning No.
Chapter 9 Major Positioning Control [3] Continuous path control (1) Continuous path control (a) The speed is changed without deceleration stop between the command speed of the "positioning data No. currently being executed" and the speed of the "positioning data No. to carry out the next operation". The speed is not changed if the current speed and the next speed are equal. (b) The speed used in the previous positioning operation is continued when the command speed is set to "-1".
Chapter 9 Major Positioning Control [QD77MS4 operation example] Positioning continue (11) V Positioning continue (11) Dwell time Positioning complete (00) Address (+) direction t Address (-) direction ON Positioning start signal [Y10, Y11, Y12, Y13] OFF Start complete signal [X10, X11, X12, X13] OFF [XC, XD, XE, XF] OFF ON ON BUSY signal ON OFF Positioning complete signal [X14, X15, X16, X17] (Note): Refer to Section 3.3 for input/output signal of QD77MS16. Fig. 9.
Chapter 9 Major Positioning Control (b) During operation by step operation. (Refer to Section 13.7.1 "Step function".) (c) When there is an error in the positioning data to carry out the next operation. POINTS (1) The movement direction is not checked during interpolation operations. Thus, automatic deceleration to a stop will not be carried out even if the movement direction is changed (See the figures below). Because of this, the interpolation axis may suddenly reverse direction.
Chapter 9 Major Positioning Control (3) Speed handling (a) Continuous path control command speeds are set with each positioning data. The Simple Motion module carries out the positioning at the speed designated with each positioning data. (b) The command speed can be set to "–1" in continuous path control. The control will be carried out at the speed used in the previous positioning data No. if the command speed is set to "–1".
Chapter 9 Major Positioning Control (4) Speed switching (Refer to "[Pr.19] Speed switching mode".) The two modes for changing the speed are shown below. • Standard speed switching………Switch the speed when executing the next positioning data. • Front-loading speed switching….The speed switches at the end of the positioning data currently being executed.
Chapter 9 Major Positioning Control 3) Speed switching condition If the movement amount is small in regard to the target speed, the current speed may not reach the target speed even if acceleration/deceleration is carried out. In this case, the machine is accelerated/decelerated so that it nears the target speed. If the movement amount will be exceeded when automatic deceleration is required (Ex. Operation patterns "00", "01", etc.
Chapter 9 Major Positioning Control [QD77MS4 operation example] V Dwell time Dwell time t Positioning 11 Da. 1 Operation pattern 11 11 00 01 ON Positioning start signal OFF [Y10, Y11, Y12, Y13] Start complete signal [X10, X11, X12, X13] OFF ON ON BUSY signal [XC, XD, XE, XF] OFF ON Positioning complete signal [X14, X15, X16, X17] OFF (Note): Refer to Section 3.3 for input/output signal of QD77MS16. Fig. 9.
Chapter 9 Major Positioning Control 9.1.3 Designating the positioning address The following shows the two methods for commanding the position in control using positioning data. Absolute system Positioning is carried out to a designated position (absolute address) having the OP as a reference. This address is regarded as the positioning address. (The start point can be anywhere.
Chapter 9 Major Positioning Control 9.1.4 Confirming the current value Values showing the current value The following two types of addresses are used as values to show the position in the Simple Motion module. These addresses ("current feed value" and "machine feed value") are stored in the monitor data area, and used in monitoring the current value display, etc. Current feed value This is the value stored in "[Md.20] Current feed value".
Chapter 9 Major Positioning Control Monitoring the current value The "current feed value" and "machine feed value" are stored in the following buffer memory addresses, and can be read using a "DFRO(P) instruction" or "DMOV(P) instruction" from the PLC CPU. Buffer memory addresses QD77MS2/QD77MS4 QD77MS16 [Md.20] Current feed value 800+100n 801+100n 2400+100n 2401+100n [Md.
Chapter 9 Major Positioning Control 9.1.5 Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. [1] Current feed value and machine feed value addresses The address of "[Md.20] Current feed value" becomes a ring address from 0 to 359.99999°. The address of "[Md.21] Machine feed value" will become a cumulative value. (They will not have a ring structure for values between 0 and 359.99999 degrees.) However, "[Md.
Chapter 9 Major Positioning Control POINT (1) When the upper/lower limit value of the axis which set the software stroke limit as valid are changed, perform the machine OPR after that. (2) When the software stroke limit is set as valid in the incremental data system, perform the machine OPR after power supply on.
Chapter 9 Major Positioning Control (b) When the software stroke limit is valid The positioning is carried out in a clockwise/counterclockwise direction depending on the software stroke limit range setting method. Because of this, positioning with "shortcut control" may not be possible. Example When the current value is moved from 0° to 315°, positioning is carried out in the clockwise direction if the software stroke limit lower limit value is 0° and the upper limit value is 345°. 345.00000° 0° 315.
Chapter 9 Major Positioning Control 9.1.
Chapter 9 Major Positioning Control Setting the positioning data during interpolation control When carrying out interpolation control, the same positioning data Nos. are set for the "reference axis" and the "interpolation axis". The following table shows the "positioning data" setting items for the reference axis and interpolation axis. Axis Setting item Reference axis setting item [Da.1] Operation pattern [Da.
Chapter 9 Major Positioning Control Starting the interpolation control The positioning data Nos. of the reference axis (axis in which interpolation control was set in "[Da.2] Control system") are started when starting the interpolation control. (Starting of the interpolation axis is not required.) The following errors or warnings will occur and the positioning will not start if both reference axis and the interpolation axis are started.
Chapter 9 Major Positioning Control POINT When the "reference axis speed" is set during 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". Limits to interpolation control There are limits to the interpolation control that can be executed and speed ([Pr.20] Interpolation speed designation method) that can be set, depending on the "[Pr.
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Chapter 9 Major Positioning Control 9.2 Setting the positioning data 9.2.1 Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be set differ according to the "[Da.2] Control system". The following table shows the positioning data setting items corresponding to the different types of control. Details and settings for the operation of each control are shown in Section 9.2.2 and subsequent sections.
Chapter 9 Major Positioning Control Other control Speed-position Position- speed switching control switching control Forward run speed/position Reverse run speed/position – – NOP instruction JUMP instruction LOOP LEND – – – – – – – – – – – – Forward run position/speed NOP Current value changing JUMP instruction LOOP LEND – – – – – – – – – – – – – – – – New address – – – – – – – – – Reverse run position/speed – – Current value changing – – – – – JUMP destina
Chapter 9 Major Positioning Control 9.2.2 1-axis linear control In "1-axis linear control" ("[Da.2] Control system" = ABS linear 1, INC linear 1), one motor is used to carry out position control in a set axis direction. [1] 1-axis linear control (ABS linear 1) Operation chart In absolute system 1-axis linear control, positioning is carried out from the current stop position (start point address) to the address (end point address) set in "[Da.6] Positioning address/movement amount".
Chapter 9 Major Positioning Control Positioning data setting example [When "1-axis linear control (ABS linear 1)" is set in positioning data No. 1 of axis 1.] Setting example Setting item QD77MS2 QD77MS16 QD77MS4 [Da.1] Operation pattern Positioning complete Axis 1 Positioning data No. 1 [Da.2] Control system ABS linear 1 Setting details Set "Positioning complete" assuming the next positioning data will not be executed. Set absolute system 1-axis linear control. [Da.3] Acceleration time No.
Chapter 9 Major Positioning Control [2] 1-axis linear control (INC linear 1) Operation chart In incremental system 1-axis linear control, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
Chapter 9 Major Positioning Control Positioning data setting example [When "1-axis linear control (INC linear 1)" is set in positioning data No. 1 of axis 1] Setting example Setting item QD77MS2 QD77MS16 QD77MS4 [Da.1] Operation pattern Positioning complete Axis 1 Positioning data No. 1 [Da.2] Control system INC linear 1 Setting details Set "Positioning complete" assuming the next positioning data will not be executed. Set incremental system 1-axis linear control. [Da.3] Acceleration time No.
Chapter 9 Major Positioning Control 9.2.3 2-axis linear interpolation control In "2-axis linear interpolation control" ("[Da.2] Control system" = ABS linear 2, INC linear 2), two motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.
Chapter 9 Major Positioning Control Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control. If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in "[Pr.20] Interpolation speed designation method" The error "Outside linear movement amount range" (error code: 504) occurs at a positioning start.
Chapter 9 Major Positioning Control POINT When the "reference axis speed" is set during 2-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit value".
Chapter 9 Major Positioning Control [2] 2-axis linear interpolation control (INC linear 2) Operation chart In incremental system 2-axis linear interpolation control, the designated 2 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/movement amount". The movement direction is determined by the sign of the movement amount. • Positive movement amount ...........
Chapter 9 Major Positioning Control Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation. If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in "[Pr.20] Interpolation speed designation method" The error "Outside linear movement amount range" (error code: 504) occurs at a positioning start.
Chapter 9 Major Positioning Control POINT When the "reference axis speed" is set during 2-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit value".
Chapter 9 Major Positioning Control 9.2.4 3-axis linear interpolation control In "3-axis linear interpolation control" ("[Da.2] Control system" = ABS linear 3, INC linear 3), three motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.
Chapter 9 Major Positioning Control Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control. If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in "[Pr.20] Interpolation speed designation method" The error "Outside linear movement amount range" (error code: 504) occurs at a positioning start.
Chapter 9 Major Positioning Control POINTS When the "reference axis speed" is set during 3-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit value". Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
Chapter 9 Major Positioning Control [2] 3-axis linear interpolation control (INC linear 3) Operation chart In the incremental system 3-axis linear interpolation control, the designated 3 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in the "[Da.6] Positioning address/movement amount". The movement direction is determined the sign of the movement amount. • Positive movement amount ......
Chapter 9 Major Positioning Control Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation. If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in "[Pr.20] Interpolation speed designation method" The error "Outside linear movement amount range" (error code: 504) occurs at a positioning start.
Chapter 9 Major Positioning Control POINTS When the "reference axis speed" is set during 3-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit value". Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
Chapter 9 Major Positioning Control 9.2.5 4-axis linear interpolation control In "4-axis linear interpolation control" ("[Da.2] Control system" = ABS linear 4, INC linear 4), four motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.
Chapter 9 Major Positioning Control Positioning data setting example [When "4-axis linear interpolation control (ABS linear 4)" is set in positioning data No. 1 of axis 1] • Reference axis ............. Axis 1 • Interpolation axis.......... Axis 2, Axis3, Axis4 (The required values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.) Axis (reference Setting item axis) [Da.1] Operation pattern [Da.2] Control system Acceleration time [Da.3] No. [Da.
Chapter 9 Major Positioning Control POINTS When the "reference axis speed" is set during 4-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit value". Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
Chapter 9 Major Positioning Control Positioning data setting example [When "4-axis linear interpolation control (INC linear 4)" is set in positioning data No. 1 of axis 1] • Reference axis ............. Axis 1 • Interpolation axis.......... Axis 2, Axis3, Axis4 (The required values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.) Axis (reference Setting item axis) [Da.1] Operation pattern [Da.2] Control system Acceleration time [Da.3] No. [Da.
Chapter 9 Major Positioning Control POINT When the "reference axis speed" is set during 4-axis linear interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the "[Pr.8] Speed limit value". Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
Chapter 9 Major Positioning Control 9.2.6 1-axis fixed-feed control In "1-axis fixed-feed control" ("[Da.2] Control system" = fixed-feed 1), one motor is used to carry out fixed-feed control in a set axis direction. In fixed-feed control, any remainder of below control accuracy is rounded down to convert the movement amount designated in the positioning data into the command value to servo amplifier. Operation chart In 1-axis fixed-feed control, the address ([Md.
Chapter 9 Major Positioning Control POINT When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the Simple Motion module and reflected at the next positioning.
Chapter 9 Major Positioning Control Positioning data setting example [When "1-axis fixed-feed control (fixed-feed 1)" is set in positioning data No.1 of axis 1] Setting example Setting item QD77MS2 QD77MS16 QD77MS4 [Da.1] Operation pattern Positioning complete Axis 1 Positioning data No. 1 [Da.2] Control system Fixed-feed 1 Setting details Set "Positioning complete" assuming the next positioning data will not be executed. Set 1-axis fixed-feed control. [Da.3] Acceleration time No.
Chapter 9 Major Positioning Control 9.2.7 2-axis fixed-feed control (interpolation) In "2-axis fixed-feed control" ("[Da.2] Control system" = fixed-feed 2), two motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of below control accuracy is rounded down to convert the movement amount designated in the positioning data into the command value to servo amplifier. (Refer to Section 9.1.
Chapter 9 Major Positioning Control Positioning data setting example [When "2-axis fixed-feed control (fixed-feed 2)" is set in positioning data No. 1 of axis 1] • Reference axis ............. Axis 1 • Interpolation axis.......... Axis 2 (The required values are also set in positioning data No. 1 of axis 2.) Axis QD77MS16 setting example Setting details Axis 2 Axis 1 Axis 2 Axis 1 (reference (interpolation (reference (interpolation axis) axis) axis) axis) Setting item [Da.1] Operation pattern [Da.
Chapter 9 Major Positioning Control POINTS When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the Simple Motion module and reflected at the next positioning.
Chapter 9 Major Positioning Control Operation chart In incremental system 3-axis fixed-feed control, the addresses ([Md.20] Current feed value) of the current stop position (start addresses) of every axes are set to "0". Linear interpolation 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 the sign of the movement amount. • Positive movement amount ..............
Chapter 9 Major Positioning Control Restrictions (1) The error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous path control" is set in "[Da.1] Operation pattern". ("Continuous path control" cannot be set in fixed-feed control.) 30 (2) If the movement amount of each axis exceeds "1073741824 (=2 )" when "0: Composite speed" is set in "[Pr.
Chapter 9 Major Positioning Control Positioning data setting example [When "3-axis fixed-feed control (fixed-feed 3)" is set in positioning data No. 1 of axis 1] • Reference axis ............. Axis 1 • Interpolation axis.......... Axis 2, Axis3 (The required values are also set in positioning data No. 1 of axis 2 and axis 3.
Chapter 9 Major Positioning Control POINTS When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the Simple Motion module and reflected at the next positioning.
Chapter 9 Major Positioning Control 9.2.9 4-axis fixed-feed control (interpolation) In "4-axis fixed-feed control" ("[Da.2] Control system" = fixed-feed 4), four motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of below control accuracy is rounded down to convert the movement amount designated in the positioning data into the command value to servo amplifier. (Refer to Section 9.
Chapter 9 Major Positioning Control Positioning data setting example [When "4-axis fixed-feed control (fixed-feed 4)" is set in positioning data No.1 of axis 1] • Reference axis ............. Axis 1 • Interpolation axis.......... Axis 2, Axis3, Axis4 (The required values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.
Chapter 9 Major Positioning Control POINTS When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the Simple Motion module and reflected at the next positioning.
Chapter 9 Major Positioning Control 9.2.10 2-axis circular interpolation control with sub point designation In "2-axis circular interpolation control" ("[Da.2] Control system" = ABS circular sub, INC circular sub), two motors are used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.
Chapter 9 Major Positioning Control Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. When "degree" is set in "[Pr.1] Unit setting" When the units set in "[Pr.1] Unit setting" are different for the reference axis and interpolation axis. ("mm" and "inch" combinations are possible.) When "reference axis speed" is set in "[Pr.
Chapter 9 Major Positioning Control Positioning data setting example [When "2-axis circular interpolation control with sub point designation (ABS circular sub)" is set in positioning data No. 1 of axis 1] • Reference axis ............. Axis 1 • Interpolation axis.......... Axis 2 (The required values are also set in positioning data No. 1 of axis 2.
Chapter 9 Major Positioning Control [2] 2-axis circular interpolation control with sub point designation (INC circular sub) Operation chart In the incremental system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/movement amount" in an arc path that passes through the sub point address set in "[Da.7] Arc address".
Chapter 9 Major Positioning Control Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. When "degree" is set in "[Pr.1] Unit setting" When the units set in "[Pr.1] Unit setting" are different for the reference axis and interpolation axis. ("mm" and "inch" combinations are possible.) When "reference axis speed" is set in "[Pr.
Chapter 9 Major Positioning Control Positioning data setting example [When "2-axis circular interpolation control with sub point designation (INC circular sub)" is set in positioning data No. 1 of axis 1] • Reference axis ............. Axis 1 • Interpolation axis.......... Axis 2 (The required values are also set in positioning data No. 1 of axis 2.
Chapter 9 Major Positioning Control 9.2.11 2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" ("[Da.2] Control system" = ABS circular right, INC circular right, ABS circular left, INC circular left), two motors are used to carry out position control in an arc path having an arc address as a center point, while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.
Chapter 9 Major Positioning Control Circular interpolation error compensation In circular interpolation control with center point designation, the arc path calculated from the start point address and center point address may deviate from the position of the end point address set in "[Da.6] Positioning address/movement amount". (Refer to "[Pr.41] Allowable circular interpolation error width".) (1) Calculated error "[Pr.
Chapter 9 Major Positioning Control [1] 2-axis circular interpolation control with center point designation (ABS circular right, ABS circular left) Operation chart In the absolute system, 2-axis circular interpolation control with center point designation positioning is carried out from the current stop position (start point address) to the address (end point address) set in "[Da.
Chapter 9 Major Positioning Control In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is 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 deviated from that at the start point.
Chapter 9 Major Positioning Control Positioning data setting examples [When "2-axis circular interpolation control with center point designation (ABS circular right, ABS circular left)" is set in positioning data No. 1 of axis 1] • Reference axis ............. Axis 1 • Interpolation axis.......... Axis 2 (The required values are also set in positioning data No. 1 of axis 2.
Chapter 9 Major Positioning Control [2] 2-axis circular interpolation control with center point designation (INC circular right, INC circular left) Operation chart In the incremental system, 2-axis circular interpolation control with center point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.
Chapter 9 Major Positioning Control In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is 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 deviated from that at the start point.
Chapter 9 Major Positioning Control Positioning data setting examples [When "2-axis circular interpolation control with center point designation (INC circular right, INC circular left)" is set in positioning data No. 1 of axis 1] • Reference axis ............. Axis 1 • Interpolation axis.......... Axis 2 (The required values are also set in positioning data No. 1 of axis 2.
Chapter 9 Major Positioning Control 9.2.12 1-axis speed control In "1-axis speed control" ("[Da.2] Control system" = Forward run: speed 1, Reverse run: speed 1), control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed" until the input of a stop command.
Chapter 9 Major Positioning Control Current feed value during 1-axis speed control The following table shows the "[Md.20] Current feed value" during 1-axis speed control corresponding to the "[Pr.21] Current feed value during speed control" settings. "[Pr.21] Current feed value during speed control" setting 0: Do not update current feed value V [Md.20] Current feed value The current feed value at speed control start is maintained. 1: Update current feed value The current feed value is updated.
Chapter 9 Major Positioning Control Positioning data setting examples [When "1-axis speed control (forward run: speed 1)" is set in the positioning data No. 1 of axis 1] Axis 1 Positioning data No. 1 Setting example Setting item QD77MS2 QD77MS16 QD77MS4 Setting details [Da.1] Operation pattern Positioning complete Setting other than "Positioning complete" is not possible in speed control. [Da.2] Control system Forward run speed 1 Set 1-axis speed control. [Da.3] Acceleration time No.
Chapter 9 Major Positioning Control 9.2.13 2-axis speed control In "2-axis speed control" ("[Da.2] Control system" = Forward run: speed 2, Reverse run: speed 2), control is carried out in the 2-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed" until the input of a stop command.
Chapter 9 Major Positioning Control Current feed value during 2-axis speed control The following table shows the "[Md.20] Current feed value" during 2-axis speed control corresponding to the "[Pr.21] Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) "[Pr.21] Current feed value during speed control" setting 0: Do not update current feed value V [Md.20] Current feed value The current feed value at speed control start is maintained.
Chapter 9 Major Positioning Control (4) When either of two axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of "[Da.8] Command speed". (Examples) Axis Axis 1 setting Axis 2 setting Setting item [Pr.8] Speed limit value 4000.00mm/min 5000.00mm/min [Da.8] Command speed 8000.00mm/min 6000.00mm/min With the settings shown above, the operation speed in speed control is as follows. Axis 1: 4000.
Chapter 9 Major Positioning Control Positioning data setting examples [When "2-axis speed control (forward run: speed 2)" is set in the positioning data No. 1 of axis 1] • Reference axis ............. Axis 1 • Interpolation axis.......... Axis 2 (The required values are also set in positioning data No.1 of axis 2.) Axis QD77MS16 setting example Axis 1 Axis 2 Axis 1 (reference (interpolation (reference axis) axis) axis) Setting item Axis 1 Positioning data No.
Chapter 9 Major Positioning Control 9.2.14 3-axis speed control In "3-axis speed control" ("[Da.2] Control system" = Forward run: speed 3, Reverse run: speed 3), control is carried out in the 3-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed" until the input of a stop command.
Chapter 9 Major Positioning Control Current feed value during 3-axis speed control The following table shows the "[Md.20] Current feed value" during 3-axis speed control corresponding to the "[Pr.21] Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) "[Pr.21] Current feed value during speed control" setting 0: Do not update current feed value V [Md.20] Current feed value The current feed value at speed control start is maintained.
Chapter 9 Major Positioning Control (4) When either of three axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of "[Da.8] Command speed". (Examples) Axis Axis 1 setting Axis 2 setting Axis 3 setting Setting item [Pr.8] Speed limit value 4000.00mm/min 5000.00mm/min 6000.00mm/min [Da.8] Command speed 8000.00mm/min 6000.00mm/min 4000.
Chapter 9 Major Positioning Control Positioning data setting examples [When "3-axis speed control (forward run: speed 3)" is set in the positioning data No. 1 of axis 1] • Reference axis ............. Axis 1 • Interpolation axis.......... Axis 2, Axis 3 (The required values are also set in positioning data No.1 of axis 2 and axis 3.) Axis Axis 1 Positioning data No.
Chapter 9 Major Positioning Control 9.2.15 4-axis speed control In "4-axis speed control" ("[Da.2] Control system" = Forward run: speed 4, Reverse run: speed 4), control is carried out in the 4-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed" until the input of a stop command.
Chapter 9 Major Positioning Control Operation chart The following chart shows the operation timing for 4-axis speed control with axis 1 as the reference axis. The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control. The "positioning complete signal" is not turned ON. [QD77MS4 operation example] V Interpolation axis (axis 4) Da. 8 Command speed t V Interpolation axis (axis 3) Da. 8 Command speed t V Interpolation axis (axis 2) Da.
Chapter 9 Major Positioning Control Current feed value during 4-axis speed control The following table shows the "[Md.20] Current feed value" during 4-axis speed control corresponding to the "[Pr.21] Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) "[Pr.21] Current feed value during speed control" setting 0: Do not update current feed value V [Md.20] Current feed value The current feed value at speed control start is maintained.
Chapter 9 Major Positioning Control (4) When either of four axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of "[Da.8] Command speed". (Examples) Axis Setting item Axis 1 setting Axis 2 setting Axis 3 setting Axis 4 setting [Pr.8] Speed limit value 4000.00mm/ 5000.00mm/ 6000.00mm/ 8000.00mm/ min min min min [Da.8] Command speed 8000.00mm/ 6000.00mm/ 4000.00mm/ 1500.
Chapter 9 Major Positioning Control Positioning data setting examples [When "4-axis speed control (forward run: speed 4)" is set in the positioning data No. 1 of axis 1] • Reference axis ............. Axis 1 • Interpolation axis.......... Axis 2 to Axis 4 (The required values are also set in positioning data No. 1 of axis 2 to axis 4.
Chapter 9 Major Positioning Control 9.2.16 Speed-position switching control (INC mode) In "speed-position switching control (INC mode)" ("[Da.2] Control system" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output on the axial direction set to the positioning data. When the "speed-position switching signal" is input, position control of the movement amount set in "[Da.6] Positioning address/movement amount" is exercised.
Chapter 9 Major Positioning Control (2) "[Cd.24] Speed-position switching enable flag" must be turned ON to switch over from speed control to position control. (If the "[Cd.24] Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control will continue as speed control without switching over to position control. The control will be switched over from position control to speed control when the speed-position switching signal turns from OFF to ON again.
Chapter 9 Major Positioning Control Operation chart The following chart (Fig.9.13) shows the operation timing for speed-position switching control (INC mode). The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (INC mode). [QD77MS4 operation example] • When using the external command signal [DI] as speed-position switching signal V Da. 8 Command speed Movement amount set in " Da.
Chapter 9 Major Positioning Control [Operation example] The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 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 value". (The value set in "[Da.6] Positioning address/movement amount" is 270.00000 [degree]) 0.
Chapter 9 Major Positioning Control Operation timing and processing time during speed-position switching control (INC mode) [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] t1 M code ON signal [X4, X5, X6, X7](WITH mode) t2 Cd.7 M code OFF request Start complete signal [X10, X11, X12, X13] Md.
Chapter 9 Major Positioning Control Normal timing time QD77MS2 QD77MS4 QD77MS16 Unit: [ms] Operation cycle t1 t2 t3 t4 t5 t6 t7 0.88 0.2 to 0.3 0 to 0.9 0 to 0.9 1.8 to 2.7 0 to 0.9 0.2 Follows parameters 1.77 0.2 to 0.3 0 to 1.8 0 to 1.8 2.5 to 3.9 0 to 1.8 0.2 Follows parameters 0.88 0.2 to 0.3 0 to 0.9 0 to 0.9 1.8 to 2.7 0 to 0.9 0.2 Follows parameters 1.77 0.2 to 0.3 0 to 1.8 0 to 1.8 2.5 to 3.9 0 to 1.8 0.2 Follows parameters 0.88 0.3 to 1.4 0 to 0.
Chapter 9 Major Positioning Control Current feed value during speed-position switching control (INC mode) The following table shows the "[Md.20] Current feed value" during speed-position switching control (INC mode) corresponding to the "[Pr.21] Current feed value during speed control" settings. "[Pr.21] Current feed value during speed control" setting V [Md.
Chapter 9 Major Positioning Control (2) The following table shows the items that must be set to use the near-point dog signal (DOG) as speed-position switching signals. Setting item Setting value Speed-position [Cd.45] switching device selection 1 Setting details Use the near-point dog signal for switching from speed control to position control Buffer memory address QD77MS2 QD77MS16 QD77MS4 1566+100n 4366+100n (Note): The setting is not required for "[Pr.
Chapter 9 Major Positioning Control Speed control Position control Position control start Speed-position switching control (INC mode) start t Movement amount change possible ON Speed-position switching signal OFF Setting after the speed-position switching signal ON is ignored P2 0 Cd.23 Speed-position switching control movement amount change register P3 P2 becomes the position control movement amount Speed-position switching latch flag ( Md.31 Status : b1) ON ON OFF OFF Fig. 9.
Chapter 9 Major Positioning Control Restrictions (1) The error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". (2) "Speed-position switching control" cannot be set in "[Da.2] Control system" of the positioning data when "continuous path control" has been set in "[Da.1] Operation pattern" of the immediately prior positioning data.
Chapter 9 Major Positioning Control Positioning data setting examples [When "speed-position switching control (INC mode) by forward run" is set in positioning data No. 1 of axis 1] Setting example Setting item QD77MS2 QD77MS16 QD77MS4 [Da.1] Operation pattern Positioning complete Axis 1 Positioning data No. 1 [Da.2] Control system Forward run: speed/position Setting details Set "Positioning complete" assuming the next positioning data will not be executed.
Chapter 9 Major Positioning Control 9.2.17 Speed-position switching control (ABS mode) In case of "speed-position switching control (ABS mode)" ("[Da.2] Control system" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output in the axial direction set to the positioning data. When the "speed-position switching signal" is input, position control to the address set in "[Da.6] Positioning address/movement amount" is exercised.
Chapter 9 Major Positioning Control Switching over from speed control to position control (1) The control is selected the switching method from speed control to position control by the setting value of "[Cd.45] Speed-position switching device selection". Setting item [Cd.45] Setting value Setting details The device used for speedposition switching is selected.
Chapter 9 Major Positioning Control Operation chart The following chart (Fig.9.16) shows the operation timing for speed-position switching control (ABS mode). The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (ABS mode). [QD77MS4 operation example] • When using the external command signal [DI] as speed-position switching signal V Da. 8 Command speed Address set in Da.
Chapter 9 Major Positioning Control [Operation example] The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 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 value". (The value set in "[Da.6] Positioning address/movement amount" is 270.00000 [degree]) 0.
Chapter 9 Major Positioning Control Operation timing and processing time during speed-position switching control (ABS mode) [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] t1 M code ON signal [X4, X5, X6, X7](WITH mode) t2 Cd.7 M code OFF request Start complete signal [X10, X11, X12, X13] Md.
Chapter 9 Major Positioning Control Current feed value during speed-position switching control (ABS mode) The following table shows the "[Md.20] Current feed value" during speed-position switching control (ABS mode) corresponding to the "[Pr.21] Current feed value during speed control" settings. "[Pr.21] Current feed value during speed control" setting [Md.20] Current feed value The current feed value is updated during speed control and position control.
Chapter 9 Major Positioning Control Speed-position switching signal setting (1) The following table shows the items that must be set to use the external command signals [DI] as speed-position switching signals. Setting item External command function selection External [Cd.8] command valid Speed-position [Cd.45] switching device selection [Pr.42] Setting value Setting details Buffer memory address QD77MS2 QD77MS16 QD77MS4 2 Speed-position, position-speed switching request.
Chapter 9 Major Positioning Control Restrictions (1) The error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". (2) "Speed-position switching control" cannot be set in "[Da.2] Control system" of the positioning data when "continuous path control" has been set in "[Da.1] Operation pattern" of the immediately prior positioning data.
Chapter 9 Major Positioning Control Positioning data setting examples [When "speed-position switching control (ABS mode) by forward run" is set in positioning data No. 1 of axis 1] Setting item Setting example QD77MS2 QD77MS16 QD77MS4 Setting details [Da.1] Operation pattern Positioning complete Set "Positioning complete" assuming the next positioning data will not be executed. ("Continuous path control" cannot be set in "speed-position switching control (ABS mode)".) Axis 1 Positioning data No.
Chapter 9 Major Positioning Control 9.2.18 Position-speed switching control In "position-speed switching control" ("[Da.2] Control system" = Forward run: position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in "[Da.6] Positioning address/movement amount" in the axis direction in which the positioning data has been set.
Chapter 9 Major Positioning Control (2) "[Cd.26] Position-speed switching enable flag" must be turned ON to switch over from position control to speed control. (If the "[Cd.26] Position-speed switching enable flag" turns ON after the position-speed switching signal turns ON, the control will continue as position control without switching over to speed control. The control will be switched over from position control to speed control when the position-speed switching signal turns from OFF to ON again.
Chapter 9 Major Positioning Control Operation chart The following chart shows the operation timing for position-speed switching control. The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control of position-speed switching control. [QD77MS4 operation example] • When using the external command signal [DI] as position-speed switching signal V Da.
Chapter 9 Major Positioning Control Operation timing and processing time during position-speed switching control [QD77MS4 operation example] Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] t1 M code ON signal [X4, X5, X6, X7](WITH mode) t2 Cd. 7 M code OFF request Start complete signal [X10, X11, X12, X13] Md.
Chapter 9 Major Positioning Control Normal timing time QD77MS2 QD77MS4 QD77MS16 Unit: [ms] Operation cycle t1 t2 t3 t4 t5 t6 0.88 0.2 to 0.3 0 to 0.9 0 to 0.9 1.8 to 2.7 – 0.2 1.77 0.2 to 0.3 0 to 1.8 0 to 1.8 2.5 to 3.5 – 0.2 0.88 0.2 to 0.3 0 to 0.9 0 to 0.9 1.8 to 2.7 – 0.2 1.77 0.2 to 0.3 0 to 1.8 0 to 1.8 2.5 to 3.5 – 0.2 0.88 0.3 to 1.4 0 to 0.9 0 to 0.9 1.8 to 2.7 – 0.2 1.77 0.3 to 1.4 0 to 1.8 0 to 1.8 3.2 to 3.9 – 0.
Chapter 9 Major Positioning Control Current feed value during position-speed switching control The following table shows the "[Md.20] Current feed value" during position-speed switching control corresponding to the "[Pr.21] Current feed value during speed control" settings. "[Pr.21] Current feed value during speed control" setting [Md.
Chapter 9 Major Positioning Control Position-speed switching signal setting (1) The following table shows the items that must be set to use the external command signals [DI] as position-speed switching signals. Setting item [Pr.42] [Cd.8] External command function selection External command valid Speed-position [Cd.45] switching device selection Setting value Setting details Buffer memory address QD77MS2 QD77MS16 QD77MS4 2 Speed-position, position-speed switching request.
Chapter 9 Major Positioning Control Changing the speed control command speed In "position-speed switching control", the speed control command speed can be changed during the position 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 position control of the position-speed switching control. (2) The "new command speed" is stored in "[Cd.
Chapter 9 Major Positioning Control Restrictions (1) The error "Continuous path control not possible" (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". (2) "Position-speed switching control" cannot be set in "[Da.2] Control system" of the positioning data when "continuous path control" has been set in "[Da.1] Operation pattern" of the immediately prior positioning data.
Chapter 9 Major Positioning Control Positioning data setting examples [When "position-speed switching control (forward run: position/speed)" is set in positioning data No. 1 of axis 1] Setting example Setting item [Da.1] Operation pattern Axis 1 Positioning data No. 1 [Da.2] Control system Setting details QD77MS2 QD77MS16 QD77MS4 Positioning complete Forward run: position/speed Set "Positioning complete" assuming the next positioning data will not be executed.
Chapter 9 Major Positioning Control 9.2.19 Current value changing When the current value is changed to a new value, control is carried out in which the "[Md.20] Current feed value" of the stopped axis is changed to a random address set by the user. (The "[Md.21] Machine feed value" is not changed when the current value is changed.) The two methods for changing the current value are shown below.
Chapter 9 Major Positioning Control (3) The error "Outside new current value range" (error code: 514) will occur and the operation cannot start if "degree" is set in "[Pr.1] Unit setting" and the value set in "[Da.6] Positioning address/movement amount (0 to 359.99999 [degree])" is outside the setting range. (4) If the value set in "[Da.6] Positioning address/movement amount" is outside the software stroke limit ([Pr.12], [Pr.
Chapter 9 Major Positioning Control [2] Changing to a new current value using the current value changing start No. (No. 9003) In "current value changing" ("[Cd.3] Positioning start No." = 9003), "[Md.20] Current feed value" is changed to the address set in "[Cd.9] New current value". Operation chart The current value is changed by setting the new current value in the current value changing buffer memory "[Cd.9] New current value", setting "9003" in the "[Cd.3] Positioning start No.
Chapter 9 Major Positioning Control Setting method for the current value changing function The following shows an example of a sequence program and data setting to change the current value to a new value with the positioning start signal. (The "[Md.20] Current feed value" value is changed to "5000.0 m" in the example shown.) (1) Set the following data. (Set with the sequence program shown in (3), while referring to the start time chart shown in (2).) Setting value Setting item Setting details [Cd.
Chapter 9 Major Positioning Control (3) Add the following sequence program to the control program, and write it to the PLC CPU.
Chapter 9 Major Positioning Control 9.2.20 NOP instruction The NOP instruction is used for the nonexecutable control system. Operation The positioning data No. to which the NOP instruction is set transfers, without any processing, to the operation for the next positioning data No. Positioning data setting examples [When "NOP instruction" is set in positioning data No.1 of axis 1] Setting example Setting item [Da.1] Operation pattern – [Da.2] Control system – [Da.4] Deceleration time No.
Chapter 9 Major Positioning Control 9.2.21 JUMP instruction The JUMP instruction is used to control the operation so it jumps to a positioning data No. set in the positioning data during "continuous positioning control" or "continuous path control". JUMP instruction includes the following two types of JUMP. (1) Unconditional JUMP When execution conditions are not set for the JUMP instruction (When "0" is set to the condition data No.
Chapter 9 Major Positioning Control (2) Set JUMP instruction to positioning data No. that "continuous positioning control" or "continuous path control" is set in operation pattern. It cannot set to positioning data No. that "positioning complete" is set in operation pattern. (3) Positioning control such as loops cannot be executed by conditional JUMP instructions alone until the conditions have been established.
Chapter 9 Major Positioning Control 9.2.22 LOOP The LOOP is used for loop control by the repetition of LOOP to LEND. Operation The LOOP to LEND loop is repeated by set repeat cycles. Positioning data setting examples [When "LOOP" is set in positioning data No. 1 of axis 1] Axis 1 Positioning data No. 1 Setting example Setting item QD77MS2 QD77MS16 QD77MS4 [Da.1] Operation pattern [Da.2] Control system – – [Da.4] Deceleration time No. – [Da.
Chapter 9 Major Positioning Control POINT The setting by this control system is easier than that by the special start "FOR loop" of "High-level Positioning Control" (refer to Chapter 10). • For special start: Positioning start data, special start data, condition data, and positioning data • For control system: Positioning data For the special start FOR to NEXT, the positioning data is required for each of FOR and NEXT points. For the control system, loop can be executed even only by one data.
Chapter 9 Major Positioning Control 9.2.23 LEND The LEND is used to return the operation to the top of the repeat (LOOP to LEND) loop. Operation When the repeat cycle designated by the LOOP becomes 0, the loop is terminated, and the next positioning data No. processing is started. (The operation pattern, if set to "Positioning complete", will be ignored.
Chapter 9 Major Positioning Control Restrictions (1) Ignore the "LEND" before the "LOOP" is executed. (2) When the operation pattern "Positioning complete" has been set between LOOP and LEND, the positioning control is completed after the positioning data is executed, and the LOOP control is not executed.
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Chapter 10 High-Level Positioning Control Chapter 10 High-Level Positioning Control The details and usage of high-level positioning control (control functions using the "block start data") are explained in this chapter. High-level positioning control is used to carry out applied control using the "positioning data".
Chapter 10 High-Level Positioning Control 10.1 Outline of high-level positioning control In "high-level positioning control" the execution order and execution conditions of the "positioning data" are set to carry out more applied positioning. (The execution order and execution conditions are set in the "block start data" and "condition data".) The following applied positioning controls can be carried out with "high-level positioning control".
Chapter 10 High-Level Positioning Control 10.1.1 Data required for high-level positioning control "High-level positioning control" is executed by setting the required items in the "block start data" and "condition data", then starting that "block start data". Judgment about whether execution is possible, etc., is carried out at execution using the "condition data" designated in the "block start data". "Block start data" can be set for each No. from 7000 to 7004 (called "block Nos.
Chapter 10 High-Level Positioning Control 10.1.2 "Block start data" and "condition data" configuration The "block start data" and "condition data" corresponding to "block No. 7000" can be stored in the buffer memory. • QD77MS2/QD77MS4 50th point Buffer memory address Setting item 2nd point 1st point Setting item Setting item Block start data b15 b8b7 Buffer memory Buffer memory address address b0 26049+1000n 26001+1000n 26000+1000n Da.11 Shape b15 Da.12 Start data No.
Chapter 10 High-Level Positioning Control • QD77MS16 50th point Buffer memory address Setting item 2nd point 1st point Setting item Setting item Block start data b15 b8b7 Buffer memory Buffer memory address address b0 22049+400n 22001+400n 22000+400n Da.11 Shape b15 Da.12 Start data No. b8b7 22099+400n b0 22051+400n 22050+400n Da.14 Parameter Da.13 Special start instruction No.10 Buffer memory address Setting item No.2 No.
Chapter 10 High-Level Positioning Control 10.2 High-level positioning control execution procedure High-level positioning control is carried out using the following procedure. Preparation STEP 1 Refer to Chapter 9 Carry out the "major positioning control" setting. Set the "block start data" corresponding to each STEP 2 Refer to Section 10.3 STEP 3 Refer to Section 10.4 STEP 4 Refer to Section 10.
Chapter 10 High-Level Positioning Control 10.3 Setting the block start data 10.3.1 Relation between various controls and block start data The "block start data" must be set to carry out "high-level positioning control". The setting requirements and details of each "block start data" item to be set differ according to the "[Da.13] Special start instruction" setting. The following shows the "block start data" setting items corresponding to various control systems.
Chapter 10 High-Level Positioning Control 10.3.2 Block start (normal start) In a "block start (normal start)", the positioning data groups of a block starting from the positioning data set in "[Da.12]Start data No." are continuously executed with the set order by starting once.. Section [2] shows a control example where the "block start data" and "positioning data" are set as shown in section [1]. [1] Setting examples (1) Block start data setting example [Da.
Chapter 10 High-Level Positioning Control [2] Control examples The following shows the control executed when the "block start data" of the 1st point of axis 1 is set as shown in section [1] and started. <1> The positioning data is executed in the following order before stopping. 2 3 4 5 6 10 15. Axis 1 positioning data No.
Chapter 10 High-Level Positioning Control 10.3.3 Condition start In a "condition start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the "block start data" set in "1: condition start" is executed. If the conditions have not been established, that "block start data" will be ignored, and the "block start data" of the next point will be executed.
Chapter 10 High-Level Positioning Control 10.3.4 Wait start In a "wait start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the "block start data" is executed. If the conditions have not been established, the control stops (waits) until the conditions are established.
Chapter 10 High-Level Positioning Control 10.3.5 Simultaneous start In a "simultaneous start", the positioning data set in the "[Da.12] Start data No." and positioning data of other axes set in the "condition data" are simultaneously executed (commands are output with the same timing). (The "condition data" is designated with "[Da.14] Parameter".) Section [2] shows a control example where the "block start data" and "positioning data" are set as shown in section [1].
Chapter 10 High-Level Positioning Control 10.3.6 Repeated start (FOR loop) In a "repeated start (FOR loop)", the data between the "block start data" in which "4: FOR loop" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT start" is set in "[Da.13] Special start instruction " is repeatedly executed for the number of times set in "[Da.14] Parameter". An endless loop will result if the number of repetitions is set to "0". (The number of repetitions is set in "[Da.
Chapter 10 High-Level Positioning Control 10.3.7 Repeated start (FOR condition) In a "repeated start (FOR condition)", the data between the "block start data" in which "5: FOR condition" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT start" is set in "[Da.13] Special start instruction" is repeatedly executed until the establishment of the conditions set in the "condition data".
Chapter 10 High-Level Positioning Control 10.3.8 Restrictions when using the NEXT start The "NEXT start" is an instruction indicating the end of the repetitions when executing Section 10.3.6 "Repeated start (FOR loop)" and Section 10.3.7 "Repeated start (FOR condition)". The following shows the restrictions when setting "6: NEXT start" in the "block start data". (1) The processing when "6: NEXT start" is set before execution of "4: FOR loop" or "5: FOR condition" is the same as that for a "0: block start".
Chapter 10 High-Level Positioning Control 10.4 Setting the condition data 10.4.1 Relation between various controls and the condition data "Condition data" is set in the following cases. (1) When setting conditions during execution of Section 9.2.21 "JUMP instruction" (major positioning control) (2) WHEN SETTING conditions during execution of "high-level positioning control" The "condition data" to be set includes the setting items from [Da.15] to [Da.19] and [Da.23] to [Da.
Chapter 10 High-Level Positioning Control The setting requirements and details of the following "condition data" [Da.16] to [Da.19] and [Da.23] setting items differ according to the "[Da.15] Condition target" setting. The following shows the [Da.16] to [Da.19] and [Da.23] setting items corresponding to the "[Da.15] Condition target". • QD77MS2/QD77MS4 Other setting item [Da.16] Condition operator [Da.
Chapter 10 High-Level Positioning Control • QD77MS16 Other setting item [Da.15] Condition target 01H: Device X 02H: Device Y 03H: Buffer memory (Note-1) (1 word) 04H: Buffer memory (Note-1) (2 words) [Da.16] Condition operator [Da.23] Number of simultaneously starting axes [Da.17] Address 07H : DEV=ON 08H : DEV=OFF 01H : =P1 P1 02H : P1 03H : P1 04H : P 2 05H : P1 P 1 , 06H : P2 — — Buffer memory address 2 3 05H: Positioning data No. – — 4 [Da.18] Parameter 1 0 to 1FH (bit No.
Chapter 10 High-Level Positioning Control 10.4.2 Condition data setting examples The following shows the setting examples for "condition data". (1) QD77MS2/QD77MS4 (a) Setting the device ON/OFF as a condition [Condition] Device "XC" (Axis 1 BUSY signal) is OFF. [Da.15] Condition target [Da.16] Condition operator [Da.17] Address [Da.18] Parameter 1 [Da.
Chapter 10 High-Level Positioning Control (2) QD77MS16 (a) Setting the device ON/OFF as a condition [Condition] Device "X10" (Axis 1 BUSY signal) is OFF. [Da.15] Condition target [Da.16] Condition operator [Da.17] Address 01H: Device X 08H: DEV=OFF — [Da.26] [Da.25] [Da.24] [Da.23] Number of Simultaneously Simultaneously Simultaneously [Da.18] [Da.19] starting axis starting axis Parameter 1 Parameter 2 simultaneously starting axis No.3 No.2 No.
Chapter 10 High-Level Positioning Control 10.5 Multiple axes simultaneous start control The "multiple axes simultaneous start" starts outputting the command to the specified simultaneous starting axis at the same timing as the started axis. The maximum of four axes can be started simultaneously.
Chapter 10 High-Level Positioning Control [3] Multiple axes simultaneous start control procedure The procedure for multiple axes simultaneous start control is as follows. When QD77MS2 Set the following axis control data. Cd.30 Simultaneous starting axis start 1) data No. (axis 1 start data No.) Cd.31 Simultaneous starting axis start data No. (axis 2 start data No.) 2) Write [9004] in " Cd.3 Positioning start No.". Turn ON the positioning start signal to be 3) started.
Chapter 10 High-Level Positioning Control [4] Multiple axes simultaneous start control function setting method The following shows the setting of the data used to execute the multiple axes simultaneous start control with positioning start signals (The axis control data on the start axis is set). [Cd.3] [Cd.43] [Cd.30] Setting item Setting value Positioning start No.
Chapter 10 High-Level Positioning Control [5] Setting examples (1) The following shows the setting examples in which the QD77MS4 [axis 1] is used as the start axis and the simultaneously started axes are used as the axes 2 and 4. Setting value Setting details Buffer memory address (Axis 1) 9004 Set the multiple axes simultaneous start control start No. "9004". 1500 Simultaneous starting axis start [Cd.30] data No. (axis 1 start data No.) 100 The axis 1 starts the positioning data No. 100.
Chapter 10 High-Level Positioning Control POINTS (1) The "multiple axes simultaneous start control" carries out an operation equivalent to the "simultaneous start" using the "block start data". (2) The setting of the "multiple axes simultaneous start control" is easier than that of the "simultaneous start" using the "block start data".
Chapter 10 High-Level Positioning Control 10.6 Start program for high-level positioning control 10.6.1 Starting high-level positioning control To execute high-level positioning control, a sequence program must be created to start the control in the same method as for major positioning control. The following shows the procedure for starting the "1st point block start data" (regarded as block No. 7000) set in axis 1.
Chapter 10 High-Level Positioning Control 10.6.2 Example of a start program for high-level positioning control The following shows an example of a start program for high-level positioning control in which the 1st point "block start data" of axis 1 is started. (The block No. is regarded as "7000".) Control data that require setting The following control data must be set to execute high-level positioning control. The setting is carried out using a sequence program. Setting item Setting value [Cd.
Chapter 10 High-Level Positioning Control Start time chart The following chart shows a time chart in which the positioning data No. 1, 2, 10, 11, and 12 of QD77MS4 [axis 1] are continuously executed as an example. (1) Block start data setting example [Da.11] Shape Axis 1 block start data [Da.12] Start data No. [Da.13] Special start instruction [Da.14] Parameter 1st point 1: Continue 1 0: Block start – 2nd point 0: End 10 0: Block start – (2) Positioning data setting example [Da.
Chapter 10 High-Level Positioning Control Creating the program [QD77MS4 program example] Set the block start data beforehand. Positioning start command PLS M104 M104 Y10 XC TO H0 K1500 K7000 K1 TO H0 K1501 K1 K1 SET Y10 Y10: Positioning start signal XC: BUSY signal M104: Positioning start command pulse 10 - 29
Chapter 10 High-Level Positioning Control MEMO 10 - 30
Chapter 11 Manual Control Chapter 11 Manual Control The details and usage of manual control are explained in this chapter. In manual control, commands are issued during a JOG operation and an inching operation executed by the turning ON of the JOG START signal, or from a manual pulse generator connected to the Simple Motion module. Manual control using a sequence program from the PLC CPU is explained in this chapter.
Chapter 11 Manual Control 11.1 Outline of manual control 11.1.1 Three manual control methods "Manual control" refers to control in which positioning data is not used, and a positioning operation is carried out in response to signal input from an external device. The three types of this "manual control" are explained below. [1] JOG operation "JOG operation" is a control method in which the machine is moved by only a movement amount (commands are continuously output while the JOG START signal is ON).
Chapter 11 Manual Control [3] Manual pulse generator operation "Manual pulse generator operation" is a control method in which positioning is carried out in response to the number of pulses input from a manual pulse generator (the number of input command is output). This operation is used for manual fine adjustment, etc., when carrying out accurate positioning to obtain the positioning address.
Chapter 11 Manual Control 11.2 JOG operation 11.2.1 Outline of JOG operation JOG operation In JOG operation, the forward run JOG start signal or reverse run JOG start signal turns ON, causing pulses to be output to the servo amplifier from the Simple Motion module while the signal is ON. The workpiece is then moved in the designated direction. Signal Forward run JOG start signal Reverse run JOG start signal QD77MS2 QD77MS4 Y8, YA Y8, YA, YC, YE [Cd.181] Forward run JOG start Y9, YB, YD, YF [Cd.
Chapter 11 Manual Control Important Use the hardware stroke limit function when carrying out JOG operation near the upper or lower limits. (Refer to Section "13.4.4".) If the hardware stroke limit function is not used, the workpiece may exceed the moving range, causing an accident. Precautions during operation The following details must be understood before carrying out JOG operation. (1) For safety, set a small value to "[Cd.17] JOG speed" at first and check the movement.
Chapter 11 Manual Control JOG operation timing and processing time The following drawing shows details of the JOG operation timing and processing time. [QD77MS4 operation example] ON Forward run JOG start signal OFF [Y8, YA, YC, YE] t2 Reverse run JOG start signal OFF [Y9, YB, YD, YF] ON BUSY signal [XC, XD, XE, XF] OFF t1 t4 Md.
Chapter 11 Manual Control 11.2.2 JOG operation execution procedure The JOG operation is carried out by the following procedure. Preparation STEP 1 Set the parameters. ( Pr.1 to Pr.39 ) Refer to Chapter 5 and Section 11.2.3. STEP 2 One of the following two methods can be used. Directly set (write) the parameters in the Simple Motion module using GX Works2. Set (write) the parameters from the PLC CPU to the Simple Motion module using the sequence program.
Chapter 11 Manual Control 11.2.3 Setting the required parameters for JOG operation The "Positioning parameters" must be set to carry out JOG operation. The following table shows the setting items of the required parameters for carrying out JOG operation. Parameters not shown below are not required to be set for carrying out only JOG operation. (Set the initial value or a value within the setting range.) Positioning parameters Setting item Setting requirement [Pr.1] [Pr.2] [Pr.3] [Pr.4] [Pr.7] [Pr.
Chapter 11 Manual Control REMARK Parameter settings work in common for all controls using the Simple Motion module. When carrying out other controls ("major positioning control", "high-level positioning control", "OPR positioning control"), set the respective setting items as well. Parameters are set for each axis. Refer to Chapter 5 "Data Used for Positioning Control" for the setting details.
Chapter 11 Manual Control 11.2.4 Creating start programs for JOG operation A sequence program must be created to execute a JOG operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a JOG operation is started for axis 1. ("[Cd.17] JOG speed" is set to "100.00mm/min" in the example shown.) Required control data setting The control data shown below must be set to execute a JOG operation.
Chapter 11 Manual Control Start time chart [QD77MS4 operation example] Forward JOG run t Reverse JOG run ON Forward run JOG start signal [Y8] OFF Reverse run JOG start signal [Y9] OFF PLC READY signal [Y0] OFF All axis servo ON [Y1] OFF READY signal [X0] OFF BUSY signal [XC] OFF Error detection signal [X8] OFF ON ON ON ON ON (Note): Refer to Section 3.3 for input/output signal of QD77MS16. Fig. 11.6 JOG operation start time chart Creating the program [QD77MS4 program example] No.
Chapter 11 Manual Control 11.2.5 JOG operation example When the "stop signal" is turned ON during JOG operation When the "stop signal" is turned ON during JOG operation, the JOG operation will stop by the "deceleration stop" method. If the JOG start signal is turned ON while the stop signal is ON, the error "Stop signal ON at start" (error code: 106) will occur. The operation can be started by turning the stop signal OFF, and turning the JOG start signal from OFF to ON again.
Chapter 11 Manual Control When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis, the "forward run JOG start signal" is given priority. In this case, the "reverse run JOG start signal" is validated when the BUSY signal of Simple Motion module is turned OFF.
Chapter 11 Manual Control When the "JOG start signal" is turned ON again during deceleration caused OFF of the "JOG start signal" by the ON When the "JOG start signal" is turned ON again during deceleration caused by the OFF of the "JOG start signal", the JOG operation will be carried out from ON the time the "JOG start signal" is turned ON.
Chapter 11 Manual Control 11.3 Inching operation 11.3.1 Outline of inching operation Inching operation In inching operation, pulses are output to the servo amplifier at operation cycle to move the workpiece by a designated movement amount after the forward run JOG start signal or reverse JOG start signal is turned ON. QD77MS2 QD77MS4 QD77MS16 Forward run JOG start signal Signal Y8, YA Y8, YA, YC, YE [Cd.181] Forward run JOG start Reverse run JOG start signal Y9, YB Y9, YB, YD, YF [Cd.
Chapter 11 Manual Control Important When the inching operation is carried out near the upper or lower limit, use the hardware stroke limit function (Refer to Section 13.4.4). If the hardware stroke limit function is not used, the workpiece may exceed the movement range, and an accident may result. Precautions during operation The following details must be understood before inching operation is carried out. (1) Acceleration/deceleration processing is not carried out during inching operation.
Chapter 11 Manual Control Inching operation timing and processing times The following drawing shows the details of the inching operation timing and processing time. [QD77MS4 operation example] ON Forward run JOG start signal OFF [Y8, YA, YC, YE] Reverse run JOG start signal OFF [Y9, YB, YD, YF] ON BUSY signal [XC, XD, XE, XF] OFF t3 t1 Md.26 Axis operation status Standby (0) Cd.
Chapter 11 Manual Control 11.3.2 Inching operation execution procedure The inching operation is carried out by the following procedure. Preparation STEP 1 Set the parameters. ( Pr.1 to Pr.31 ) Refer to Chapter 5 and Section 11.3.3. STEP 2 One of the following two methods can be used. Directly set (write) the parameters in the Simple Motion module using GX Works2. Set (write) the parameters from the PLC CPU to the Simple Motion module using the sequence program.
Chapter 11 Manual Control 11.3.3 Setting the required parameters for inching operation The "Positioning parameters" must be set to carry out inching operation. The following table shows the setting items of the required parameters for carrying out inching operation. Parameters not shown below are not required to be set for carrying out only inching operation. (Set the initial value or a value within the setting range.
Chapter 11 Manual Control 11.3.4 Creating a program to enable/disable the inching operation A sequence program must be created to execute an inching operation. Consider the "required control data setting", "start conditions", and "start time chart" when creating the program. The following shows an example when an inching operation is started for axis 1. (The example shows the inching operation when a "10.0 µm" is set in "[Cd.16] Inching movement amount".
Chapter 11 Manual Control Start time chart [QD77MS4 operation example] Forward run inching operation t Reverse run inching operation ON Forward run JOG start signal [Y8] OFF ON Reverse run JOG start signal [Y9] OFF ON PLC READY signal [Y0] OFF ON All axis servo ON [Y1] OFF READY signal [X0] OFF BUSY signal [XC] OFF Error detection signal [X8] OFF Positioning complete signal [X14] OFF ON ON (Note): Refer to Section 3.3 for input/output signal of QD77MS16. Fig. 11.
Chapter 11 Manual Control 11.3.5 Inching operation example When executing inching operation while stop signal is turned ON If the JOG start signal is turned ON while the stop signal is ON, the error "Stop signal ON at start" (error code: 106) will occur. The inching operation can be re-started when the stop signal is turned OFF and the JOG start signal is turned ON from OFF. [QD77MS4 operation example] Ignores that the JOG start signal is turned ON from OFF while the stop signal is ON.
Chapter 11 Manual Control When the "JOG start signal" is turned ON while the test function of GX Works2 is used When the "JOG star signal" is turned ON while the test function is used, it will be ignored and the inching operation will not be carried out. [QD77MS4 operation example] Inching operation not possible because the test function is being used.
Chapter 11 Manual Control 11.4 Manual pulse generator operation 11.4.1 Outline of manual pulse generator operation Manual pulse generator operation In manual pulse generator operations, pulses are input to the Simple Motion module from the manual pulse generator. This causes the same number of input command to be output from the Simple Motion module to the servo amplifier, and the workpiece is moved in the designated direction. The following shows an example of manual pulse generator operation. When "[Cd.
Chapter 11 Manual Control Restricted items A manual pulse generator is required to carry out manual pulse generator operation. Precautions during operation The following details must be understood before carrying out manual pulse generator operation. (1) The speed during manual pulse generator operation is not limited by the "[Pr.8] Speed limit value". (2) If "[Cd.
Chapter 11 Manual Control Operations when stroke limit error occurs When the hardware stroke limit error or the software stroke limit error is detected (Note-1) during operation, the operation will decelerate to a stop. However, in case of "[Md.26] Axis operation status", "Manual pulse generator operation" will (Note-1) . After stopping, manual pulse generator input pulses to the continue outside direction of the limit range are not accepted, but operation can be executed within the range.
Chapter 11 Manual Control Normal timing times Unit : [ms] Operation cycle QD77MS2 QD77MS4 QD77MS16 t1 t2 t3 t4 0.88 0.6 to 0.9 10.0 to 15.0 18.0 to 25.0 9.6 1.77 0.6 to 1.8 10.0 to 15.0 18.0 to 25.0 9.6 0.88 0.6 to 0.9 10.0 to 15.0 18.0 to 25.0 9.6 1.77 0.6 to 1.8 10.0 to 15.0 18.0 to 25.0 9.6 0.88 0.6 to 0.9 10.0 to 15.0 18.0 to 25.0 9.6 1.77 0.8 to 1.8 10.0 to 15.0 18.0 to 25.0 9.6 Delays may occur in the t1 timing time due to the operation status of other axes.
Chapter 11 Manual Control 11.4.2 Manual pulse generator operation execution procedure The manual pulse generator operation is carried out by the following procedure. Preparation STEP 1 Set the parameters. ( Pr.1 to Pr.24 , Pr.89 ) Refer to Chapter 5 and Section 11.4.3. STEP 2 Refer to Section 11.4.4. One of the following two methods can be used. Directly set (write) the parameters in the Simple Motion module using GX Works2.
Chapter 11 Manual Control 11.4.3 Setting the required parameters for manual pulse generator operation The "Positioning parameters" must be set to carry out manual pulse generator operation. The following table shows the setting items of the required parameters for carrying out manual pulse generator operation. Parameters not shown below are not required to be set for carrying out only manual pulse generator operation. (Set the initial value or a value within the setting range.
Chapter 11 Manual Control 11.4.4 Creating a program to enable/disable the manual pulse generator operation A sequence program must be created to execute a manual pulse generator operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a manual pulse generator operation is started for axis 1.
Chapter 11 Manual Control Start time chart [QD77MS4 operation example] Forward run t Reverse run Pulse input A phase Pulse input B phase ON [Y0] PLC READY signal [Y1] All axis servo ON OFF ON OFF ON OFF READY signal [X0] Start complete signal [X10] OFF BUSY signal [XC] OFF Error detection signal [X8] OFF ON Cd. 21 Manual pulse generator 0 1 0 enable flag 1 Cd. 20 Manual pulse generator 1 pulse input magnification (Note): Refer to Section 3.3 for input/output signal of QD77MS16. Fig.
Chapter 11 Manual Control MEMO 11 - 32
Chapter 12 Expansion Control Chapter 12 Expansion Control The details and usage of expansion control are explained in this chapter. Expansion control includes the speed-torque control to execute the speed control and torque control not including position loop and the synchronous control to synchronize with input axis using software with "synchronous control parameter" instead of controlling mechanically with gear, shaft, speed change gear or cam, etc. Execute the required settings to match each control.
Chapter 12 Expansion Control 12.1 Speed-torque control 12.1.1 Outline of speed-torque control This function is used to execute the speed control or torque control that does not include the position loop for the command to servo amplifier. "Continuous operation to torque control mode" that switches the control mode to torque control mode without stopping the servomotor during positioning operation is also available for tightening a bottle cap or a screw.
Chapter 12 Expansion Control CAUTION If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servomotor stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal relay protection.
Chapter 12 Expansion Control 12.1.2 Setting the required parameters for speed-torque control The "Positioning parameters" must be set to carry out speed-torque control. The following table shows the setting items of the required parameters for carrying out speed-torque control. Parameters not shown below are not required to be set for carrying out only speed-torque control. (Set the initial value or a value within the setting range.) Positioning parameters Setting item [Pr.1] Unit setting [Pr.
Chapter 12 Expansion Control 12.1.3 Setting the required data for speed-torque control Required control data setting for the control mode switching The control data shown below must be set to execute the control mode switching. Setting item [Cd.138] Control mode switching request Buffer memory address Setting value 1 [Cd.139] Control mode setting Setting details QD77MS2 QD77MS16 QD77MS4 Set "1: Switching request" after setting "[Cd.139] Control mode setting".
Chapter 12 Expansion Control Required control data setting for the torque control mode The control data shown below must be set to execute the torque control. Setting item [Cd.143] Buffer memory address Setting value Command torque at torque control mode Setting details QD77MS2 QD77MS16 QD77MS4 Set the command torque at torque control 1580+100n 4380+100n mode. Torque time constant at torque control [Cd.144] mode (Forward direction) Set the time constant at driving during torque control mode.
Chapter 12 Expansion Control 12.1.4 Operation of speed-torque control [1] Switching of control mode (Speed control/Torque control) Switching method of control mode To switch the control mode to the speed control or the torque control, set "1" in "[Cd.138] Control mode switching request" after setting the control mode in "[Cd.139] Control mode setting".
Chapter 12 Expansion Control The history of control mode switching is stored to the start history at request of control mode switching. (Refer to Section 5.6.1 "System monitor data".) Confirm the control mode with "control mode (high-order buffer memory address: b2, b3)" of "[Md.108] Servo status". (Refer to Section 5.6.2 "Axis monitor data".) Buffer memory address (High-order) QD77MS2/QD77MS4 QD77MS16 877+100n 2477+100n [Md.108] Servo status: b2, b3 n: Axis No.
Chapter 12 Expansion Control The following chart shows the operation timing for axis 1. [QD77MS4 operation example] V Position control mode Speed control mode Position control mode 30000 20000 0 t 6 to 11ms 0 Cd.138 Control mode switching request 1 0 0 Cd.139 Control mode setting BUSY signal [XC] 1 10 Cd.140 Command speed at speed control mode 0 20000 0 0 30000 0 ON OFF 0 Md.26 Axis operation status Control mode ( Md.108 Servo status: b2, b3) Zero speed ( Md.
Chapter 12 Expansion Control Operation for "Position control mode ↔ Torque control mode switching" When the position control mode is switched to the torque control mode, the command torque immediately after the switching is the torque set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque control mode". Torque initial value selection ([Pr.
Chapter 12 Expansion Control When the torque control mode is switched to the position control mode, the command position immediately after the switching is the current feed value at switching. The following chart shows the operation timing for axis 1. [QD77MS4 operation example] Torque Position control mode Torque control mode Position control mode 30.0% 20.0% 0 t 6 to 11ms Cd.138 Control mode switching request Cd.139 Control mode setting 0 1 0 0 Cd.
Chapter 12 Expansion Control Operation for "Speed control mode ↔ Torque control mode switching" When the speed control mode is switched to the torque control mode, the command torque immediately after the switching is the torque set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque control mode". Torque initial value selection ([Pr.
Chapter 12 Expansion Control When the torque control mode is switched to the speed control mode, the command speed immediately after the switching is the motor speed at switching. The following chart shows the operation timing for axis 1. [QD77MS4 operation example] V Speed control mode Torque control mode Speed control mode 30000 20000 0 t Torque 20.0% 0 6 to 11ms Cd.138 Control mode switching request 0 Cd.139 Control mode setting 10 Cd.
Chapter 12 Expansion Control [2] Switching of control mode (Continuous operation to torque control) Switching method of control mode To switch the control mode to the continuous operation to torque control mode, set "1" in "[Cd.138] Control mode switching request" after setting the control mode to switch to "[Cd.139] Control mode setting" (30: Continuous operation to torque control mode) from position control mode or speed control mode. The selected control mode can be checked in "[Md.
Chapter 12 Expansion Control The history of control mode switching is stored to the start history at request of control mode switching. (Refer to Section 5.6.1 "System monitor data".) Confirm the status of the continuous operation to torque control mode with "b14: Continuous operation to torque control mode" of "[Md.125] Servo status3". When the mode is switched to the continuous operation to torque control mode, the value in "control mode (high-order buffer memory address: b2, b3)" of "[Md.
Chapter 12 Expansion Control Operation for "Position control mode ↔ Continuous operation to torque control mode switching" To switch to the continuous operation to torque control mode, set the control data used in the control mode before setting "1" in "[Cd.138] Control mode switching request".
Chapter 12 Expansion Control The following chart shows the operation timing for axis 1. [QD77MS4 operation example] V Position control mode Continuous operation to torque control mode Position control mode Contact with target 1000 0 t Torque 30.0% 0 t 6 to 11 ms Cd.138 Control mode switching request Cd.139 Control mode setting 0 6 to 11 ms 1 0 0 1 30 0 0 ON BUSY signal [XC] OFF Md.26 Axis operation status Md.124 Control mode switching status Continuous operation to torque control ( Md.
Chapter 12 Expansion Control Operation for "Speed control mode ↔ Continuous operation to torque control mode switching" To switch to the continuous operation to torque control mode, set the control data used in the control mode before setting "1" in "[Cd.138] Control mode switching request".
Chapter 12 Expansion Control The following chart shows the operation timing for axis 1. [QD77MS4 operation example] V Speed control mode Continuous operation to torque control mode Speed control mode 10000 Contact with target 1000 0 t -10000 Torque 30.0% 0 t 6 to 11 ms Cd.138 Control mode switching request Cd.139 Control mode setting 0 6 to 11 ms 1 0 10 1 0 30 10 ON BUSY signal [XC] Md.26 Axis operation status 31 Md.
Chapter 12 Expansion Control Operation for switching from "Position control mode" to "Continuous operation to torque control mode" automatically To switch to the continuous operation to torque control mode automatically when the conditions set in "[Cd.153] Control mode auto-shift selection" and "[Cd.154] Control mode auto-shift parameter" are satisfied, set the control data necessary in the continuous operation to torque control mode, "[Cd.153] Control mode autoshift selection" and "[Cd.
Chapter 12 Expansion Control POINT (1) Automatic switching is valid only when the control mode is switched from the position control mode to the continuous operation to torque control mode.
Chapter 12 Expansion Control The following chart shows the operation when "1: Current feed value pass" is set in "[Cd.153] Control mode auto-shift selection". V Position control mode Continuous operation to torque control mode Contact with target t 1000 0 Current feed value passes the address "adr" set in " Cd.154 Control mode auto-shift parameter". Torque 30.0% 0 t 6 to 11 ms Cd.138 Control mode switching request 0 1 Cd.139 Control mode setting 0 30 Cd.
Chapter 12 Expansion Control [3] Speed control mode Operation for speed control mode The speed control is executed at the speed set in "[Cd.140] Command speed at speed control mode" in the speed control mode. Set a positive value for forward rotation and a negative value for reverse rotation. "[Cd.140]" can be changed any time during the speed control mode. Acceleration/deceleration is performed based on a trapezoidal acceleration/deceleration processing. Set acceleration/deceleration time toward "[Pr.
Chapter 12 Expansion Control Stop cause during speed control mode The operation for stop cause during speed control mode is shown below. Item Operation during speed control mode Axis stop [Y4 to Y7] turned ON. QD77MS2 The motor decelerates to speed "0" according to QD77MS4 "[Cd.180] Axis stop" turned ON. the setting value of "[Cd.142] Deceleration time at QD77MS16 Stop signal of "[Cd.44] External input signal operation device" turned ON. All axis servo ON [Y1] turned OFF. "[Cd.
Chapter 12 Expansion Control [4] Torque control mode Operation for torque control mode The torque control is executed at the command torque set in "[Cd.143] Command torque at torque control mode" in the torque control mode. "[Cd.143] Command torque at torque control mode" can be changed any time during torque control mode.
Chapter 12 Expansion Control Set time for the command torque to increase from 0% to "[Pr.17] Torque limit setting value" in "[Cd.144] Torque time constant at torque control mode (Forward direction)" and for the command torque to decrease from "[Pr.17] Torque limit setting value" to 0% in "[Cd.145] Torque time constant at torque control mode (Negative direction)". The value at torque control mode switching request is valid for "[Cd.144]" and "[Cd.145]".
Chapter 12 Expansion Control Speed during torque control mode The speed during the torque control mode is controlled with "[Cd.146] Speed limit value at torque control mode". At this time, "Speed limit" ("[Md.108] Servo status" (low-order buffer memory address): b4) turns ON. Buffer memory address (Low-order) [Md.108] Servo status: b4 QD77MS2/QD77MS4 QD77MS16 876+100n 2476+100n n: Axis No.-1 "[Cd.
Chapter 12 Expansion Control Stop cause during torque control mode The operation for stop cause during torque control mode is shown below. Item Operation during torque control mode Axis stop [Y4 to Y7] turned ON. QD77MS2 QD77MS4 "[Cd.180] Axis stop" turned ON. QD77MS16 Stop signal of "[Cd.44] External input signal operation device" turned ON. The speed limit value commanded to servo amplifier is "0" regardless of the setting value of "[Cd.146] Speed limit value at torque control mode".
Chapter 12 Expansion Control [5] Continuous operation to torque control mode Operation for continuous operation to torque control mode In continuous operation to torque control, the torque control can be executed without stopping the operation during the positioning in position control mode or speed command in speed control mode. During the continuous operation to torque control mode, the torque control is executed at the command torque set in "[Cd.
Chapter 12 Expansion Control Torque command setting method During the continuous operation to torque control mode, set time for the command torque to increase from 0% to "[Pr.17] Torque limit setting value" in "[Cd.151] Torque time constant at continuous operation to torque control mode (Forward direction)" and for the command torque to decrease from "[Pr.17] Torque limit setting value" to 0% in "[Cd.152] Torque time constant at continuous operation to torque control mode (Negative direction)".
Chapter 12 Expansion Control Speed limit value setting method Acceleration/deceleration is performed based on a trapezoidal acceleration/deceleration processing. Set acceleration/deceleration time toward "[Pr.8] Speed limit value" in "[Cd.148] Acceleration time at continuous operation to torque control mode" and "[Cd.149] Deceleration time at continuous operation to torque control mode". The value at continuous operation to torque control mode switching is valid for "[Cd.148]" and "[Cd.149]". "[Cd.
Chapter 12 Expansion Control Speed during continuous operation to torque control mode The speed during the continuous operation to torque control mode is controlled with an absolute value of the value set in "[Cd.147] Speed limit value at continuous operation to torque control mode" as command speed. When the speed reaches the absolute value of "[Cd.147] Speed limit value at continuous operation to torque control mode", "Speed limit" ("[Md.108] Servo status" (low-order buffer memory address): b4) turns ON.
Chapter 12 Expansion Control Stop cause during continuous operation to torque control mode The operation for stop cause during continuous operation to torque control mode is shown below. Item Operation during continuous operation to torque control mode Axis stop [Y4 to Y7] turned ON. QD77MS2 QD77MS4 "[Cd.180] Axis stop" turned ON. QD77MS16 Stop signal of "[Cd.44] External input signal operation device" turned ON.
Chapter 12 Expansion Control 12.2 Synchronous control "Synchronous control" can be achieved using software instead of controlling mechanically with gear, shaft, speed change gear or cam, etc. "Synchronous control" synchronizes movement with the input axis (servo input axis or synchronous encoder axis), by setting "the parameters for synchronous control" and starting synchronous control on each output axis.
Chapter 13 Control Sub Functions Chapter 13 Control Sub Functions The details and usage of the "sub functions" added and used in combination with the main functions are explained in this chapter. A variety of sub functions are available, including functions specifically for machine OPR and generally related functions such as control compensation, etc. More appropriate, finer control can be carried out by using these sub functions.
Chapter 13 Control Sub Functions 13.1 Outline of sub functions "Sub functions" are functions that compensate, limit, add functions, etc., to the control when the main functions are executed. These sub functions are executed by parameter settings, operation from GX Works2, sub function sequence programs, etc. 13.1.1 Outline of sub functions The following table shows the types of sub functions available.
Chapter 13 Control Sub Functions Sub function Absolute position system function Details This function restores the absolute position of designated axis. By this function, the OPR after power ON from OFF is not required once the OPR is executed when the system operation is started. Step function This function temporarily stops the operation to confirm the positioning operation during debugging, etc. The operation can be stopped at each "automatic deceleration" or "positioning data".
Chapter 13 Control Sub Functions 13.2 Sub functions specifically for machine OPR The sub functions specifically for machine OPR include the "OPR retry function" and "OP shift function". Each function is executed by parameter setting. 13.2.1 OPR retry function When the workpiece goes past the OP without stopping during positioning control, it may not move back in the direction of the OP although a machine OPR is commanded, depending on the workpiece position.
Chapter 13 Control Sub Functions (2) OPR retry operation when the workpiece is outside the range between the upper and lower limits. 1) When the direction from the workpiece to the OP is the same as the "[Pr.44] OPR direction", a normal machine OPR is carried out. Machine OPR start OP Pr. 44 OPR direction Hardware upper limit switch Hardware lower limit switch Near-point dog Zero signal Movement range 2) When the direction from the workpiece to the OP is the opposite direction from the "[Pr.
Chapter 13 Control Sub Functions (3) Setting the dwell time during an OPR retry The OPR retry function can perform such function as the dwell time using "[Pr.57] Dwell time during OPR retry" when the reverse run operation is carried out due to detection by the limit signal for upper and lower limits and when the machine OPR is executed after the near point dog is turned OFF to stop the operation. "[Pr.
Chapter 13 Control Sub Functions POINT The settings of the upper/lower stroke limit signal are shown below. The OPR retry function can be used with either setting. (Refer to Section 13.4.4 "Hardware stroke limit function".
Chapter 13 Control Sub Functions 13.2.2 OP shift function When a machine OPR is carried out, the OP is normally established using the nearpoint dog or zero signal. However, by using the OP shift function, the machine can be moved a designated movement amount from the position where the zero signal was detected. A mechanically established OP can then be interpreted at that point. The details shown below explain about the "OP shift function".
Chapter 13 Control Sub Functions [2] Setting range for the OP shift amount Set the OP shift amount within the range from the detected zero signal to the upper/lower limit switches. Setting range of the negative OP shift amount Setting range of the positive OP shift amount Address decrease direction Address increase direction Near-point dog Upper limit switch Lower limit switch Pr. 44 OPR direction Zero signal Fig. 13.
Chapter 13 Control Sub Functions (2) OP shift operation at the "[Pr.47] Creep speed" (When "[Pr.56] Speed designation during OP shift" is 1) Pr. 44 OPR direction V Pr. 47 Creep speed OP When the " Pr. 53 OP shift amount" is positive OP Machine OPR start When the " Pr. 53 OP shift amount" is negative Near-point dog Zero signal Fig. 13.7 OP shift operation at the creep speed [4] Precautions during control (1) The following data are set after the OP shift amount is complete. OPR complete flag ([Md.
Chapter 13 Control Sub Functions 13.3 Functions for compensating the control The sub functions for compensating the control include the "backlash compensation function", "electronic gear function", and "near pass function". Each function is executed by parameter setting or sequence program creation and writing. 13.3.1 Backlash compensation function The "backlash compensation function" compensates the backlash amount in the mechanical system.
Chapter 13 Control Sub Functions [2] Precautions during control (1) The feed command of the backlash compensation amount are not added to the "[Md.20] Current feed value" or "[Md.21] Machine feed value". (2) Always carry out a machine OPR before starting the control when using the backlash compensation function (when "[Pr.11] Backlash compensation amount" is set). The backlash in the mechanical system cannot be correctly compensated if a machine OPR is not carried out.
Chapter 13 Control Sub Functions 13.3.2 Electronic gear function The "electronic gear function" adjusts the actual machine movement amount and number of pulse output to servo amplifier according to the parameters set in the Simple Motion module. The "electronic gear function" has the following three functions ( [A] to [C] ).
Chapter 13 Control Sub Functions [1] Basic concept of the electronic gear The electronic gear is an item which determines how many rotations (rotations by how many pulses) the motor must make in order to move the machine according to the programmed movement amount. Simple Motion module Command Control unit value AP AL AM PLS Servo amplifier Reduction ratio PLS Machine M ENC PLS Feedback pulse The basic concept of the electronic gear is represented by the following expression. [Pr.
Chapter 13 Control Sub Functions (1) For "Ball screw" + "Reduction gear" When the ball screw pitch is 10mm, the motor is the HG-KR (4194304 PLS/rev) and the reduction ratio of the reduction gear is 9/44. Machine M Reduction ratio 9/44 First, find how many millimeters the load (machine) will travel ( S) when the motor turns one revolution (AP).
Chapter 13 Control Sub Functions (2) When "PLS (pulse)" is set as the control unit When using PLS (pulse) as the control unit, set the electronic gear as follows. AP = "Number of pulses per rotation" AL = "Movement amount per rotation" AM = 1 Example) When the motor is the HG-KR (4194304PLS/rev) AP = 4194304 .. [Pr.2] AL = 4194304 .. [Pr.3] AM = 1 ………... [Pr.
Chapter 13 Control Sub Functions Thus, AP, AL and AM to be set are as follows. AP = 2883584 ……[Pr.2] AL = 67.50000 AM = 1 ….[Pr.3] or ………..….[Pr.4] AP = 2883584 …[Pr.2] AL …[Pr.3] = 0.06750 AM = 1000 …….[Pr.4] Note): These two examples of settings are only examples. There are settings other than these examples.
Chapter 13 Control Sub Functions AL has a significant number to first decimal place, round down numbers to two decimal places. AP S = AP 166723584 = AL AM 742201.2 = 166723584 (AP) 742201.2 (AL) 1(AM) Thus, AP, AL and AM to be set are as follows. AP = 166723584 ….[Pr.2] AL = 742201.2 ..…..[Pr.3] AM = 1 …………...…[Pr.4] This setting will produce an error for the true machine value, but it cannot be helped. This error is as follows. 7422012/166723584 2362500 /166723584 - 1 100 = -8.
Chapter 13 Control Sub Functions [2] The method for compensating the error When the position control is carried out using the "Electronic gear" set in a parameter, this may produce an error between the command movement amount (L) and the actual movement amount (L'). With Simple Motion module, this error is compensated by adjusting the electronic gear.
Chapter 13 Control Sub Functions 13.3.3 Near pass function When continuous pass control is carried out using interpolation control, the near pass function is carried out. The "near pass function" is a function to suppress the mechanical vibration occurring at the time of switching the positioning data when continuous pass control is carried out using interpolation control.
Chapter 13 Control Sub Functions [2] Precautions during control (1) If the movement amount designated by the positioning data is small when the continuous path control is executed, the output speed may not reach the designated speed. (2) The movement direction is not checked during interpolation operation. Therefore, a deceleration stops are not carried out even if the movement direction changes.
Chapter 13 Control Sub Functions 13.4 Functions to limit the control Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit function", "hardware stroke limit function", and "forced stop function". Each function is executed by parameter setting or sequence program creation and writing. 13.4.
Chapter 13 Control Sub Functions [2] Precautions during control If any axis exceeds "[Pr.8] Speed limit value" during 2- to 4-axis speed control, the axis in excess of the speed limit value is controlled at the speed limit value. The speeds of the other axes interpolated are suppressed depending on their command speed ratios. If the reference axis exceeds "[Pr.
Chapter 13 Control Sub Functions 13.4.2 Torque limit function The "torque limit function" limits the generated torque to a value within the "torque limit value" setting range when the torque generated in the servomotor exceeds the "torque limit value". The "torque limit function" protects the deceleration function, limits the power of the operation pressing against the stopper, etc. It controls the operation so that unnecessary force is not applied to the load and machine.
Chapter 13 Control Sub Functions [2] Control details The following drawing shows the operation of the torque limit function. [QD77MS4 operation example] Each operation PLC READY signal [Y0] All axis servo ON [Y1] Positioning start signal [Y10] 1 1 Torque limit setting value Pr.17 300 250 2 2 Cd.101 Torque output setting value 0 Cd.112 Torque change function switching request 0 (Forward/reverse torque limit value same setting) 3 Cd.22 New torque value/ forward new torque value 0 Md.
Chapter 13 Control Sub Functions [4] Setting the torque limit function (1) To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them to the Simple Motion module. ON) of the PLC a) The set details are validated at the rising edge (OFF READY signal [Y0]. Setting value Setting item Torque limit setting value OPR torque limit [Pr.54] value [Pr.17] Setting details Set the torque limit value as a percentage.
Chapter 13 Control Sub Functions (3) The following table shows the "[Md.35] Torque limit stored value/forward torque limit stored value" and "[Md.120] Reverse torque limit stored value" of the buffer memory address. Monitor item Monitor value Torque limit stored [Md.35] value/forward torque limit stored value [Md.120] Reverse torque limit stored value Storage details The "torque limit value/forward torque limit stored value" valid at that time is stored. ([Pr.17], [Pr.54], [Cd.22] or [Cd.
Chapter 13 Control Sub Functions 13.4.3 Software stroke limit function In the "software stroke limit function" the address established by a machine OPR is used to set the upper and lower limits of the moveable range of the workpiece. Movement commands issued to addresses outside that setting range will not be executed. In the Simple Motion module, the "current feed value" and "machine feed value" are used as the addresses indicating the current position.
Chapter 13 Control Sub Functions The following drawing shows the differences in the operation when "[Md.20] Current feed value" and "[Md.21] Machine feed value" are used in the moveable range limit check. [Conditions] Assume the current stop position is 2000, and the upper stroke limit is set to 5000. Moveable range Md. 20 Current feed value Md.
Chapter 13 Control Sub Functions [2] Software stroke limit check details Check details An error shall occur if the current value 1 is outside the software 1) stroke limit range 2. (Check "[Md.20] Current feed value" or "[Md.21] Machine feed value".) An error shall occur if the command address is outside the software 2) stroke limit range. (Check "[Da.6] Positioning address/movement amount".) Processing when an error occurs An "axis error" will occur (error code: 507, 508) 1: Check whether the "[Md.
Chapter 13 Control Sub Functions [3] Relation between the software stroke limit function and various controls Limit check Control type The current value will not be changed if the home position address is outside the software stroke limit range.
Chapter 13 Control Sub Functions [4] Precautions during software stroke limit check (1) A machine OPR must be executed beforehand for the "software stroke limit function" to function properly. (2) During interpolation control, a stroke limit check is carried out for the every current value of both the reference axis and the interpolation axis. Every axis will not start if an error occurs, even if it only occurs in one axis. (3) During circular interpolation control, the "[Pr.
Chapter 13 Control Sub Functions (5) During simultaneous start, a stroke limit check is carried out for the current values of every axis to be started. Every axis will not start if an error occurs, even if it only occurs in one axis. [5] Setting the software stroke limit function To use the "software stroke limit function", set the required values in the parameters shown in the following table, and write them to the Simple Motion module.
Chapter 13 Control Sub Functions [7] Setting when the control unit is "degree" Current value address The "[Md.20] Current feed value" address is a ring address between 0 and 359.99999° . 359.99999° 0° 359.99999° 0° 0° Fig. 13.15 Current value address when the control unit is "degree". Setting the software stroke limit The upper limit value/lower limit value of the software stroke limit is a value between 0 and 359.99999° . (1) Setting when the software stroke limit is to be validated.
Chapter 13 Control Sub Functions 13.4.4 Hardware stroke limit function DANGER When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic using b-contact. If it is set in positive logic using a-contact, a serious accident may occur. In the "hardware stroke limit function", limit switches are set at the upper/lower limit of the physical moveable range, and the control is stopped (by deceleration stop) by the input of a signal from the limit switch.
Chapter 13 Control Sub Functions [1] Control details The following drawing shows the operation of the hardware stroke limit function.
Chapter 13 Control Sub Functions [2] Wiring the hardware stroke limit When using the hardware stroke limit function, wire the terminals of the QD77MS/servo amplifier upper/lower limit stroke limit as shown in the following drawing. As for the 24VDC power supply, the direction of current can be switched. (When "[Pr.
Chapter 13 Control Sub Functions [4] When the hardware stroke limit function is not used When not using the hardware stroke limit function, wire the terminals of the QD77MS/servo amplifier upper/lower limit stroke limit as shown in the following drawing. As for the 24VDC power supply, the direction of current can be switched. When the logic of FLS and RLS is set to "positive logic" using "[Pr.
Chapter 13 Control Sub Functions 13.4.5 Forced stop function DANGER When the forced stop is required to be wired, ensure to wire it in the negative logic using bcontact. Provided safety circuit outside the Simple Motion module so that the entire system will operate safety even when the "[Pr.82] Forced stop valid/invalid selection" is set "1: Invalid". Be sure to use the forced stop signal (EMI) of the servo amplifier.
Chapter 13 Control Sub Functions The following drawing shows the operation of the forced stop function. [QD77MS4 operation example] Forced stop causes occurrence Forced stop causes occurrence Each operation PLC READY signal[Y0] All axis servo ON[Y1] Positioning start signal[Y10] Forced stop input (Input voltage of EMI) Md.50 Forced stop input Md.108 Servo status (b1: Servo ON) Pr.
Chapter 13 Control Sub Functions [3] Setting the forced stop To use the "Forced stop function", set the following data using a sequence program. ON) of the PLC READY The set details are validated at the rising edge (OFF signal [Y0]. Setting value Setting item [Pr.82] Buffer memory address Setting details QD77MS2 QD77MS4 Set the forced stop function. 0: Valid (Forced stop is used) 1: Invalid (Forced stop is not used) Forced stop valid/ invalid selection QD77MS16 35 : Refer to Section 5.2.
Chapter 13 Control Sub Functions 13.5 Functions to change the control details Functions to change the control details include the "speed change function", "override function", "acceleration/deceleration time change function", "torque change function" and "target position change function". Each function is executed by parameter setting or sequence program creation and writing. Refer to Section 3.2.5 "Combination of QD77MS main functions and sub functions" for combination with main function.
Chapter 13 Control Sub Functions [1] Control details The following drawing shows the operation during a speed change. V Speed changes to V2. Speed changes to V3. V1 Operation during positioning by V1. V2 V3 t Md. 40 In speed change processing flag Fig. 13.22 Speed change operation [2] Precautions during control (1) Control is carried out as follows at the speed change during continuous path control.
Chapter 13 Control Sub Functions (3) When the stop command was given to make a stop after a speed change that had been made during position control, the restarting speed depends on the "[Cd.14] New speed value". V Da. 8 Command speed Speed change command Cd. 14 New speed value Restarting Stop command command t Fig. 13.24 Restarting speed after speed change made during position control (4) When the speed is changed by setting "[Cd.14] New speed value" to "0", the operation is carried out as follows.
Chapter 13 Control Sub Functions (5) The warning "Deceleration/stop speed change" (warning code: 500) occurs and the speed cannot be changed in the following cases. During deceleration by a stop command During automatic deceleration during positioning control (6) The warning "Speed limit value over" (warning code: 501) occurs and the speed is controlled at the "[Pr.8] Speed limit value" when the value set in "[Cd.14] New speed value" is larger than the "[Pr.8] Speed limit value".
Chapter 13 Control Sub Functions (2) The following shows the speed change time chart. [QD77MS4 operation example] V Dwell time t Positioning start signal [Y10] PLC READY signal [Y0] All axis servo ON [Y1] [X0] READY signal [X10] Start complete signal [XC] BUSY signal Positioning complete signal [X14] Error detection signal [X8] Md. 40 In speed change processing flag 1 0 0 Cd. 14 New speed value 2000 Cd. 15 Speed change request 0 1 0 (Note): Refer to Section 3.
Chapter 13 Control Sub Functions [4] Setting the speed change function using an external command signal The speed can also be changed using an "external command signal". The following shows the data settings and sequence program example for changing the control speed of axis 1 using an "external command signal". (In this example, the control speed is changed to "10000.00mm/min".) (1) Set the following data to change the speed using an external command signal.
Chapter 13 Control Sub Functions (3) Add the following sequence program to the control program, and write it to the PLC CPU. [QD77MS4 program example] Write 1000000 to D108 and D109. External command valid signal DTOP H0 K1514 D108 K1 [Speed change processing] TOP H0 K1505 K1 Input the external command signal. 13 - 48 K1
Chapter 13 Control Sub Functions 13.5.2 Override function The override function changes the command speed by a designated percentage (1 to 300%) for all control to be executed. The speed can be changed by setting the percentage (%) by which the speed is changed in "[Cd.13] Positioning operation speed override". [1] Control details [2] Precautions during control [3] Setting the override function [1] Control details The following shows that operation of the override function.
Chapter 13 Control Sub Functions [2] Precaution during control (1) When changing the speed by the override function during continuous path control, the speed change will be ignored if there is not enough distance remaining to carry out the change. (2) The warning "Deceleration/stop speed change" (warning code: 500) occurs and the speed cannot be changed by the override function in the following cases. (The value set in "[Cd.13] Positioning operation speed override" is validated after a deceleration stop.
Chapter 13 Control Sub Functions (2) The following shows a time chart for changing the speed using the override function. [QD77MS4 operation example] V Dwell time t Positioning start signal [Y10] PLC READY signal [Y0] All axis servo ON [Y1] READY signal [X0] Start complete signal [X10] [XC] BUSY signal Positioning complete signal [X14] Error detection signal [X8] Cd. 13 Positioning operation speed override 200 (Note): Refer to Section 3.3 for input/output signal of QD77MS16. Fig.13.
Chapter 13 Control Sub Functions 13.5.3 Acceleration/deceleration time change function The "acceleration/deceleration time change function" is used to change the acceleration/deceleration time during a speed change to a random value when carrying out the speed change by the "speed change function" and "override function". In a normal speed change (when the acceleration/deceleration time is not changed), the acceleration/deceleration time previously set in the parameters ([Pr.9], [Pr.10], and [Pr.
Chapter 13 Control Sub Functions [1] Control details After setting the following two items, carry out the speed change to change the acceleration/deceleration time during the speed change. Set change value of the acceleration/deceleration time ("[Cd.10] New acceleration time value", "[Cd.11] New deceleration time value") Setting acceleration/deceleration time change to enable ("[Cd.
Chapter 13 Control Sub Functions [2] Precautions during control (1) When "0" is set in "[Cd.10] New acceleration time value" and "[Cd.11] New deceleration time value", the acceleration/deceleration time will not be changed even if the speed is changed. In this case, the operation will be controlled at the acceleration/deceleration time previously set in the parameters. (2) The "new acceleration/deceleration time" is valid during execution of the positioning data for which the speed was changed.
Chapter 13 Control Sub Functions (4) If the "new acceleration/deceleration time" is set to "0" and the speed is changed after the "new acceleration/deceleration time" is validated, the operation will be controlled with the previous "new acceleration/deceleration time". Example New acceleration/deceleration time ( Cd. 10 , Cd. 11 ) Speed change V Speed change Speed change Controlled with the acceleration/ deceleration time in the parameter. t Cd.
Chapter 13 Control Sub Functions [3] Setting the acceleration/deceleration time change function To use the "acceleration/deceleration time change function", write the data shown in the following table to the Simple Motion module using the sequence program. The set details are validated when a speed change is executed after the details are written to the Simple Motion module. Setting item New acceleration time value New deceleration [Cd.11] time value Acceleration/ deceleration time change during [Cd.
Chapter 13 Control Sub Functions 13.5.4 Torque change function The "torque change function" is used to change the torque limit value during torque limiting. The torque limit value at the control start is the value set in the "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value". The following two change methods in the torque change function.
Chapter 13 Control Sub Functions [1] Control details The torque value (forward new torque value/reverse new torque value) of the axis control data can be changed at all times. The torque can be limited with a new torque value from the time the new torque value has been written to the Simple Motion module. Note that the delay time until a torque control is executed is max. operation cycle after torque change value was written.
Chapter 13 Control Sub Functions [QD77MS4 operation example] Each operation PLC READY signal [Y0] All axis servo ON [Y1] Start signal [Y10] 1 Pr.17 Torque limit setting value 1 250 300 2 Cd.101 Torque output setting value 0 Cd.112 Torque change function switching request 0 New torque value/ forward new torque value 0 Md.35 Torque limit stored value/ forward torque limit stored value 0 0 Md.120 Reverse torque limit stored value 0 0 4 5 0 200 300 300 3 Cd.
Chapter 13 Control Sub Functions (2) The "[Cd.22] New torque value/forward new torque value" or "[Cd.113] Reverse new torque value" is validated when written to the Simple Motion module. (Note that it is not validated from the time the power supply is turned ON to the time the PLC READY signal [Y0] is turned ON.) (3) If the setting value of "[Cd.
Chapter 13 Control Sub Functions 13.5.5 Target position change function The "target position change function" is a function to change a target position to a newly designated target position at any timing during the position control (1-axis linear control). A command speed can also be changed simultaneously. The target position and command speed changed are set directly in the buffer memory, and the target position change is executed by "[Cd.29] Target position change request flag".
Chapter 13 Control Sub Functions [2] Precautions during operation (1) If the positioning movement direction from the stop position to a new target position is reversed, stop the operation once and then position to the new target position. (Refer to Fig. 13.33 (c).) (2) If a command speed exceeding the speed limit value is set to change the command speed, the warning "Speed limit value over" (warning code: 501) will occur and the new command speed will be the speed limit value.
Chapter 13 Control Sub Functions [3] Method of setting target position change function from PLC CPU The following table and chart show the example of a data setting and sequence program used to change the target position of the axis 1 by the command from the PLC CPU, respectively. (example in which the target position value and command speed are changed to a new target position of "300.0 m" and a new command speed of "10000.00 mm/min".) (1) The following data is set.
Chapter 13 Control Sub Functions (3) The following sequence program is added to the control program, and written to the PLC CPU. [QD77MS4 program example] No.22 Target position change program X45 PLS M30 SET M31 DMOVP K3000 D23
Chapter 13 Control Sub Functions 13.6 Absolute position system The Simple Motion module can construct an absolute position system by installing the absolute position system and connecting it through SSCNET /H. The following describes precautions when constructing the absolute position system. The configuration of the absolute position system is shown below.
Chapter 13 Control Sub Functions [2] OPR The absolute position system can establish the OP position, using "Data set method", "Near-point dog method", "Count method" and "Scale origin signal detection method" OPR method. In the "Data set method" OPR method, the location to which the location of the OP position is moved by manual operation (JOG operation/manual pulse generator operation) is treated as the OP position.
Chapter 13 Control Sub Functions 13.
Chapter 13 Control Sub Functions [2] Step mode In step operations, the timing for stopping the control can be set. This is called the "step mode". (The "step mode" is set in the control data "[Cd.34] Step mode".) The following shows the two types of "step mode" functions. (1) Deceleration unit step The operation stops at positioning data requiring automatic deceleration. (A normal operation will be carried out until the positioning data requiring automatic deceleration is found.
Chapter 13 Control Sub Functions [4] Using the step operation The following shows the procedure for checking positioning data using the step operation. Start Turn ON the step valid flag. Set the step mode. Write "1" (carry out step operation) in " Cd.35 Step valid flag". Set in " Cd.34 Step mode". Start positioning. YES Positioning stopped by an error. NO YES One step of positioning is completed. NO Restart positioning. YES Write "1" (restart) to " Cd.
Chapter 13 Control Sub Functions [5] Control details (1) The following drawing shows a step operation during a "deceleration unit step". [QD77MS4 operation example] ON Cd. 35 Step valid flag OFF ON Positioning start signal OFF [Y10, Y11, Y12, Y13] ON OFF BUSY signal [XC, XD, XE, XF] ON Positioning complete signal OFF [X14, X15, X16, X17] V Positioning t Positioning data No. No.10 No.11 11 01 Da. 1 Operation pattern No positioning data No.
Chapter 13 Control Sub Functions [6] Precautions during control (1) When step operation is carried out using interpolation control positioning data, the step function settings are carried out for the reference axis. (2) When the step valid flag is ON, the step operation will start from the beginning if the positioning start signal is turned ON while "[Md.26] Axis operation status" is "step standby". (The step operation will be carried out from the positioning data set in "[Cd.3] Positioning start No.".
Chapter 13 Control Sub Functions 13.7.2 Skip function The "skip function" is used to stop (deceleration stop) the control of the positioning data being executed at the time of the skip signal input, and execute the next positioning data. A skip is executed by a skip command ([Cd.37] Skip command) or external command signal. The "skip function" can be used during control in which positioning data is used. The details shown below explain about the "skip function".
Chapter 13 Control Sub Functions (6) The skip cannot be carried out by the speed control and position-speed switching control. (7) If the skip signal is turned ON with the M code signal turned ON, the transition to the next data is not carried out until the M code signal is turned OFF. [3] Setting the skip function from the PLC CPU The following shows the settings and sequence program example for skipping the control being executed in axis 1 with a command from the PLC CPU. (1) Set the following data.
Chapter 13 Control Sub Functions [4] Setting the skip function using an external command signal The skip function can also be executed using an "external command signal". The following shows the settings and sequence program example for skipping the control being executed in axis 1 using an "external command signal". (1) Set the following data to execute the skip function using an external command signal. (The setting is carried out using the sequence program shown below in section (2)).
Chapter 13 Control Sub Functions 13.7.3 M code output function The "M code output function" is used to command sub work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal is turned ON during positioning execution, a No. called the M code is stored in "[Md.25] Valid M code". These "[Md.25] Valid M code" are read from the PLC CPU, and used to command auxiliary work. M codes can be set for each positioning data.
Chapter 13 Control Sub Functions (2) AFTER mode The M code ON signal is turned ON at the positioning completion, and the M code is stored in "[Md.25] Valid M code". [QD77MS4 operation example] ON Positioning start signal OFF [Y10, Y11, Y12, Y13] BUSY signal ON [XC, XD, XE, XF] OFF ON M code ON signal OFF [X4, X5, X6, X7] Cd. 7 M code OFF request 0 1 0 Md. 25 Valid M code m1 1 m2 1 V Positioning t Da. 1 Operation pattern 01 00 1: m1 and m2 indicate set M codes. (Note): Refer to Section 3.
Chapter 13 Control Sub Functions [QD77MS4 operation example] Positioning start signal OFF [Y10, Y11, Y12, Y13] BUSY signal ON ON [XC, XD, XE, XF] OFF M code ON signal OFF [X4, X5, X6, X7] ON Cd. 7 M code OFF request 0 1 0 Md. 25 Valid M code 1 0 m2 m3 1 1 m1 1 V Positioning t Da. 1 Operation pattern 11 1: m1 and m3 indicate set M codes. 11 00 Warning occurs at this timing. (Note): Refer to Section 3.3 for input/output signal of QD77MS16. Fig. 13.
Chapter 13 Control Sub Functions [4] Setting the M code output function The following shows the settings to use the "M code output function". (1) Set the M code No. in the positioning data "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions". (2) Set the timing to output the M code ON signal. Set the required value in the following parameter, and write it to the Simple Motion module. ON) of the PLC READY The set details are validated at the rising edge (OFF signal [Y0]. Setting item [Pr.
Chapter 13 Control Sub Functions 13.7.4 Teaching function The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation manual pulse generator operation) in the positioning data addresses ("[Da.6] Positioning address/movement amount", "[Da.7] Arc address"). The details shown below explain about the "teaching function".
Chapter 13 Control Sub Functions [2] Precautions during control (1) Before teaching, a "machine OPR" must be carried out to establish the OP. (When a current value changing, etc., is carried out, "[Md.20] Current feed value" may not show absolute addresses having the OP as a reference.) (2) Teaching cannot be carried out for positions to which movement cannot be executed by manual control (positions to which the workpiece cannot physically move).
Chapter 13 Control Sub Functions [4] Teaching procedure The following shows the procedure for a teaching operation. (1) When teaching to the "[Da.6] Positioning address/movement amount" (Teaching example on QD77MS4 [axis 1]) Start Perform machine OPR on axis 1. Move the workpiece to the target position using a manual operation. • • • • • • • • Using a JOG operation, inching operation, or manual pulse generator operation. Set " Writes the current feed value to " Da.
Chapter 13 Control Sub Functions (2) When teaching to the "[Da.7] Arc address", then teaching to the "[Da.6] Positioning address/movement amount" (Teaching example for 2-axis circular interpolation control with sub point designation on QD77MS4 [axis 1] and [axis 2]) Start Perform a machine OPR on axis 1 and axis 2. Move the workpiece to the circular interpolation sub point using a manual operation *1. • • • • • • • • Using a JOG operation, inching operation, or manual pulse generator operation.
Chapter 13 Control Sub Functions 1 2 Teaching arc end point address on axis 2. NO • • • • • • • • Entering teaching data to buffer memory address [1648] and [1649], in the same fashion as for axis 1. End teaching? YES Turn OFF the PLC READY signal [Y0]. Carry out a writing request to the flash ROM. • • • • • • • • Set 1 in the buffer memory address [1900]. Confirm the completion of the writing. • • • • • • • • Confirm that the buffer memory address [1900] has become 0.
Chapter 13 Control Sub Functions [QD77MS4 operation example] V Target position t Forward run JOG start signal [Y8] PLC READY signal [Y0] All axis servo ON [Y1] READY signal [X0] BUSY signal [XC] Error detection signal [X8] Md.20 Current feed value n1 nx Teaching is possible n2 Teaching is impossible Teaching is possible (Note): Refer to Section 3.3 for input/output signal of QD77MS16. 2) Carry out the teaching operation with the following program. [QD77MS4 program example] No.
Chapter 13 Control Sub Functions 13.7.5 Command in-position function The "command in-position function" checks the remaining distance to the stop position during the automatic deceleration of positioning control, and sets "1". This flag is called the "command in-position flag". The command in-position flag is used as a frontloading signal indicating beforehand the completion of the position control. The details shown below explain about the "command in-position function".
Chapter 13 Control Sub Functions [2] Precautions during control (1) A command in-position width check will not be carried out in the following cases.
Chapter 13 Control Sub Functions [3] Setting the command in-position function To use the "command in-position function", set the required value in the parameter shown in the following table, and write it to the Simple Motion module. ON) of the PLC READY The set details are validated at the rising edge (OFF signal [Y0]. Setting value Setting item [Pr.
Chapter 13 Control Sub Functions 13.7.6 Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration of each control to the acceleration/deceleration curve suitable for device. Setting the acceleration/deceleration time changes the slope of the acceleration/deceleration curve.
Chapter 13 Control Sub Functions [2] "Acceleration/deceleration method setting" control details and setting In the "acceleration/deceleration method setting", the acceleration/deceleration processing method is selected and set. The set acceleration/deceleration processing is applied to all acceleration/deceleration. (except for inching operation, manual pulse generator operation and speed-torque control.) The two types of "acceleration/deceleration processing method" are shown below.
Chapter 13 Control Sub Functions When a speed change request or override request is given during S-curve acceleration/ deceleration processing, S-curve acceleration/deceleration processing begins at a speed change request or override request start. When speed change request is not given Speed change (acceleration) Command speed before speed change Speed change request Speed change (deceleration) Fig. 13.
Chapter 13 Control Sub Functions 13.7.7 Pre-reading start function The "pre-reading start function" does not start servo while the execution prohibition flag is ON if a positioning start request is given with the execution prohibition flag ON, and starts servo within operation cycle after OFF of the execution prohibition flag is detected. The positioning start request is given when the axis is in a standby status, and the execution prohibition flag is turned OFF at the axis operating timing.
Chapter 13 Control Sub Functions [2] Precautions during control (1) The time required to analyze the positioning data is up to 0.88ms (QD77MS2/QD77MS4)/3.55ms(QD77MS16). (2) After positioning data analysis, the system is put in an execution prohibition flag OFF waiting status. Any change made to the positioning data in the execution prohibition flag OFF waiting status is not reflected on the positioning data. Change the positioning data before turning ON the positioning start signal.
Chapter 13 Control Sub Functions [3] Program examples [QD77MS4 program example] Pre-reading start program (when positioning start signal Y10 is used) X4B Y10 X10 0 PLS M100 K1 K1
Chapter 13 Control Sub Functions 13.7.8 Deceleration start flag function The "deceleration start flag function" turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete". This function can be used as a signal to start the operation to be performed by other equipment at each end of position control or to perform preparatory operation, etc. for the next position control.
Chapter 13 Control Sub Functions Positioning Data No. [Da.1] Operation pattern 1 2 3 4 5 01: Continuous positioning control 00: Positioning complete 00: Positioning complete 11: Continuous path control 00: Positioning complete V Operation pattern 1st point: Continue (1) 2nd point: Continue (1) Positioning complete (00) Continuous positioning control (01) Positioning data No. 1 Positioning complete (00) Positioning data No.
Chapter 13 Control Sub Functions (6) When the movement direction is reversed by a target position change, the deceleration start flag turns ON. Operation pattern: Positioning complete (00) Execution of target position change request Time Md.48 Deceleration start flag 0 1 (7) During position control of position-speed switching control, the deceleration start flag is turned ON by automatic deceleration.
Chapter 13 Control Sub Functions 13.7.9 Stop command processing for deceleration stop function The "stop command processing for deceleration stop function" is provided to set the deceleration curve if a stop cause occurs during deceleration stop processing (including automatic deceleration). This function is valid for both trapezoidal and S-curve acceleration/deceleration processing methods. (For the stop cause, refer to Section 1.2.3 "Outline of stopping".
Chapter 13 Control Sub Functions (2) Deceleration curve continuation The current deceleration curve is continued after a stop cause has occurred. If a stop cause occurs during automatic deceleration of position control, the deceleration stop processing may be complete before the target has reached the positioning address specified in the positioning data that is currently executed. Stop cause occurrence V Deceleration stop processing (automatic deceleration) start t Fig. 13.
Chapter 13 Control Sub Functions [3] Setting method To use the "stop command processing for deceleration stop function", set the following control data in a sequence program. The set data are made valid as soon as they are written to the buffer memory. The PLC ready signal [Y0] is irrelevant. Setting item Stop command processing for [Cd.42] deceleration stop selection Buffer memory address Setting value Setting details Set the stop command processing for deceleration stop function.
Chapter 13 Control Sub Functions 13.7.10 Speed control 10 x multiplier setting for degree axis function The "Speed control 10 x multiplier setting for degree axis function" is provided to execute the positioning control by 10 x speed of the setting value in the command speed and the speed limit value when the setting unit is "degree".
Chapter 13 Control Sub Functions (2) Monitor data "[Md.22] Feedrate" "[Md.27] Current speed" "[Md.28] Axis feedrate" "[Md.33] Target speed" "[Md.122] Speed during command" : For the above monitoring data, "[Pr.83] Speed control 10 x multiplier setting for degree axis" is evaluated whether it is valid for each axis. If valid, -3 -2 10 ). The unit conversion unit conversion value is changed ( 10 table of monitor value is shown below. Monitor value Actual value R Md.22 Md.27 Md.28 Md.33 Md.
Chapter 13 Control Sub Functions [2] Setting method of "Speed control 10 x multiplier setting for degree axis function" Set "Valid/Invalid" by "[Pr.83] Speed control 10 x multiplier setting for degree axis". Normally, the speed specification range is 0.001 to 2000000.000[degree/min], but it will be decupled and become 0.01 to 20000000.00[degree/min] by setting "[Pr.83] Speed control 10 x multiplier setting for degree axis" to valid.
Chapter 13 Control Sub Functions 13.7.11 Operation setting for incompletion of OPR function The "Operation setting for incompletion of OPR function" is provided to select whether positioning control is operated or not, when OPR request flag is ON. This section explains the "Operation setting for incompletion of OPR function" as follows: [1] Control details [2] Precautions during control [3] Setting method of "Operation setting for incompletion of OPR function" [1] Control details When "[Pr.
Chapter 13 Control Sub Functions (2) When OPR request flag ([Md.31] Status: b3) is ON, starting Fast OPR will result in the error "OPR request ON" (error code: 207) despite the setting value of "[Pr.55] Operation setting for incompletion of OPR", and Fast OPR will not be performed. [3] Setting method of "Operation setting for incompletion of OPR" To use the "Operation setting for incompletion of OPR", set the following parameters using a sequence program. Setting item Operation setting [Pr.
Chapter 13 Control Sub Functions 13.8 Servo ON/OFF 13.8.1 Servo ON/OFF This function executes servo ON/OFF of the servo amplifiers connected to the Simple Motion module. By establishing the servo ON status with the servo ON command, servo motor operation is enabled. The following two signals can be used to execute servo ON/OFF. All axis servo ON [Y1] [Cd.100] Servo OFF command (Buffer memory addresses: 1551+100n[QD77MS2/QD77MS4]/4351+100n[QD77MS16]) A list of the "All axis servo ON [Y1]" and "[Cd.
Chapter 13 Control Sub Functions [2] Servo OFF (Servo operation disabled) The following shows the procedure for servo OFF. (1) Set "1" for "[Cd.100] Servo OFF command". (The servo LED indicates "c".) (If the "[Cd.100] Servo OFF command" set "0" again, after the servo operation enabled.) (2) Turn OFF "All axis servo ON [Y1]". (The servo LED indicates "b".) POINT If the servomotor is rotated by external force during the servo OFF status, follow up processing is performed.
Chapter 13 Control Sub Functions 13.8.2 Follow up function (1) Follow up function The follow up function monitors the number of motor rotations (actual present value) with the servo OFF and reflects the value in the present feed value. If the servomotor rotates during the servo OFF, the servomotor will not just rotate for the amount of droop pulses at switching the servo ON next time, so that the positioning can be performed from the stop position.
Chapter 13 Control Sub Functions MEMO 13 - 108
Chapter 14 Common Functions Chapter 14 Common Functions The details and usage of the "common functions" executed according to the user's requirements are explained in this chapter. Common functions include functions required when using the Simple Motion module, such as parameter 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 required. 14.
Chapter 14 Common Functions 14.1 Outline of common functions "Common functions" are executed according to the user's requirements, regardless of the control system, etc. These common functions are executed by GX Works2 or sequence programs. The following table shows the functions included in the "common functions".
Chapter 14 Common Functions Means Common function Details This function collects errors occurred in the Simple Motion module in the PLC CPU. Module error collection function Holding the error contents in the PLC CPU, this function enables to check the error history even after the PLC CPU in powered off or reset. Temporarily connect/disconnect of SSCNET communication is executed during system's power Connect/disconnect function of supply ON.
Chapter 14 Common Functions 14.2 Parameter initialization function The "parameter initialization function" is used to return the setting data set in the buffer memory/internal memory and flash ROM/internal memory (nonvolatile) of Simple Motion module to their factory-set initial values. The details shown below explain about the "parameter initialization function".
Chapter 14 Common Functions Important Parameter initialization takes about 10 seconds. (Up to 30 seconds are sometimes required.) Do not turn the power ON/OFF or reset the PLC CPU during parameter initialization. If the power is turned OFF or the PLC CPU module is reset to forcibly end the process, the data backed up in the flash ROM/internal memory (nonvolatile) will be lost. [4] Parameter initialization method (1) Parameter initialization is carried out using the dedicated instruction "ZP.PINIT".
Chapter 14 Common Functions 14.3 Execution data backup function When the buffer memory data of Simple Motion module is rewritten from the PLC CPU, "the data backed up in the flash ROM/internal memory (nonvolatile)" of Simple Motion module may differ from "the execution data being used for control (buffer memory data)". In this case, the execution data will be lost when the PLC power is turned OFF. (Refer to Chapter 7 "Memory Configuration and Data Process".
Chapter 14 Common Functions [3] Precautions during control (1) Data can only be written to the flash ROM when the positioning control is not carried out (when the PLC READY signal [Y0] is OFF). The warning "In PLC READY" (warning code: 111) will occur if executed when the PLC READY signal [Y0] is ON. (2) Writing to the flash ROM can be executed up to 100,000 times.
Chapter 14 Common Functions 14.4 External signal selection function The "external signal selection function" is used to select from the following signals when using the upper/lower limit signal, near-point dog signal, and stop signal.
Chapter 14 Common Functions (1) When "0: External input signal of QD77MS", "3: External input signal 1 of QD77MS", "4: External input signal 2 of QD77MS", "5: External input signal 3 of QD77MS", or "6: External input signal 4 of QD77MS" is set, set the Pin No. of external input signal of QD77MS shown in the following table. Axis No. or signal No. Pin No.
Chapter 14 Common Functions (3) When "2: Buffer memory of QD77MS" is set, use the following control data to operate the external input signal (upper/lower limit signal, near-point dog signal and stop signal). Buffer memory address Setting value Setting item External input [Cd.44] signal operation device Setting details Set the status of the upper/lower limit signal, the near-point dog signal and the stop signal. QD77MS2 QD77MS4 QD77MS16 1928 5928 to 5931 : Refer to Section 5.
Chapter 14 Common Functions [4] Program example The following shows the program example that is used to operate "[Cd.44] External input signal operation device" of axis 1, axis 4, axis 8, and axis 16 using the limit switch connected to the input module when "2: Buffer memory of QD77MS" is set in "[Pr.80] External input signal selection". System configuration The following shows the system configuration that is used with the program example.
Chapter 14 Common Functions Program example Axis 1 FLS operation 0 X20 U0\G5928.0 External input s ignal op eration device: axis 1 F LS Axis 1 F LS ON co mmand Axis 1 RLS operation 14 X21 U0\G5928.1 External input s ignal op eration device: axis 1 R LS Axis 1 R LS ON co mmand Axis 1 DOG operation 26 X22 U0\G5928.2 External input s ignal op eration device: axis 1 D OG Axis 1 D OG ON co mmand Axis 1 STOP operation 38 X23 U0\G5928.
Chapter 14 Common Functions Axis 8 FLS operation 103 X28 U0\G5929.C External input s ignal op eration device: axis 8 F LS Axis 8 F LS ON co mmand Axis 8 RLS operation 123 X29 U0\G5929.D External input s ignal op eration device: axis 8 R LS Axis 8 R LS ON co mmand Axis 8 DOG operation 135 X2A U0\G5929.E External input s ignal op eration device: axis 8 D OG Axis 8 D OG ON co mmand Axis 8 STOP operation 147 X2B U0\G5929.
Chapter 14 Common Functions 14.5 External I/O signal logic switching function This function switches the signal logic according to the following signals. • External equipment connected to Simple Motion module • [Cd.
Chapter 14 Common Functions [2] Precautions on parameter setting (1) The external I/O signal logic switching parameters are validated when the PLC READY signal [Y0] is turned OFF to ON. (The logic is negative right after power-on.) (2) If the logic of each signal is set erroneously, the operation may not be carried out correctly. Before setting, check the specifications of the equipment to be used. (3) When the same external input signal is set to use to the multiple axes in "[Pr.
Chapter 14 Common Functions 14.6 History monitor function This function monitors start history, error history, warning history, and current history stored in the buffer memory of the Simple Motion module on the operation monitor of GX Works2. [1] Start history The start history logs of operations such as positioning operation, JOG operation, and manual pulse generator operation can be monitored. The latest history 16 logs are stored all the time.
Chapter 14 Common Functions [3] Current value history The current value history data of each axis can be monitored. The following shows about the current value history data of each axis.
Chapter 14 Common Functions Latest backup data The latest backup data outputs the following data saved in the fixed cycle to the buffer memory. • Feed current value • Servo command value • Encoder single revolution position • Encoder multiple revolution position • Time 1 (Year: month) data • Time 2 (Day: hour) data • Time 3 (Minute: second) data • Latest backup data pointer The latest backup data starts outputting the data after the power on.
Chapter 14 Common Functions Home position return data The following data saved at home position return completion to the buffer memory.
Chapter 14 Common Functions 14.7 Amplifier-less operation function The positioning control of Simple Motion module without servo amplifiers connection can be executed in the amplifier-less function. This function is used to debug of user program or simulate of positioning operation at the start. The details shown below explain about the "Amplifier-less operation function".
Chapter 14 Common Functions POINT (1) Switch of the normal operation mode and amplifier-less operation mode is executed by the batch of all axes. Switch of the operation mode for each axis cannot be executed. (2) Only axis that operated either the followings before switching to the amplifierless operation mode becomes the connection status during amplifier-less operation. • "[Pr.100] Servo series" is set, and then the written to flash ROM is executed.
Chapter 14 Common Functions [2] Restrictions (1) The following monitor data cannot be used during amplifier-less operation mode. Storage item Storage details [Md.102] Deviation counter value Always "0" during amplifier-less operation mode. [Md.106] Servo amplifier software No. [Md.107] Parameter error No. [Md.108] Servo status Regenerative load ratio/ [Md.109] Optional data monitor output 1 Effective load torque/ [Md.110] Optional data monitor output 2 Peak torque ratio/ [Md.
Chapter 14 Common Functions (2) The operation of following function differs from the normal operation mode during amplifier-less operation mode. Function External signal selection function Operation When "1: External input signal of servo amplifier" is set in "[Pr.80] External input signal selection", the status of external signal at the amplifier-less operation mode start is shown below. • Upper/lower limit signal (FLS, RLS): ON • Near-point dog signal (DOG): OFF Change "[Md.
Chapter 14 Common Functions (8) Even if the PLC READY signal [Y0| is turned ON by changing "[Pr.100] Servo series" from "0: Servo series is not set" to other than "0", the setting does not become valid. (The axis connecting status remains disconnection.) (9) The operation cannot be changed to amplifier-less operation when connected and not connected servo amplifier axes are mixed. Change to amplifier-less operation when all axes are connected, or disconnect all axes of the servo amplifier.
Chapter 14 Common Functions [4] Operation mode switching procedure (1) Switch from the normal operation mode to the amplifier-less operation mode 1) Stop all operating axes, and then confirm that the BUSY signal for all axes turned OFF. 2) Turn OFF the PLC READY signal [Y0]. 3) Confirm that the READY signal [X0] turned OFF. 4) Set "ABCDh" in "[Cd.137] Amplifier-less operation mode switching request". 5) Confirm that "1: Amplifier-less operation mode" was set in "[Md.
Chapter 14 Common Functions (3) Operation chart The following drawing shows the operation for the switching of the normal operation mode and amplifier-less operation mode [QD77MS4 operation example] Normal operation mode Amplifier-less operation mode Normal operation mode V Each operation t BUSY signal [XC to XF] PLC READY signal [Y0] READY signal [X0] Cd.137 Amplifier-less operation mode switching request 0000h ABCDh 0000h Md.
Chapter 14 Common Functions 14.8 Virtual servo amplifier function This function is used to operate as virtual servo amplifier axis that generates only command virtually by setting "4097, 4128" in servo parameter "[Pr.100] Servo series". The synchronous control with virtually input command is possible by using the virtual servo amplifier axis as servo input axis of synchronous control. Also, it can be used as simulation operation for axes without servo amplifiers. Setting value of "[Pr.
Chapter 14 Common Functions POINT Do not make to operate by switching between the actual servo amplifier and virtual servo amplifier. When a value except "0" is set in "[Pr.100] Servo series" set in the flash ROM, the servo series is not changed even if the "[Pr.100] Servo series" of buffer memory is changed after power supply ON and then the PLC READY signal [Y0] is turned OFF to ON. To change the servo series, write to the flash ROM and turn the power ON again or reset the PLC CPU.
Chapter 14 Common Functions [2] Restrictions (1) The following monitor data of virtual servo amplifier differ from the actual servo amplifier. Buffer memory address Storage item Storage details QD77MS2 QD77MS4 QD77MS16 [Md.102] Deviation counter value Always "0". 852+100n 853+100n 2452+100n 2453+100n [Md.106] Servo amplifier software No. Always "0". 864+100n to 869+100n 2464+100n to 2469+100n [Md.107] Parameter error No. Always "0".
Chapter 14 Common Functions (2) The operation for external signal selection function of virtual servo amplifier differs from the actual servo amplifier. Function Operation When "1: External input signal of servo amplifier" is set in "[Pr.80] External input signal selection", the external signal status immediately after power supply ON is shown below. External signal selection function • Upper/lower limit signal (FLS, RLS): ON • Near-point dog signal (DOG): OFF Change the signal status in "[Md.
Chapter 14 Common Functions 14.9 Driver communication function This function uses the "Master-slave operation function" of servo amplifier. The Simple Motion module controls master axis and the slave axis is controlled by data communication between servo amplifiers (driver communication) without Simple Motion module. There are restrictions in the function that can be used by the version of servo amplifier. Refer to each servo amplifier instruction manual for details.
Chapter 14 Common Functions [1] Control details Set the master axis and slave axis in the servo parameter. Execute each control of Simple Motion module for the master axis. (However, be sure to execute the servo ON/OFF of slave axis and error reset at servo error occurrence in the slave axis.
Chapter 14 Common Functions [2] Precautions during control CAUTION In the operation by driver communication, the positioning control or JOG operation of the master axis is not interrupted even if the servo error occurs in the slave axis. Be sure to stop by user program. (1) Servo amplifier (a) Use the servo amplifiers compatible with the driver communication for the axis to execute the driver communication. (b) The combination of the master axis and slave axis is set in the servo parameters.
Chapter 14 Common Functions (f) If all axes set to driver communication are not detected at the start of communication with the servo amplifier, all axes including independent axes cannot be operated. (The servo amplifier's LED display remains "Ab".) Check the operation enabled status with "[Md.52] Communication between amplifiers axes searching flag". When all independent axes and axes set to driver communication are connected, "0: Search end" is set in "[Md.
Chapter 14 Common Functions (4) I/O signals of slave axis (a) Input signal [QD77MS2] Only the error detection signal [X8, X9] is valid. And only the servo error detection is valid. (The control of slave axis is not influenced even if the error other than servo error has been occurred.) [QD77MS4] Only the error detection signal [X8 to XB] is valid. And only the servo error detection is valid. (The control of slave axis is not influenced even if the error other than servo error has been occurred.
Chapter 14 Common Functions (b) Only the following axis control data are valid in slave axis. Item [Cd.5] [Cd.22] Axis error reset New torque value/forward new torque value Remark Only servo error detection — [Cd.100] Servo OFF command — [Cd.101] Torque output setting value — [Cd.112] [Cd.
Chapter 14 Common Functions [3] Servo parameter Set the following parameters for the axis to execute the driver communication. (Refer to each servo amplifier instruction manual for details.) [MR-J3-_B/MR-J3-_BS/MR-J3-_B-RJ006 use] Buffer memory address Input/output setting Setting item Setting details QD77MS2 QD77MS4 PA04 Forced stop deceleration function selection Disable deceleration stop function at the master 30104+200n (Note-3) axis and slave axis.
Chapter 14 Common Functions [MR-J4-_B use] Buffer memory address Input/output setting Setting item Setting details QD77MS2 QD77MS4 QD77MS16 28404+100n PA04 Forced stop deceleration function selection Disable deceleration stop function at the master axis and slave axis. 30104+200n PD15 Driver communication setting Set the master axis and slave axis.
Chapter 14 Common Functions 14.10 Mark detection function Any data can be latched at the input timing of the mark detection signal (DI1 to DI4). Also, only data within a specific range can be latched by specifying the data detection range. The following three modes are available for execution of mark detection. 1) Continuous detection mode The latched data is always stored to the first of mark detection data storage area at mark detection.
Chapter 14 Common Functions Performance specifications Item QD77MS2 Number of mark detection settings QD77MS4 QD77MS16 Up to 4 Up to 16 Axis 1 to Axis 2 Axis 1 to Axis 4 Axis 1 to Axis 16 External input signal (DI1 to DI2) External input signal (DI1 to DI4) External input signal (DI1 to DI4) Input signal Input signal detection direction Selectable for leading edge or trailing edge in logic setting of external input signal Input signal compensation time Correctable within the range of -32768 to
Chapter 14 Common Functions [1] Operation for mark detection function Operations done at mark detection are shown below. • Calculations for the mark detection data are estimated at leading edge/trailing edge of the mark detection signal. However, when the specified number of detections mode is set, the current number of mark detection is checked, and then it is judged whether to execute the mark detection.
Chapter 14 Common Functions [2] How to use mark detection function The following shows an example for mark detection by the external command signal (DI2) of axis 2. The mark detection target is axis 1 real current value, and the all range is detected in continuous detection mode. (1) Allocate the input signal (DI2) to the external command signal of axis 2, and set the "high speed input request" for mark detection.
Chapter 14 Common Functions POINT When "1: Valid" is set in "[Pr.114] External command signal compensation valid/invalid setting", the response time of the high-speed input signal is compensated and the latch accuracy will be enhanced. (For details of "[Pr.114] External command signal compensation valid/invalid setting", refer to Section 5.2.7 "Expansion parameters".
Chapter 14 Common Functions [3] List of buffer memory The following shows the configuration of buffer memory for mark detection function. Buffer memory address Number of word 54000 to 54019 20 54020 to 54039 20 54040 to 54059 20 Item Mark detection setting No. Mark detection setting 1 Mark detection setting parameter [Pr.800] to [Pr.
Chapter 14 Common Functions The following shows the buffer memory used in the mark detection function. (1) Mark detection setting parameters Setting item [Pr.800] Mark detection signal setting Setting details/setting value Set the external input signal (high speed input request) for mark detection.
Chapter 14 Common Functions POINT The above parameters are valid with the value set in the flash ROM of the Simple Motion module when the power ON or the CPU module reset. Except for a part, the value is not fetched by turning the PLC READY signal ON from OFF. Therefore, write to the flash ROM after setting the value in the buffer memory to change. [Pr.800] Mark detection signal setting Set the input signal for mark detection.
Chapter 14 Common Functions [Pr.803] Mark detection data axis No. Set the axis No. of data that latched at mark detection. [Pr.802] Mark detection data type Setting value [Pr.803] Mark detection data axis No.
Chapter 14 Common Functions [Pr.804] Mark detection data buffer memory No. Set the No. of optional 2 words buffer memory that latched at mark detection. Set this No. as an even No. If a value other than the above is set, the warning "Outside mark detection data buffer memory No. setting range" (warning code: 133) occurs and the target mark detection is not available. [Pr.805] Latch data range upper limit value, [Pr.
Chapter 14 Common Functions [Pr.807] Mark detection mode setting Set the data storage method of mark detection. Mode Continuous detection mode Setting value Operation for mark detection Mark detection data storage method 0 Always The data is updated in the mark detection data storage area 1.
Chapter 14 Common Functions [Cd.802] Latch data range change request Request the processing of latch data range change. Set the following value depending on the timing of updating the change value. 1 : Change in the next Operation cycle of the requested 2 : Change in the next DI input of the requested • "0" is automatically set after receiving the latch data range change request. (It indicates that the latch data range change is completed.) • "[Pr.805] Latch data range upper limit value" and "[Pr.
Chapter 14 Common Functions [4] Precautions When the data of "[Pr.802] Mark detection data type" or "[Pr.803] Mark detection data axis No." is selected incorrectly, the incorrect latch data is stored. For the data of "[Pr.802] Mark detection data type", set the item No. instead of specifying the buffer memory No. directly.
Chapter 14 Common Functions 14.11 Optional data monitor function This function is used to store the data (refer to following table) up to four points per axis to the buffer memory and monitor them. The details shown below explain about the "Optional data monitor function".
Chapter 14 Common Functions [1] Data that can be set Data type Unit 1 Effective load ratio 2 Regenerative load ratio [%] 3 Peak load factor [%] 4 Load inertia moment ratio [ 0.1] 5 Model loop gain [rad/s] 6 Bus voltage 7 Servo motor rotation speed [r/min] 8 Encoder multiple revolution counter [rev] 9 Module power consumption [W] Used point Monitoring possibility MR-J3(W)-B [%] [V] 10 Instantaneous torque [ 0.
Chapter 14 Common Functions [2] List of buffer memory The buffer memory used in the optional data monitor function is shown below. (1) Expansion parameter Buffer memory address Setting item Setting details/setting value Optional data [Pr.91] monitor: Data type setting 1 Optional data [Pr.92] monitor: Data type setting 2 Optional data [Pr.93] monitor: Data type setting 3 QD77MS2 QD77MS4 QD77MS16 100+150n • Set the data type monitored in optional data monitor function every data type setting.
Chapter 14 Common Functions (2) Axis monitor data Buffer memory address Storage item Storage details/storage value QD77MS2 QD77MS4 QD77MS16 Regenerative load [Md.109] ratio/Optional data monitor output 1 • The content set in "[Pr.91] Optional data monitor: Data type setting 1" is stored at optional data monitor data type setting. • The regenerative load ratio is stored when nothing is set. 878+100n 2478+100n Effective load [Md.110] torque/Optional data monitor output 2 • The content set in "[Pr.
Chapter 14 Common Functions 14.12 Module error collection function This function collects errors occurred in the Simple Motion module in the PLC CPU. Those errors are stored in a memory (latch area) of the PLC CPU as module error logs. The stored error logs are retained even when the PLC CPU is powered off or reset. Error history of PLC CPU and intelligent function module is displayed in one screen. Errors in the entire system can be monitored in reverse chronological order.
Chapter 14 Common Functions 14.13 Connect/disconnect function of SSCNET communication Temporarily connect/disconnect of SSCNET communication is executed during system's power supply ON. This function is used to exchange the servo amplifiers or SSCNET cables. The details shown below explain about the "Connect/disconnect function of SSCNET communication".
Chapter 14 Common Functions (5) Execute the connect/disconnect command to the A-axis for multiple-axis servo amplifier. (6) When using the driver communication function, it can be disconnected by executing the connect/disconnect command, however it cannot be connected again. (7) The connect/disconnect/execute command cannot be accepted during amplifier-less operation mode. "[Md.53] SSCNET control status" will be "0: Command accept waiting" (The disconnection is released.).
Chapter 14 Common Functions (2) System monitor data [Md.53] Buffer memory address Monitor value Monitor item Storage details QD77MS2 QD77MS4 QD77MS16 1433 4233 The connect/disconnect status of SSCNET communication is stored. 1: Disconnected axis existing 0: Command accept waiting -1: Execute waiting -2: Executing SSCNET control status [4] Procedure to connect/disconnect Procedure to connect/disconnect at the exchange of servo amplifiers or SSCNET cables is shown below.
Chapter 14 Common Functions (2) Procedure to connect 1) Turn ON the servo amplifier's power supply. 2) Set "-10: Connect command of SSCNET communication" in "[Cd.102] SSCNET control command". 3) Check that "-1: Execute waiting" is set in "[Md.53] SSCNET control status". (Connect execute waiting) 4) Set "-2: Execute command" in "[Cd.102] SSCNET control command". 5) Check that "0: Command accept waiting" is set in "[Md.53] SSCNET control status".
Chapter 14 Common Functions (1) Disconnect operation X50 M100 M101 M102 MOV 0 Disconne ct comma nd Disconne ct reque st (Axis 5) Disconne ct execu tion req uest K5 D250 Disconne ct compl etion ch eck SET M100 14 = K0 = K1 Disconne ct reque st (Axis 5) M101 30 = K-1 Disconne ct execu tion req uest M100 Disconne ct reque st (Axis 5) U0\ MOV D250 G5932 SSCNET c ontrol c ommand U0\ G4233 SSCNET c ontrol s tatus U0\ G4233 S
Chapter 14 Common Functions (2) Connect operation X51 M110 M111 D250 K1 Connect request M110 Connect request M110 Connect request M111 Connect executio n reques t
Chapter 14 Common Functions 14.14 QD75MH initial value setting function The "QD75MH initial value setting function" is used to set the factory-set initial value of QD75MH in the setting data set in the QD77MS buffer memory/internal memory and flash ROM/internal memory (nonvolatile).
Chapter 14 Common Functions [3] Precautions during control (1) Parameter initialization is only executed when the positioning control is not carried out (when the PLC READY signal [Y0] is OFF). The warning "In PLC READY" (warning code: 111) will occur if executed when the PLC READY signal [Y0] is ON. (2) Writing to the flash ROM is up to 100,000 times. If writing to the flash ROM exceeds 100,000 times, the writing may become impossible, and the error "Flash ROM write error" (error code: 801) will occur.
Chapter 14 Common Functions 14.15 Hot line forced stop function This function is used to execute deceleration stop safety for other axes when the servo alarm occurs in the servo amplifier MR-JE-B. The details shown below explain about the "Hot line forced stop function". [1] Control details [2] Precautions during control [1] Control details The hot line forced stop function is set in the servo parameter.
Chapter 14 Common Functions [2] Precautions during control (1) The servo warning "Controller forced stop warning" (warning No.: E7) occurs in the axis where the hot line forced stop function executes deceleration stop. (2) To clear the servo warning "Controller forced stop warning" (warning No.: E7) occurred by the hot line forced stop function, set "1" in "[Cd.5] Axis error reset" for each axis after the factor is removed in the axis where the servo alarm occurred. Even if "1" is set in "[Cd.
Chapter 15 Dedicated Instructions Chapter 15 Dedicated Instructions The dedicated instructions of Simple Motion module are explained in this chapter. These instructions are used to facilitate the programming for the use of the functions of the intelligent function module. Using the dedicated instructions, the programming can be carried out without being aware of the buffer memory address of Simple Motion module and interlock signal. 15.1 15.2 15.3 15.4 15.5 15.6 List of dedicated instructions ..........
Chapter 15 Dedicated Instructions 15.1 List of dedicated instructions The dedicated instructions explained in this Chapter are listed in Table 15.1. Table 15.1 List of dedicated instructions Application Dedicated instruction Outline of functions Reference ZP.PSTRT1 Positioning start ZP.PSTRT2 This function starts the positioning control of the designated ZP.PSTRT3 axis of the Simple Motion module. Section 15.3 ZP.PSTRT4 ZP.TEACH1 Teaching ZP.
Chapter 15 Dedicated Instructions 15.3 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4 These dedicated instructions are used to start the positioning of the designated axis. Internal device Setting data Bit (S) (D) Word File register Usable device Link direct device J \ Intelligent function module Bit Word U \G – Others K, H – – – [Instruction symbol] Constant Index register Zn – – – – [Execution condition] ZP.PSTRT1 ZP.PSTRT2 ZP.PSTRT3 ZP.PSTRT4 ZP.PSTRT1 "Un" (S) (D) ZP.
Chapter 15 Dedicated Instructions [Control data] Device Item Setting data (S)+0 System area (S)+1 Complete status (S)+2 Start No. Setting range – – The state at the time of completion is stored. •0 : Normal completion – (Note-2) • Other than 0: Abnormal completion (error code) The following data Nos. to be started by the ZP.PSTRT instruction are designated. : 1 to 600 • Positioning data No.
Chapter 15 Dedicated Instructions END processing Sequence program ZP.PSTRT instruction Complete device Complete state display device END processing END processing END processing ZP.PSTRT instruction execution completion ON OFF ON When completed ON abnormally When completed normally OFF OFF 1 scan V Dwell time Positioning t ON BUSY signal Positioning complete OFF ON OFF [Errors] (1) When a ZP.
Chapter 15 Dedicated Instructions (5) If the ZP.PSTRT instruction is executed in the following cases, an error "Dedicated instruction error" (error code: 804) will occur and positioning cannot be started. • Any value other than 1 to 600, 7000 to 7004, and 9001 to 9004 is set to "Starting number" (device: (S)+2) of the control data. (6) When the multiple axes simultaneous start is executed by ZP.PSTRT instruction, the completion device (D) will turn ON when the positioning of the axes executed by ZP.
Chapter 15 Dedicated Instructions 15.4 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4 These dedicated instructions are used to teach the designated axis. Internal device Setting data Bit (S) (D) Word File register Usable device Link direct device J \ Intelligent function module Bit Word U \G – Others K, H – – – [Instruction symbol] Constant Index register Zn – – – – [Execution condition] ZP.TEACH1 ZP.TEACH2 ZP.TEACH3 ZP.TEACH4 ZP.TEACH1 "Un" (S) (D) ZP.TEACH2 "Un" (S) (D) ZP.
Chapter 15 Dedicated Instructions [Control data] Device Item (S)+0 System area (S)+1 (S)+2 (S)+3 Setting data – The state at the time of completion is stored. 0 : Normal completion Complete status (Note-2) Other than 0 : Abnormal completion (error code) The address (positioning address/arc address) to which Teaching data the current feed value is written is set. selection 0: Current feed value is written to positioning address. 1: Current feed value is written to arc address.
Chapter 15 Dedicated Instructions END processing Sequence program ON ZP.TEACH instruction Complete device Complete state display device END processing END processing END processing ZP.TEACH instruction execution completion OFF ON OFF ON When completed abnormally When completed normally OFF 1 scan [Errors] (1) When a ZP.TEACH instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status (S)+1.
Chapter 15 Dedicated Instructions [Program example] Program to execute the teaching of the positioning data No. 3 of the axis 1 when X39 is turned ON in QD77MS4. (1) Teaching program Positioned manually to target position. X39 PLS M19 SET M20 MOVP H0 D35 MOVP K3 D36 "U0" D33 M34 RST M20 622 X0C M19 633 M20 637 ZP.
Chapter 15 Dedicated Instructions 15.5 ZP.PFWRT These dedicated instructions are used to write the parameters, positioning data, and block start data of Simple Motion module to the flash ROM. Internal device Setting data Bit (S) (D) Word File register Usable device Link direct device J \ Intelligent function module Bit Word U \G – Others K, H – – – [Instruction symbol] Constant Index register Zn – – – – [Execution condition] ZP.PFWRT ZP.
Chapter 15 Dedicated Instructions [Functions] (1) The ZP.PFWRT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1). (a) Complete device ((D)+0) This device is turned ON by the END processing of the scan for which ZP.PFWRT instruction is completed, and turned OFF by the next END processing. (b) Complete state display device ((D)+1) This device is turned ON and OFF according to the state in which ZP.PFWRT instruction is completed.
Chapter 15 Dedicated Instructions [Precautions] (1) Do not turn ON the power and reset the PLC CPU while parameters, positioning data and block start data are written to the flash ROM using the ZP.PFWRT instruction. A parameter error will occur or normal positioning start will become impossible because the parameters, positioning data and block start data are not written normally to the flash ROM. If this occurs, restart the operation by the method shown below.
Chapter 15 Dedicated Instructions [Program example] Program used to write the parameters and positioning data stored in the buffer memory to the flash ROM when X3D is turned ON in QD77MS4. (1) Flash ROM write program X3D 829 PLS M26 SET M27 X0C M26 836 Y0 M27 K2 T1 840 T1 847 ZP.
Chapter 15 Dedicated Instructions 15.6 ZP.PINIT This dedicated instruction is used to initialize the setting data of the Simple Motion module. Internal device Setting data Bit (S) (D) Word File register Usable device Link direct device J \ Intelligent function module Bit Word U \G – Others K, H – – – [Instruction symbol] Constant Index register Zn – – – – [Execution condition] ZP.PINIT ZP.
Chapter 15 Dedicated Instructions [Functions] (1) This dedicated instruction is used to return the setting data set in the buffer memory of Simple Motion module and flash ROM to their factory-set data (initial values). Refer to Section 14.2 for initialized setting data. (2) The ZP.PINIT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1). (a) Complete device ((D)+0) This device is turned ON by the END processing of the scan for which ZP.
Chapter 15 Dedicated Instructions (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 out by GX Works2.) If the 26th or more writing is requested after the power ON/PLC CPU reset operation, the error "Flash ROM write number error" (error code: 805) will occur, and the writing will be disabled.
Chapter 15 Dedicated Instructions MEMO 15- 18
Chapter 16 Troubleshooting Chapter 16 Troubleshooting The "errors" and "warnings" detected by the Simple Motion module are explained in this chapter. Errors can be confirmed with the LED display of Simple Motion module and GX Works2. When an error or warning is detected, confirm the detection details and carry out the required measures. 16.1 16.2 16.3 16.4 Checking errors using GX Works2......................................................................... 16- 2 Troubleshooting ......................
Chapter 16 Troubleshooting 16.1 Checking errors using GX Works2 Error codes corresponding to the errors occurred in the Simple Motion module can be checked either on the following screen of GX Works2. Select the screen according to the purpose and usage. • "Module's Detailed Information" screen • "Error History" screen (1) Checking errors on the "Module's Detailed Information" screen Select [Diagnostics] [System Monitor] on GX Works2.
Chapter 16 Troubleshooting (b) Error and Solution, Intelligent Module Information • Error and Solution Details of the selected in the "Error History List" and its corrective action are displayed. • Intelligent Module Information The status of Simple Motion module when the error selected in the "Error History List" occurred is displayed. Item Description Start axis The axis No. requested to start is stored. Positioning start No. The start No. at positioning start is stored.
Chapter 16 Troubleshooting Item QD77MS16 display Description • Axis in which the error occurred (Upper limit signal) • Axis in which the error occurred (Lower limit signal) • Axis in which the error occurred (Stop signal) • Axis in which the error occurred (External command signal/ switching signal) • Axis in which the error occurred (Near-point signal) The status of external input signals of the axis in which the error occurred (at error occurrence) is stored.
Chapter 16 Troubleshooting 16.2 Troubleshooting (1) Troubleshooting using the LEDs Check items and corrective actions for troubleshooting using the indicator LEDs of the Simple Motion module are described below. (a) When the RUN LED turns off. Check item Action Is the power supplied? Check that the voltage supplied to the power supply module is within the rated range.
Chapter 16 Troubleshooting (2) Troubleshooting when a motor does not rotate Check items and corrective actions for troubleshooting when a motor does not rotate are described below. POINT The following signals must be ON for the Simple Motion module to operate (excluding when the "positioning test function" of GX Works2 is used). • READY signal [X0] • Servo READY signal • Upper limit signal and Lower limit signal The ON status of signals can be checked by the following monitor data.
Chapter 16 Troubleshooting (3) Troubleshooting when a motor does not rotate as intended. Check items and corrective actions for troubleshooting when a motor does not rotate as intended are described below. (a) When a motor rotates only in the opposite direction Check item Action Check that the value in "Rotation direction selection/ travel direction selection (PA14)" matches the settings of Is the value in "Rotation direction servo amplifier.
Chapter 16 Troubleshooting (c) When the set position is not reached Check item Action [When the position set in "[Md.20] Current feed value" is reached] • Check that the values in "[Pr.2] Number of pulses per rotation (AP)", "[Pr.3] Movement amount per rotation (AL)", and "[Pr.4] Unit magnification (AM)" meet the system. • When the servo amplifier has the electronic gear function, check that the settings meet the system. Does the value in "[Md.
Chapter 16 Troubleshooting 16.3 Error and warning details [1] Errors Types of errors Errors detected by the Simple Motion module include parameter setting range errors, errors at the operation start or during operation and errors detected by servo amplifier. (1) Errors detected by the Simple Motion module include parameter setting range errors The parameters are checked when the power is turned ON and at the rising ON) of the PLC READY signal [Y0].
Chapter 16 Troubleshooting (3) Servo amplifier detection errors The errors that occur when the hardware error of the servo amplifier or servo motor or the servo parameter error occurs. The servo is turned off at the error occurrence and the axis stops. Remove the error factor and reset the error, reset the controller, or turn the servo amplifier power supply ON again from OFF.
Chapter 16 Troubleshooting 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. POINT When any of the following errors that are independent of an axis is detected, it is stored in the axis error No. of axis 1. (These errors are stored in the axis error No. of axis 1 for the system which does not use the axis 1.) Error code: 001, 002, 107, 190, 800, 802, 805, 999 When an alarm occurs on servo amplifier, the alarm No.
Chapter 16 Troubleshooting [2] Warnings Types of warnings Warnings detected by the Simple Motion module include system warnings, axis warnings and warnings detected by servo amplifier. (1) Simple Motion module detection system warnings The types of system warnings are shown below. System control data setting warnings An axis warning for axis 1 will occur. Positioning data setting warnings An axis warning for each axis will occur.
Chapter 16 Troubleshooting 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. Buffer memory address Axis No. QD77MS2 QD77MS4 QD77MS16 1 807 807 2407 2 907 907 2507 3 1007 2607 4 1107 2707 5 2807 to to 16 3907 (2) When an axis warning occurs in a positioning operation, etc., "axis warning detection ([Md.
Chapter 16 Troubleshooting [3] Resetting errors and warnings Remove the cause of error or warning following the actions described in Section 16.4 and 16.5, before cancel an error or warning state by resetting the error. How to clear errors or warnings An error or warning state is canceled after the following processing is carried out by setting "1" in the address of the buffer memory for resetting axis error ([Cd.5] Axis error reset). Axis error detection signal is turned OFF. "[Md.23] Axis error No.
Chapter 16 Troubleshooting MEMO 16 - 15
Chapter 16 Troubleshooting 16.4 List of errors The following table shows the error details and remedies to be taken when an error occurs. 16.4.1 QD77MS detection error Classification of errors Error code — 000 (Normal status) 001 Faults 002 Internal circuit fault Fatal errors Error Operation status at error occurrence — — Hardware is faulty. The system stops.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) Remedy — — — — — — — Check that there is no influence from noise. — — — Review the program which turns ON/OFF PLC READY signal [Y0]. — — — Check the servo amplifier power, wiring with the servo amplifier, and connection of connectors. — — — Check that there is no error on the personal computer side I/F to which a cable is connected.
Chapter 16 Troubleshooting Classification of errors Common errors Error code Error name Error Operation status at error occurrence 107 READY OFF during BUSY 108 Start not possible Start is requested when start is not possible in the axis operation state. The system does not start positioning. 109 Servo amplifier series error The set series of the servo parameter "[Pr.100] Servo series" and the series of connected servo amplifier are mismatch.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) — — — Turn ON the PLC READY signal [Y0] with the BUSY signals of all axes OFF. — — — Do not request the start when the axis operation state is other than "standby", "stop", and "step standby". 30100+200n 28400+100n 0, 1, 3, 4, 6, 7, 32, 48, 64, 96 Match the set series of the servo parameter "[Pr.
Chapter 16 Troubleshooting Classification of errors Error code Error Operation status at error occurrence 212 ABS reference point read error 230 OPR is started on the direct drive motor Encoder ABS data not when the absolute position data of the established encoder has not been established. Home position return (OPR) JOG operation or inching operation errors Error name The data is not loaded from the servo amplifier properly upon the OPR. The OPR does not complete. The OPR does not start.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) — — — Execute OPR again. — — — Turn the power supplies of the system or servo amplifier from OFF to ON after passing the zero point of the motor by the JOG operation, etc. 30180+200n 28480+100n — Set "0: Need to pass servo motor Z-phase after power on" in the servo parameter "Function selection C-4 (PC17)".
Chapter 16 Troubleshooting Classification of errors Error code Error name Error Operation status at error occurrence • The partner axis for simultaneous start is BUSY. Error before simultaneous start QD77MS2 QD77MS4 At start : The system does not • The partner axis for simultaneous start is operate. BUSY. During operation : The system stops immediately.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Refer to Section 5.5 "List of condition data" Set range (Setting with sequence program) Axis designation: 10H, 20H, 30H, 40H, 50H, 60H, 70H, 80H, 90H, A0H, B0H, C0H, D0H, E0H 1540+100n Axis 1 start data No. 1541+100n Axis 2 start data No. 1542+100n Axis 3 start data No. Remedy Normalize the condition operators. (Refer to Section 5.5 [Da.
Chapter 16 Troubleshooting Classification of errors Error code 504 Error name Operation status at error occurrence Outside linear movement amount range • When the parameter "interpolation speed designation method" performs a linear interpolation in setting a "composite speed", the axis movement amount for each positioning data exceeds At start : The system does not 1073741824(230). operate. During operation : The system stops • The positioning address is immediately. –360.00000 or less or 360.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Refer to Section 5.3 "List of positioning data" 60+150n 61+150n Set range (Setting with sequence program) Remedy • ABS unit [mm] [inch] [PLS] –2147483648 to 2147483647 Unit [degree] 0 to 35999999 • INC (When software stroke limits are valid) Review the positioning address.
Chapter 16 Troubleshooting Classification of errors Error code Error name 507 Software stroke limit+ 508 Software stroke limit– Positioning operation errors Error Operation status at error occurrence At operation start: • The positioning is executed at a position The system does not operate. exceeding the upper limit of the software In the analysis of new current value: stroke limit. Current value is not changed.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) Remedy New current value 1506+100n 1507+100n 4306+100n 4307+100n Software stroke limit upper limit 18+150n 19+150n • [mm] [inch] [PLS] –2147483648 to 2147483647 • [degree] 0 to 35999999 Software stroke limit lower limit At operation start : • Set the current feed value within the software stroke limit by the manua
Chapter 16 Troubleshooting Classification of errors Error code Error name Error Operation status at error occurrence Outside new current value range The new current address is outside the ranges of 0 to 359.99999, where the control unit is set to "degree". New current value not possible • The control system sets an operation pattern (continuous path control) using Current value is not changed. new current positioning data.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) 1506+100n 1507+100n 4306+100n 4307+100n [degree] 0 to 35999999 Refer to Section 5.3 "List of positioning data" Correct the operation pattern. (Refer to Section 5.3 [Da.1]) Correct the control system. (Refer to Section 5.3 [Da.2]) Correct the positioning data or change the parameter "Unit setting" of the axis to be interpolated. (Refer to Section 9.1.
Chapter 16 Troubleshooting Classification of errors Error code 523 524 Positioning operation errors 525 526 527 Error name Error Operation status at error occurrence Interpolation mode error • For starting, a composite speed is designated in the reference axis parameter "Interpolation speed designation method" using the speed interpolation control or 4-axis linear interpolation control.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) Remedy Set the "Interpolation speed designation method" correctly. 0: Composite speed (Refer to Section 9.1.6) 1: Reference axis speed 29+150n Correct the control system, axis to be interpolated or parameter. (Refer to Section 9.1.6, 9.2.20) Same as error codes 515 to 516 Refer to Section 5.
Chapter 16 Troubleshooting Classification of errors Error code 530 532 Error name Error At start : The system does not • In the speed-position switching control operate. and the position-speed switching control, During operation : The system stops the setting value of a positioning address immediately with the setting is negative.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) Correct the positioning address. (Refer to Section 9.2.16, 9.2.17, or 9.2.18) Same as in error codes 504, 506. Refer to Section 5.3 "List of positioning data" and Section 5.4 "List of block start data" Refer to Section 5.4 "List of block start data" — In the error history, check the axis where the error other than this error occurred, and remove the error factor.
Chapter 16 Troubleshooting Classification of errors Error code Error name Error Operation status at error occurrence At start 544 Outside radius range The arc radius exceeds 536870912. : The system does not operate. During operation : The system stops immediately. 545 Control system LOOP setting error A "0" is set in the repeating times of the control system "LOOP". The operation is terminated. At start : The system does not operate. During operation : The system decelerates to a stop.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Refer to Section 5.3 "List of positioning data" ABS setting direction in the unit of degree 1550+100n 4350+100n Set range (Setting with sequence program) Remedy 536870912 Correct the positioning data. (Refer to Section 9.2.10, or 9.2.11) 1 to 65535 Set 1 to 65535 in the repeating time of LOOP. (Refer to Section 9.2.
Chapter 16 Troubleshooting Classification of errors Error code Error name Error Operation status at error occurrence At start 803 PLC CPU error The CPU module resulted in an error. 804 Dedicated instruction error • The ZP.PSTRT instruction is executed with the start No. set to other than 1 to 600, 7000 to 7004 and 9001 to 9004. • The ZP.TEACH instruction is executed with the teaching data selection set to The function for each instruction is not other than 0 and 1. • The ZP.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) — — — — — Remedy Check the error code in CPU module. (Refer to the "QCPU User's Manual (Hardware Design, Maintenance and Inspection)".) < ZP.PSTRT start No.> • When executing the ZP.PSTRT instruction, set the start 1 to 600, 7000 to 7004, 9001 to 9004 No. within the setting range. (Refer to Section 15.3) < ZP.TEACH teaching data selection> • When executing the ZP.
Chapter 16 Troubleshooting Classification of errors Error code Error name Error Operation status at error occurrence 903 Outside unit magnification range • The set value of the basic parameter 1 "Unit magnification" is outside the setting range. The READY signal [X0] is not turned ON. • "Movement amount per rotation (AL)" × "Unit magnification (AM)" exceeds 2147483648. 906 Outside bias speed range • The set value of the basic parameter 1 "Bias speed at start" is outside the setting range.
Chapter 16 Troubleshooting Related buffer memory address Set range (Setting with sequence program) Remedy 1+150n 1,10,100,1000 • Set AL and AM values which make "Movement amount per rotation (AL)" × "Unit magnification (AM)" within 2147483647, and then turn the PLC READY signal [Y0] from OFF to ON. • With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
Chapter 16 Troubleshooting Classification of errors Parameter setting range errors Error code Error name Error 923 Software stroke limit selection • The set value of the detailed parameter 1 "Software stroke limit selection" is outside the setting range. • In the unit of "degree", "1: Apply software stroke limit on machine feed value" is set.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) Remedy 22+150n 0, 1 • Bring the setting into the setting range. • In the unit of "degree", set "0: Apply software stroke limit on current feed value". 23+150n 0, 1 With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
Chapter 16 Troubleshooting Classification of errors Parameter setting range errors Error code Error name 950 Acceleration time 1 setting error 951 Acceleration time 2 setting error 952 Acceleration time 3 setting error 953 Deceleration time 1 setting error 954 Deceleration time 2 setting error 955 Deceleration time 3 setting error 956 JOG speed limit value error Error Operation status at error occurrence The set value of the detailed parameter 2 "Acceleration time 1" is outside the sett
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) 36+150n 37+150n 1 to 8388608 38+150n 39+150n 1 to 8388608 40+150n 41+150n 1 to 8388608 42+150n 43+150n 1 to 8388608 44+150n 45+150n 1 to 8388608 46+150n 47+150n 1 to 8388608 48+150n 49+150n Remedy With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
Chapter 16 Troubleshooting Classification of errors Parameter setting range errors Error code Error name Error 957 The set value of the detailed parameter 2 JOG acceleration time "JOG operation acceleration time selection" selection setting error is outside the setting range. 958 The set value of the detailed parameter 2 JOG deceleration time "JOG operation deceleration time selection" selection setting error is outside the setting range.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) 50+150n 0, 1, 2, 3 51+150n 0, 1, 2, 3 52+150n 0, 1 53+150n 1 to 100 54+150n 55+150n 1 to 8388608 56+150n 0, 1 57+150n 0, 1 58+150n 0, 1 60+150n 61+150n 0 to 100000 62+150n 0, 1, 2, 3, 4 64+150n 65+150n 0 to 327680 63+150n 0, 1 Remedy With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
Chapter 16 Troubleshooting Classification of errors Error code Error name Error Operation status at error occurrence 976 Manual pulse generator/Incremental synchronous encoder input type selection error The set value of the detailed parameter 2 "Manual pulse generator/Incremental synchronous encoder input type selection" is outside the setting range.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 67 Set range (Setting with sequence program) Remedy 0, 1 0, 1 68+150n With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
Chapter 16 Troubleshooting Classification of errors Parameter setting range errors Error code Error name Error 984 Creep speed error • The set value of the OPR basic parameter "Creep speed" is outside the setting range. • The set value of the OPR basic parameter "Creep speed" is larger than the OPR speed. • The set value of the OPR basic parameter "Creep speed" is smaller than the bias speed at start.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) Remedy • Bring the setting into the setting range. • Set the speed to that below the OPR speed. 1 to 1000000000 [PLS/s] • Set the value to the bias speed at start or higher. -2 1 to 2000000000 [ 10 mm/min or others] (Refer to Section 5.2.
Chapter 16 Troubleshooting Classification of errors Error code Error name Error Operation status at error occurrence Encoder errors 1201 OPR data incorrect • The backup data for absolute position restoration is illegal. • The home position return has never been executed after the system start. • The home position return is started, but not completed correctly. The operation continues. • The servo alarm "Absolute position erased" (alarm No.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) — — — Execute OPR. — • Check the SSCNET cable. • Check the servomotor and encoder cable. • Take measures against noise. • Check whether the rotation direction selection/travel direction selection (PA14) is set "0 1" or "1 0" in the user program or the GX Works2. (Refer to Section 15.
Chapter 16 Troubleshooting 16.4.2 Servo amplifier detection error The detection error list for servo amplifier is shown below. Refer to each servo amplifier instruction manual for details.
Chapter 16 Troubleshooting Classification of errors Error code Servo amplifier errors (Note-1): For MR-J4(W)-B. (Note-2): For MR-J4-B.
Chapter 16 Troubleshooting 16.5 List of warnings The following table shows the warning details and remedies to be taken when a warning occurs. 16.5.1 QD77MS detection warning Classification of warnings Warning code — 000 Common warnings Warning name (Normal status) Warning Operation status at warning occurrence — — 100 Start during operation Position control mode: • The start request is issued while the axis The operation continues. is BUSY.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) Remedy — — — — — — • Normalize the start request ON timing. • When in speed control mode/torque control mode, start positioning after switching to the position control mode. 1503+100n 4303+100n 1: Restart 1548+100n 1549+100n 4348+100n 4349+100n 0, 1
Chapter 16 Troubleshooting Classification of warnings Common warnings Warning code Warning name Warning Operation status at warning occurrence Monitoring is not carried out. "0" is stored in In the optional data monitor, 2-word data is [Md.109] to [Md.112] (Optional data not set correctly. monitor output 1 to 4).
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) Remedy Optional data monitor: Data type setting 1 100+150n Optional data monitor: Data type setting 2 101+150n Optional data monitor: Data type setting 3 — Set the 2-word data to "[Pr.91] Optional data monitor: Data type setting 1" or "[Pr.93] Optional data monitor: Data type setting 3" and 0 to "[Pr.92] Optional data monitor: Data type setting 2" or "[Pr.
Chapter 16 Troubleshooting Classification of warnings Warning code Warning name Warning Operation status at warning occurrence 132 When the mark detection data type setting Outside mark detection is not "Optional 2 word buffer memory", data axis No. setting the mark detection data type setting is range outside the range. 133 When the mark detection data type setting Outside mark detection is "Optional 2 word buffer memory", the data buffer memory No. mark detection data buffer memory No.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 54003+20k Set range (Setting with sequence program) < Mark detection data axis No.> 1 to 16, 801 to 804 Remedy Set a value within the setting range. 54004+20k 54005+20k Set a value with an even number within the setting 0 to 65534 range. JOG speed Do not carry out the JOG speed change during 1 to 1000000000 [PLS/s] deceleration with the JOG start signal OFF.
Chapter 16 Troubleshooting Classification of warnings Warning code 500 Warning name Deceleration/stop speed change Warning The speed change request is issued during deceleration stop. Operation status at warning occurrence The speed change is not carried out. (Note-2) 501 Speed limit value over Positioning operation warnings exceed the speed • Setting speeds limit value when starting/restarting the positioning or when changing the speed (Note-1) at the positioning .
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 1516+100n 4316+100n OPR speed Command speed Refer to Section 5.
Chapter 16 Troubleshooting Classification of warnings Warning code Warning name Warning Operation status at warning occurrence • When a command speed is changed: Change to a value as near a new speed value as possible. • When a target position is changed: Adjust the speed to a value as near the command speed as possible, and then change to a target position. (When the operation pattern is a continuous path control, ignore the operations stated above.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 Set range (Setting with sequence program) — — — 1546+100n 4346+100n 1: Step is continued 2: Re-start is carried out Give a request at the position where there is an enough remaining distance. 62+150n 0, 1, 2, 3, 4 Refer to Section 5.
Chapter 16 Troubleshooting Classification of warnings Warning code Warning name Warning Operation status at warning occurrence 518 The target position change is not carried • A target position change request was out. given for the control system other than ABS1 and INC1. • A target position change request is turned ON during continuous path control. • A new target position address is outside the software stroke limit range.
Chapter 16 Troubleshooting Related buffer memory address QD77MS2 QD77MS4 QD77MS16 1538+100n 4338+100n Command torque at torque control mode 1580+100n 4380+100n Set range (Setting with sequence program) Remedy 1: Target position change request • Do not turn ON the target position change request in the following cases. 1) An operating pattern "continuous path control" is used. 2) A control system other than ABS1, and INC1 is used. 3) During deceleration stop.
Chapter 16 Troubleshooting 16.5.2 Servo amplifier detection warning The detection warning list for Servo amplifier is shown below. Refer to each servo amplifier instruction manual for details.
Appendices APP. Appendices Appendix 1 List of buffer memory addresses ............................................................ Appendix- 2 Appendix 2 Connection with servo amplifiers ............................................................ Appendix- 28 Appendix 2.1 SSCNET cables ...................................................................... Appendix- 29 Appendix 2.2 Serial absolute synchronous encoder cable ............................... Appendix- 33 Appendix 2.
Appendices Appendix 1 List of buffer memory addresses The following shows the relation between the buffer memory addresses and the various items. (Note-1): Do not use the buffer memory address that not been described here for a "Maker setting". (Note-2): For the list of buffer memory addresses for positioning data, refer to the "Simple Motion Module Setting Tool Help" of GX Works2.
Appendices QD77MS16 17+150n 18+150n 19+150n 20+150n 21+150n Memory area Item [Pr.11] Backlash compensation amount [Pr.12] Software stroke limit upper limit value [Pr.13] Software stroke limit lower limit value 22+150n [Pr.14] Software stroke limit selection 23+150n [Pr.15] Software stroke limit valid/invalid setting 24+150n 25+150n [Pr.16] Command in-position width 26+150n [Pr.17] Torque limit setting value 27+150n [Pr.18] M code ON signal output timing 28+150n [Pr.
Appendices [Pr.25] Acceleration time 1 [Pr.26] Acceleration time 2 [Pr.27] Acceleration time 3 [Pr.28] Deceleration time 1 [Pr.29] Deceleration time 2 [Pr.30] Deceleration time 3 [Pr.31] JOG speed limit value [Pr.32] JOG operation acceleration time selection 51+150n [Pr.33] JOG operation deceleration time selection 52+150n [Pr.34] Acceleration/deceleration process selection 53+150n 54+150n 55+150n 56+150n [Pr.35] S-curve ratio 57+150n [Pr.38] Stop group 2 sudden stop selection 58+150n [Pr.
Appendices Memory area Item 80+150n 81+150n 82+150n [Pr.50] Setting for the movement amount after near-point dog ON 83+150n 84+150n 85+150n 86+150n [Pr.52] OPR deceleration time selection 87+150n [Pr.55] Operation setting for incompletion of OPR 88+150n [Pr.56] Speed designation during OP shift 89+150n [Pr.57] Dwell time during OPR retry 100+150n [Pr.91] Optional data monitor: Data type setting 1 101+150n [Pr.92] Optional data monitor: Data type setting 2 102+150n [Pr.
Appendices Memory area Item 1200 1206 1207 1208 4000 4006 4007 4008 [Md.1] In test mode flag 1209 4009 [Md.135] Maximum operation time 1211 4011 [Md.131] Digital oscilloscope executing 1212+5p 4012+5p [Md.3] Start information 1213+5p 4013+5p [Md.4] Start No. 1440+p 4240+p [Md.54] Start Year: month 1214+5p 4014+5p [Md.5] Start Day: hour 1215+5p 4015+5p [Md.6] Start Minute: second 1216+5p 4016+5p [Md.7] Error judgment 1292 4092 1293+4p 4093+4p [Md.
Appendices QD77MS4 QD77MS16 Memory area Item 800+100n 801+100n 802+100n 803+100n 804+100n 805+100n 806+100n 2400+100n 2401+100n 2402+100n 2403+100n 2404+100n 2405+100n 2406+100n 807+100n 2407+100n [Md.24] Axis warning No. 808+100n 2408+100n [Md.25] Valid M code 809+100n 810+100n 811+100n 812+100n 813+100n 814+100n 815+100n 816+100n 2409+100n 2410+100n 2411+100n 2412+100n 2413+100n 2414+100n 2415+100n 2416+100n [Md.
Appendices QD77MS4 QD77MS16 Memory area Item 838+100n 2438+100n Positioning identifier 839+100n 2439+100n M code 840+100n 2440+100n Dwell time 842+100n 843+100n 844+100n 845+100n 846+100n 847+100n 848+100n 849+100n 850+100n 851+100n 852+100n 853+100n 854+100n 855+100n 856+100n 2441+100n 2442+100n 2443+100n 2444+100n 2445+100n 2446+100n 2447+100n 2448+100n 2449+100n 2450+100n 2451+100n 2452+100n 2453+100n 2454+100n 2455+100n 2456+100n 858+100n 864+100n 865+100n 866+100n 867+100n 868+100n 869+
Appendices QD77MS2 QD77MS4 QD77MS16 Compatibility of setting value of QD77MS2/ QD77MS4 and QD77MS16 Memory area Item 1500+100n 4300+100n [Cd.3] Positioning start No. 1501+100n 4301+100n [Cd.4] Positioning starting point No. 1502+100n 4302+100n [Cd.5] Axis error reset 1503+100n 4303+100n [Cd.6] Restart command 1504+100n 4304+100n [Cd.7] M code OFF request 1505+100n 4305+100n [Cd.
Appendices Buffer memory address Memory area Item [Cd.30] Simultaneous starting axis start data No. (axis 1 1540+100n start data No.) 4340+100n [Cd.30] Simultaneous starting own axis start data No. [Cd.31] Simultaneous starting axis start data No. (axis 2 1541+100n start data No.) 4341+100n [Cd.31] Simultaneous starting axis start data No.1 [Cd.32] Simultaneous starting axis start data No. (axis 3 1542+100n start data No.) 4342+100n [Cd.32] Simultaneous starting axis start data No.2 [Cd.
Appendices Memory area Item 1578+100n 4378+100n [Cd.141] Acceleration time at speed control mode 1579+100n 4379+100n [Cd.142] Deceleration time at speed control mode 1580+100n 4380+100n [Cd.143] Command torque at torque control mode 1581+100n 4381+100n 1582+100n 4382+100n 1584+100n 1585+100n 4384+100n 4385+100n 1586+100n 1587+100n 4386+100n 4387+100n 1588+100n 4388+100n 1589+100n 4389+100n 1590+100n 4390+100n 1591+100n 4391+100n 1592+100n 4392+100n 1593+100n 4393+100n [Cd.
Appendices QD77MS4 QD77MS16 Memory area Item 30100+10n [Cd.180] Axis stop 30101+10n [Cd.181] Forward run JOG start 30102+10n [Cd.182] Reverse run JOG start 30103+10n [Cd.183] Execution prohibition flag Control data QD77MS2 Compatibility of setting value of QD77MS2/ QD77MS4 and QD77MS16 Expansion axis control data Buffer memory address [Da.1] Operation pattern [Da.2] Control system 6000+1000n Positioning [Da.3] Acceleration time No. identifier [Da.4] Deceleration time No. [Da.
Appendices QD77MS4 26000+ 1000n QD77MS16 [Da.12] Start data No. 26050+ 1000n [Da.13] Special start instruction 22050+ 400n [Da.14] Parameter 26001+ 26051+ 22001+ 22051+ 1000n 1000n 400n 400n 26002+ 26052+ 22002+ 22052+ 1000n 1000n 400n 400n to 2nd point 3rd point to 26049+ 26099+ 22049+ 22099+ 1000n 1000n 400n 400n 26100+1000n Memory area [Da.
Appendices 26400+1000n to 26499+1000n Block start data 26500+1000n to 26599+1000n Condition data 26600+1000n to 26699+1000n Memory area Block start data Set with GX Works2 26700+1000n to 26799+1000n Block start data 26900+1000n to 26999+1000n Condition data 30000 to Condition judgement target data of the condition data 30099 PLC CPU memo area 26800+1000n to 26899+1000n Starting block 4 Condition data Positioning data (Starting block data) QD77MS4 Item Starting block 2 QD77MS16 Starti
Appendices The following shows the relation between the buffer memory addresses of servo parameter and the various items. (Note): The setting range is different depending on the servo amplifier model. Refer to each servo amplifier instruction manual for details. Buffer memory address QD77MS2 QD77MS4 QD77MS16 Compatibility of setting value of QD77MS2/ QD77MS4 and QD77MS16 Item [Pr.100] Servo series Servo amplifier parameter No.
Appendices Buffer memory address QD77MS2 QD77MS4 QD77MS16 Compatibility of setting value of QD77MS2/ QD77MS4 and QD77MS16 Item Servo amplifier parameter No.
Appendices Buffer memory address QD77MS2 QD77MS4 QD77MS16 Compatibility of setting value of QD77MS2/ QD77MS4 and QD77MS16 Item Servo amplifier parameter No.
Appendices Buffer memory address QD77MS2 QD77MS4 QD77MS16 Compatibility of setting value of QD77MS2/ QD77MS4 and QD77MS16 Item Servo amplifier parameter No.
Appendices Buffer memory address QD77MS2 QD77MS4 QD77MS16 Compatibility of setting value of QD77MS2/ QD77MS4 and QD77MS16 Item Servo amplifier parameter No.
Appendices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS4 and QD77MS16 Item Servo amplifier parameter No.
Appendices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS4 and QD77MS16 Item Servo amplifier parameter No.
Appendices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS4 and QD77MS16 Item Servo amplifier parameter No.
Appendices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS4 and QD77MS16 Item Servo amplifier parameter No.
Appendices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS4 and QD77MS16 Item Servo amplifier parameter No.
Appendices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS4 and QD77MS16 Item Servo amplifier parameter No.
Appendices Buffer memory address Compatibility of setting value of QD77MS2/ QD77MS4 and QD77MS16 Item Servo amplifier parameter No. 64592+250n – PL41 64593+250n – PL42 64594+250n – PL43 64595+250n – PL44 – PL45 64597+250n – PL46 64598+250n – PL47 64599+250n – PL48 QD77MS2 QD77MS4 64596+250n QD77MS16 Set with GX Works2 Memory area Servo parameters n: Axis No.
Appendices The following shows the relation between the buffer memory addresses for mark detection function and the various items. (Note): Do not use the buffer memory address that not been described here for a "Maker setting". QD77MS16 QD77MS4 Memory area Item 54000+20k [Pr.800] Mark detection signal setting 54001+20k [Pr.801] Mark detection signal compensation time 54002+20k [Pr.802] Mark detection data type 54003+20k [Pr.803] Mark detection data axis No. 54004+20k 54005+20k [Pr.
Appendices Appendix 2 Connection with servo amplifiers SSCNET cables are used to connect between Simple Motion module and servo amplifier or between servo amplifiers. Install the battery to servo amplifier to execute absolute position detection control. Refer to each servo amplifier instruction manual for details. QD77MS SSCNET Cable length When MR-J3BUS _ M is used 1) 3m (9.84ft.) When MR-J3BUS _ M-A is used 1) 20m (65.62ft.) When MR-J3BUS _ M-B is used 1) 50m (164.04ft.
Appendices Appendix 2.1 SSCNET cables Generally use the SSCNET cables available as our products. Refer to Appendix 2.3 for long distance cable up to 100[m] and ultra-long bending life cable. (1) Model explanation Numeral in the column of cable length on the table is a symbol put in the "_" part of cable model. Cables of which symbol exists are available. Table 2.1 SSCNET cable list Cable length [m(ft.)] Cable model MR-J3BUS_M 0.15 (0.49) 0.3 (0.98) 0.5 (1.64) 1 (3.28) 3 (9.
Appendices CAUTION Please use the processing method and the processing treatment device that exists in the connector when you fix the cord part of the SSCNET cable to the connector. It must not cut squarely when you cut the cord part of the SSCNET cable, the cutting edge side must not be made smooth, and garbage etc. must not adhere. The damage etc. must not adhere to the optical cord part when you peel off the film of the cable of the SSCNET cable.
Appendices (a) MR-J3BUS_M 1) Model explanation Type: MR-J3BUS _ M Symbol Cable type None Standard cord for inside panel A Standard cable for outside panel B Long distance cable Symbol 015 03 05 1 3 5 10 20 30 40 50 Cable length [m(ft.)] 0.15(0.49) 0.3(0.98) 0.5(1.64) 1(3.28) 3(9.84) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 40(131.23) 50(164.04) 2) Exterior dimensions • MR-J3BUS015M [Unit: mm(inch)] 6.7(0.26) 15 13.4 (0.59) (0.53) 37.65 (1.48) 20.9(0.82) Protective tube 1.7(0.07) 2.3(0.09) 8+0 (0.
Appendices • MR-J3BUS5M-A to MR-J3BUS20M-A • MR-J3BUS30M-B to MR-J3BUS50M-B Refer to the table of this section (1) for cable length (L). SSCNET Variation [mm(inch)] Cable A B MR-J3BUS5M-A to MR-J3BUS20M-A 100(3.94) 30(1.18) MR-J3BUS30M-B to MR-J3BUS50M-B 150(5.91) 50(1.97) [Unit: mm(inch)] (Note) (A) (B) (A) (B) L (Note): Dimension of connector part is the same as that of MR-J3BUS015M.
Appendices Appendix 2.2 Serial absolute synchronous encoder cable Generally use the serial absolute synchronous encoder cables available as our products. If the required length is not found in our products, fabricate the cable on the customer side. (1) Selection The following table indicates the serial absolute synchronous encoder cables used with the serial absolute synchronous encoder. Connector sets (MR-J3CN2) are also available for your fabrication. Table 2.
Appendices (a) Q170ENCCBL_M-A 1) Model explanation Type: Q170ENCCBL _ M - A Symbol 2 5 10 20 30 50 Cable length [m(ft.)] 2(6.56) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 50(164.04) 2) Connection diagram When fabricating a cable, use the recommended wire and connector set MR-J3CN2 for encoder cable given on this section (1), and make the cable as show in the following connection diagram. Maximum cable length is 50m(164.04ft.).
Appendices (2) External dimension drawing (a) Serial absolute synchronous encoder (Q171ENC-W8) [Unit: mm (inch)] 85(3.35) 58.5(2.30) 29(1.14) 7(0.28) 45 42(1.65) 37.5(1.48) Appendix - 35 8.72 (0.34) 8.72 (0.34) (0.37) 0 A' 9.52 -0.008 0 75(2.95) -0.020 40(1.57) A (0.88) 123.25(4.85) 22.25 4- 5.5(0.22) 2(0.08) 14(0.55) 58.5(2.30) 3 0( 10 4) .9 30(1.
Appendices Appendix 2.3 SSCNET cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service POINT For the details of the SSCNET cables, contact your local sales office. Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET cable. The light can be a discomfort when it enters the eye. The cable is available per 1[m] up to 100[m]. The number of the length (1 to 100) will be in the "_" part in the cable model.
Appendices Appendix 3 Connection with external device Appendix 3.1 Connector Mounted onto an external input connection connector of the QD77MS and used for wiring an external device. The "external device connector" includes the following 4 types.
Appendices (4) External dimension drawing A6CON3 69.48(2.74) Unit: mm (inch) 14(0.55) or less 10 (0.39) 22.5 (0.89) 71.8(2.82) 14(0.55) or less 46(1.81) 72.72(2.87) A6CON4 8.25 (0.33) A6CON1/A6CON2 Appendix - 38 47(1.85) 50.8(2.
Appendices Appendix 3.2 External input signal cable The external input signal cable is not prepared as an option. Fabricate the cable on the customer side. Make the cable as shown in the following connection diagram.
Appendices (1) Manual pulse generator/ Incremental synchronous encoder (a) Differential-output type Make the cable within 30m (98.43ft.). HBL 1B18 HBH 1A18 HBL HBH HAL 1B17 HAL HAH 1A17 HAH HB 1B20 HA 1B19 Differential-output type Manual pulse generator/ incremental synchronous encoder side 5V 1B15 5V SG 1B14 SG 5V 1A15 SG 1A14 FG (Note-1) : Twisted pair cable (Note-1): Ground FG terminal on the used equipment side. Also, connect it to the shell of connector side.
Appendices (2) Forced stop input/ External input signal (AX1, AX2) EMI 1A8 EMI EMI.COM 1B8 EMI.COM DI1 DI1 1A5 COM 1A7 STOP 1A4 STOP DOG DOG 1A3 COM 1A6 RLS 1A2 RLS FLS 1A1 FLS Forced stop input side COM External input side DI2 1B5 COM 1B7 STOP 1B4 STOP DOG DI2 DOG 1B3 COM 1B6 RLS 1B2 RLS FLS 1B1 FLS COM FG (Note-1) : Twisted pair cable Appendix - 41 (Note-1): Ground FG terminal on the used equipment side. Also, connect it to the shell of connector side.
Appendices (3) External input signal (AX3, AX4) DI3 2A5 COM 2A7 STOP 2A4 STOP DOG DI3 DOG 2A3 COM 2A6 RLS 2A2 RLS FLS 2A1 FLS COM External input side DI4 2B5 COM 2B7 STOP 2B4 STOP DOG DI4 DOG 2B3 COM 2B6 RLS 2B2 RLS FLS 2B1 FLS COM (Note-1) Shell FG (Note-1) : Twisted pair cable Appendix - 42 (Note-1): Ground FG terminal on the used equipment side. Also, connect it to the shell of connector side.
Appendices 1) The following table indicates the external input wiring cables. Make selection according to your operating conditions. Table 3.1 Table of wire specifications Characteristics of one core Core size 2 [mm ] Wire model 17/0.16 1P SRV-SV(2464)-K 17/0.16 4P SRV-SV(2464)-K 17/0.16 10P SRV-SV(2464)-K 2 0.3mm 2 0.3mm 2 0.3mm Number of Structure Conductor Insulating cores [Number of resistance sheath OD wires/mm] [ /km] 2(1 pairs) 17/0.16 57.5 0.77 5.3 8(4 pairs) 17/0.16 57.
Appendices Appendix 3.3 Manual pulse generator (MR-HDP01) (1) External dimension drawing 3.6(0.14) 3 Studs (M4 10) PCD72, equi-spaced 1 80(3.15) 60(2.36) 70 50(1.97) 20 80 30 0.5 90 70(2.76) 0 10 0.5 27.0 (1.06) +5to 12V 0V A B 60 40 50 M3 6 72 0.2 (2.8 3) 62 + (2. -0 2 44 ) 3- 4.8(0.19) equi-spaced 16 20 (0.63) (0.79) Packing t=2.0 Space The figure of processing a disc Appendix - 44 8.89 (0.35) 7.6 (0.
Appendices Appendix 4 Comparisons with positioning modules /LD77MH models Appendix 4.1 Differences with QD75MH models (1) Differences of performance specifications Model Item Number of control axes QD77MS2 2 Operation cycle [ms] Control system QD77MS4 QD77MS16 QD75MH2 4 16 2 0.88/1.77 QD75MH4 4 1.
Appendices Differences of performance specifications (Continued) Model Item QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Connect/disconnect function of SSCNET communication Hot line forced stop function History data (Start, Error, Warning, Current value) Information display of "Year, Month, Day, Hour, Minute, Second" 5VDC internal current consumption [A] Mass [kg] External command signal 0.6 0.75 0.
Appendices (b) Changed functions Function Description Specification QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Input signal [X0] Signal name READY QD75 READY [Pr.7] Bias speed at start Range of setting value 0 to 1000000000 [PLS/s] Maker setting [Pr.8] Speed limit value Range of setting value 1 to 1000000000 [PLS/s] 1 to 50000000 [PLS/s] [Pr.
Appendices Changed functions (Continued) Function Description QD77MS4 QD77MS16 QD75MH2 Data type setting 1 [Pr.92] Optional data monitor: Data type setting 2 New parameter [Pr.
Appendices Changed functions (Continued) Function Axis warning occurrence time [Md.26] Axis operation status [Md.31] Status Description Specification QD77MS2 QD77MS4 QD77MS16 Occurrence time of axis warning is displayed by "Year, Month, Day, Hour, Minute, Second". Information display [Md.56] Axis warning occurrence (Year: month) [Md.16] Axis warning occurrence (Day: hour) of axis warning [Md.
Appendices Changed functions (Continued) Function [Md.47] Positioning data being executed Description Storage item Specification QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 Positioning identifier Positioning identifier ([Da.1] to [Da.4], [Da.5] QD77MS2 QD77MS4 ) ([Da.1] to [Da.5]) Positioning address ([Da.6]) Positioning address ([Da.6]) Arc address ([Da.7]) Arc address ([Da.7]) Command speed ([Da.8]) Command speed ([Da.8]) Dwell time /JUMP destination positioning data No.
Appendices Changed functions (Continued) Function [Md.108] Servo status Description Range of monitor value [Md.109] Regenerative load ratio/Optional data monitor output 1 [Md.
Appendices Changed functions (Continued) Function Description Specification QD77MS2 QD77MS4 QD77MS16 QD75MH2 QD75MH4 [Cd.24] Speed-position switching enable flag Details of setting value 0: Speed control will not be taken 0: Speed control will not be taken over by position over by position control even control even when the signal set in "[Cd.45] when the external command Speed-position switching device selection" comes signal [CHG] comes ON. ON.
Appendices Changed functions (Continued) Function [Cd.43] Simultaneous starting axis [Cd.44] External input signal operation device Description Specification QD77MS2 QD77MS4 QD77MS16 QD75MH2 Number of simultaneous starting axes 2 to 4: 2 axes to 4 No control data axes Simultaneous starting axis No.
Appendices Changed functions (Continued) Function [Cd.45] Speed-position switching device selection [Cd.46] Speed-position switching command Description New control data New control data Specification QD77MS2 QD77MS4 QD77MS16 QD75MH2 0: Use the external command signal for switching from speed control to position control 1: Use the near-point dog signal for switching from speed control to position control 2: Use "[Cd.
Appendices Changed functions (Continued) Function Description Specification QD77MS2 QD77MS4 QD77MS16 QD75MH2 Set the change value of servo parameter set in "[Cd.131] Parameter No.". No control data [Cd.140] Command speed Range of setting at speed control value mode -1000000000 to 1000000000 [PLS/s] No control data [Cd.146] Speed limit value at torque control mode Range of setting value 0 to 1000000000 [PLS/s] No control data [Cd.
Appendices Changed functions (Continued) Function [Da.16] Condition operator [Da.18] Parameter 1 [Da.
Appendices Changed functions (Continued) Function [Da.23] Number of simultaneously starting axes [Da.24] Simultaneously starting axis No.1 [Da.25] Simultaneously starting axis No.2 [Da.26] Simultaneously starting axis No.
Appendices Appendix 4.2 Differences with LD77MH models (1) Differences of performance specifications Model Item Number of control axes QD77MS2 2 Operation cycle [ms] Starting time (1-axis linear) SSCNET /H 16 LD77MH4 1.77ms LD77MH16 4 16 0.88 0.88/1.77 0.88ms 1.
Appendices (2) Differences of function (a) Added functions Functions Remarks Driver communication function (SSCNET /H) Refer to Section 14.9. QD75MH initial value setting function Refer to Section 14.14. Hot line forced stop function Refer to Section 14.15. Compatible with servo driver VCII series manufactured by Nikki Denso Co., Ltd. Refer to Appendix 6.1. Compatible with inverter FR-A700 series Refer to Appendix 6.2.
Appendices Changed functions (Continued) Function Description QD77MS4 QD77MS16 0 : No setting 1 : Effective load ratio 2: Regenerative load ratio 3: Peak load factor 4: Load inertia moment ratio 5: Model loop gain Position loop gain 6: Bus voltage 7: Servo motor rotation speed 8: Encoder multiple revolution counter 9: Module power consumption 10: Instantaneous torque [Pr.91] Optional data monitor: Data type setting 1 [Pr.92] Optional data monitor: Data type setting 2 [Pr.
Appendices Changed functions (Continued) Function Description Specification QD77MS2 QD77MS4 QD77MS16 LD77MH4 LD77MH16 1 to 18 : PA01 to PA18 19 to 63 : PB01 to PB45 64 to 95 : PC01 to PC32 96 to 127 : PD01 to PD32 128 to 167: PE01 to PE40 168 to 183: PF01 to PF16 184 to 199: Po01 to Po16 200 to 231: PS01 to PS32 232 : PA19 [Md.107] Parameter error No.
Appendices Changed functions (Continued) Function Description Specification QD77MS2 QD77MS4 QD77MS16 LD77MH4 LD77MH16 0: PA group 1: PB group 2: PC group 3: PD group 4: PE group 5: PF group 9: Po group A: PS group [Cd.131] Parameter No.
Appendices Appendix 5 When using GX Works2 Use the "Simple Motion Module Setting Tool" for Simple Motion module various setting. The following shows the procedure for positioning operation when GX Works2 is used. For details on the operation method of GX Works2, refer to the "GX Works2 Version1 Operating Manual (Common)" or " GX Works2 Version1 Operating Manual (Intelligent Function Module)".
Appendices Appendix 6 Compatible devices with SSCNET Appendix 6.1 Servo driver VCII series manufactured by Nikki Denso Co., Ltd. The direct drive DISC/iD roll/Servo compass/Linear series, etc. manufactured by Nikki Denso Co., Ltd. can be controlled by connecting with the servo driver VCII series manufactured by the company using SSCNET or SSCNET /H. Contact to Nikki Denso overseas sales office for details of VCII series. The details shown below explain about the "Connection with VCII series".
Appendices [1] Connecting method (1) System configuration The system configuration using VCII series is shown below. Simple Motion module Servo driver VCII series SSCNET cable MR-J3BUS_M(-A/-B) SSCNET Servo amplifier * MR-J3(W)-_B/MR-J4(W)-_B /(H) * MR-JE-_B can be connected via SSCNET /H. QD77MS2 : Up to 2 axes QD77MS4 : Up to 4 axes QD77MS16: Up to 16 axes (2) Parameter setting To connect VCII series, set the following parameters. Setting item [Pr.
Appendices [2] Comparisons of specifications with MR-J4(W)-B/MR-J3(W)-B Item VCII series (Note-1) MR-J4(W)-B 32: MR-J4-_B, MR-J4W-_B 96: VCII series (manufactured by Nikki Denso Co., Ltd.) (2-, 3- axis type) [Pr.100] Servo series Control of servo amplifier parameters ABS/INC setting Input filter setting Detailed parameter 1 Controlled by VCII series. (Note-2) Set by Simple Motion module. Set by VCII data editing software. Setting is not available. (fixed to 0.88 ms) Setting is available. [Pr.
Appendices Item VCII series (Note-1) The following items can be monitored. 1: Effective load ratio 2: Regenerative load ratio 3: Peak load factor 5: Position loop gain 8: Encoder multiple revolution counter 20: Position feedback 21: Encoder single revolution position Expansion parameter [Pr.91] to [Pr.94] Optional data monitor: Data type setting Absolute position system Possible MR-J4(W)-B The following items can be monitored.
Appendices Item Amplifier-less operation function VCII series (Note-1) MR-J4(W)-B MR-J3(W)-B Possible (Operates artificially as one of the followings during amplifier-less operation.
Appendices [3] Precautions during control (1) Absolute position system (ABS)/Incremental system (INC) Match the ABS/INC setting in each setting of VCII series and Simple Motion module. Otherwise, the warning "VCII series parameter setting error" (warning code: 126) occurs, and it is controlled by the setting of VCII series side.
Appendices (b) Servo parameter change request Change request of servo parameter ("[Cd.130] Parameter write request" to "[Cd.132] Change data") can be executed. However, the servo parameter of VCII series is controlled in a unit of 2 words, so that it is necessary to set "2: 2 words write request" in "[Cd.130] Parameter write request" for executing the parameter write. If 1 word write is executed to VCII series, the parameter write is failure, and "3" is stored in "[Cd.130] Parameter write request".
Appendices [4] VCII series detection error/warning (1) Error When an error occurs on VCII series, the error detection signal turns ON, and the error code (61440 to 61695) is stored in "[Md.23] Axis error No.". The servo alarm (0x00 to 0xFF) of VCII series is stored in "[Md.114] Servo alarm" and "[Md.57] Servo alarm" in error history. The alarm detail number is not stored. However, "0" is always stored in "[Md.107] Parameter error No.". The detection error list for VCII series is shown below.
Appendices Classification of errors Servo driver VCII series Error code Servo alarm No. VCII series LED display Name 61494 (F036H) 36H 9-5 Receive error 2 61495 (F037H) 37H 6-9 Division invalid 61496 (F038H) 38H 6-A Positioning volume error 61498 (F03AH) 3AH 6-b Invalid command 61499 (F03BH) 3BH 6-C 61500 (F03CH) 3CH 7 Data sustain error 1 Indirect data No.
Appendices Classification of errors Servo driver VCII series Error code Servo alarm No.
Appendices (2) Warning When a warning occurs on VCII series, the warning code (61440 to 61695) is stored in "[Md.24] Axis warning No.". The servo warning No. of VCII series is stored in "[Md.58] Servo warning" in warning history. The detection warning list for VCII series is shown below. Classification of warnings Servo driver VCII series Warning code Servo warning No.
Appendices Appendix 6.2 Inverter FR-A700 series FR-A700 series can be connected via SSCNET and FR-A7NS. by using built-in option FR-A7AP The details shown below explain about the "Connection with FR-A700 series".
Appendices [1] Connecting method (1) System configuration The system configuration using FR-A700 series is shown below. Set "0: SSCNET " in "[Pr.97] SSCNET setting" to use FR-A700 series. Simple Motion module Inverter FR-A700 series Servo amplifier MR-J3(W)-_B SSCNET SSCNET cable MR-J3BUS_M(-A/-B) QD77MS2 : Up to 2 axes QD77MS4 : Up to 4 axes QD77MS16: Up to 16 axes (2) Parameter setting To connect FR-A700 series, execute flash ROM writing after setting the following parameters to buffer memory.
Appendices Setting item Reset selection/ disconnected PU [Pr.75] detection/ PU stop selection Default Setting value value Details 0 • Reset input is always enabled. • If the PU is disconnected, operation will be continued. • PU stop is disabled at SSCNET connection. 1 • A reset can be input only when the protective function is activated. • If the PU is disconnected, operation will be continued. • PU stop is disabled at SSCNET connection. 2 • Reset input is always enabled.
Appendices (6) Optional data monitor setting The following table shows data types that can be set.
Appendices (7) External input signal Set as the followings to fetch the external input signal (FLS/RLS/DOG) via FR-A700 series. • Set "1: External input signal of servo amplifier" in "[Pr.80] External input signal selection". • Set the parameters of the inverter as below. (Otherwise, each signal remains OFF.) Setting item STF terminal [Pr.178] function selection STR terminal [Pr.179] function selection JOG terminal [Pr.185] function selection SSCNET [Pr.
Appendices [2] Comparisons of specifications with MR-J3(W)-B Item FR-A700 series (Note-1) MR-J3(W)-B [Pr.100] Servo series 64: FR-A700 series (Inverter) 1: MR-J3-_B, MR-J3W-_B (2-axis type) Control of servo amplifier parameters Set directly by inverter. (Not controlled by Simple Motion module.) Controlled by Simple Motion module. External input signals of FR-A700 series are available. External input signals of servo amplifier are available. The following items can be monitored.
Appendices [3] Precautions during control (1) Absolute position system (ABS)/Incremental system (INC) When using FR-A700 series, absolute position system (ABS) cannot be used. Even though "1: Enable (absolute position detection system)" is set in the servo parameter "Absolute position detection system (PA03)", the servo amplifier operates as incremental system. • When the Simple Motion module is powered ON, OPR request is turned ON and the current feed value is set to 0.
Appendices [4] FR-A700 series detection error/warning (1) Error When an error occurs on FR-A700 series, the error code (61696 to 61951) is stored in "[Md.23] Axis error No.". The alarm No. of FR-A700 series is stored in "[Md.114] Servo alarm" and "[Md.57] Servo alarm" in error history. However, "0" is always stored in "[Md.107] Parameter error No." and "Absolute position lost (b14)" of "[Md.108] Servo status". The detection error list for FR-A700 series is shown below.
Appendices Classification of errors Inverter FR-A700 series Error code Alarm No. of FR-A700 series FR-A700 series LED display Name 61752 (F138H) 38H E.MB1 61753 (F139H) 39H E.MB2 Brake sequence fault 61760 (F140H) 40H E.MB3 61761 (F141H) 41H E.MB4 61762 (F142H) 42H E.MB5 61763 (F143H) 43H E.MB6 61764 (F144H) 44H E.MB7 61765 (F145H) 45H E.P24 24VDC power output short circuit 61766 (F146H) 46H E.
Appendices (2) Warning When a warning occurs on FR-A700 series, the warning code (61696 to 61951) is stored in "[Md.24] Axis warning No.". The warning No. of FR-A700 series is stored in "[Md.58] Servo warning" in warning history. The detection warning list for FR-A700 series is shown below. Classification of warnings Inverter FR-A700 series Warning code Warning No.
Appendices Appendix 6.3 Connection with MR-JE-B The servo amplifier MR-JE-B can be connected using SSCNET /H. The details shown below explain about the "Connection with MR-JE-B". [1] Comparisons of specifications with MR-J4(W)-B [1] Comparisons of specifications with MR-J4(W)-B Item MR-JE-B MR- J4(W)-B [Pr.100] Servo series 48: MR-JE-_B 32: MR-J4-_B, MR-J4W-_B (2-, 3axis type) Operation mode Standard Standard/Fully closed/Linear/Direct drive Detailed parameter 1 External input signals of [Pr.
Appendices Appendix 7 External dimension drawing [1] QD77MS2 [Unit: mm(inch)] QD77MS2 RUN AX1 AX2 ERR. 98(3.86) AX1 AX2 23(0.91) 90(3.54) 27.4(1.08) 4(0.16) QD77MS2 [2] QD77MS4 [Unit: mm(inch)] QD77MS4 RUN ERR. QD77MS4 AX1 AX2 23(0.91) 90(3.54) 27.4(1.08) Appendix - 86 4(0.16) 98(3.
Appendices [3] QD77MS16 [Unit: mm(inch)] QD77MS16 RUN AX ERR. QD77MS16 AX1 AX2 23(0.91) 90(3.54) 27.4(1.08) Appendix - 87 4(0.16) 98(3.
Appendices MEMO Appendix - 88
WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
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MELSEC-Q QD77MS Simple Motion Module User's Manual Positioning Control MODEL QD77MS-U-S-E MODEL CODE 1XB947 IB(NA)-0300185-C(1411)MEE HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.
